JP5435271B2 - Article transfer device and article storage facility - Google Patents

Article transfer device and article storage facility Download PDF

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JP5435271B2
JP5435271B2 JP2009253415A JP2009253415A JP5435271B2 JP 5435271 B2 JP5435271 B2 JP 5435271B2 JP 2009253415 A JP2009253415 A JP 2009253415A JP 2009253415 A JP2009253415 A JP 2009253415A JP 5435271 B2 JP5435271 B2 JP 5435271B2
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和治 吉永
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Daifuku Co Ltd
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本発明は、物品を載置支持自在な本体載置部と、水平方向に接近離間自在で且つ前記本体載置部側に引退させた引退位置と前記本体載置部から移載対象箇所側に突出させた突出位置とに出退自在な一対の挟持体と、前記一対の挟持体を接近作動させて物品を両横から挟持する挟持状態と前記一対の挟持体を離間作動させて物品に対する挟持を解除する解除状態とに切換自在な挟持状態切換手段と、前記一対の挟持体を前記引退位置と前記突出位置とに出退駆動させる出退駆動手段とが設けられている物品移載装置、及び、その物品移載装置を備えた物品搬送装置を有する物品収納設備に関する。   The present invention provides a main body mounting portion on which an article can be mounted and supported, a retraction position that is movable toward and away from the horizontal direction and retracted toward the main body mounting portion, and a position to be transferred from the main body mounting portion. A pair of holding bodies that can be moved back and forth between the protruding positions, a holding state in which the pair of holding bodies are operated close to each other to hold the article from both sides, and the pair of holding bodies are operated separately to hold the article. An article transfer device provided with a holding state switching means that can be switched to a release state for releasing the door, and an exit / retreat drive means for driving the pair of holding bodies to move out and retract to the retracted position and the protruding position, The present invention also relates to an article storage facility having an article transport device including the article transfer device.

上記のような物品移載装置は、例えば、スタッカークレーン等の物品搬送装置に備えられている。物品移載装置は、物品搬送装置の移動により移載対象箇所に対する移載用位置に移動され、その移載用位置において本体載置部と移載対象箇所との間で物品を移載している。そして、移載対象箇所から本体載置部に物品を移載するときには、一対の挟持体を解除状態に維持して引退位置から突出位置に突出作動させたのち、一対の挟持体を解除状態から挟持状態に切り換えている。その後、挟持状態に切り換えた一対の挟持体を挟持状態に維持して突出位置から引退位置に引退作動させる。また、本体載置部から移載対象箇所に物品を移載するときには、一対の挟持体を挟持状態に維持して引退位置から突出位置に突出作動させたのち、一対の挟持体を挟持状態から解除状態に切り換えている。その後、解除状態に切り換えた一対の挟持体を解除状態に維持して突出位置から引退位置に引退作動させる(例えば、特許文献1参照。)。   The article transfer device as described above is provided in an article conveyance device such as a stacker crane, for example. The article transfer device is moved to the transfer position with respect to the transfer target location by the movement of the article transport device, and transfers the article between the main body mounting portion and the transfer target location at the transfer position. Yes. Then, when transferring an article from the transfer target location to the main body placing portion, the pair of holding bodies are moved from the retracted position to the protruding position after the pair of holding bodies are maintained in the released state, and then the pair of holding bodies are released from the released state. Switching to the clamping state. Thereafter, the pair of sandwiched bodies switched to the sandwiched state is maintained in the sandwiched state and is retracted from the projecting position to the retracted position. In addition, when transferring an article from the main body placement unit to a transfer target location, the pair of sandwiching bodies are maintained in the sandwiched state and are operated to project from the retracted position to the projecting position, and then the pair of sandwiched bodies are removed from the sandwiched state. Switching to the release state. Thereafter, the pair of sandwiched bodies switched to the released state is maintained in the released state and is retracted from the protruding position to the retracted position (see, for example, Patent Document 1).

特許文献1に記載の装置では、一対の挟持体を挟持状態に切り換えたときに、物品の側周部に当接して挟持作用する挟持作用部が挟持体に備えられており、一対の挟持体の夫々に備えられた挟持作用部を物品の側周部に当接させて挟持作用することで、物品を適正に挟持することができる。そして、特許文献1に記載の装置では、移載対象の物品を直方体形状の物品としており、挟持作用部として、直方体形状の物品の側周部に形成された被係合部に係合自在な係合式の挟持作用部(爪部)が備えられている。   In the device described in Patent Literature 1, when a pair of sandwiching bodies is switched to a sandwiching state, the sandwiching body includes a sandwiching action portion that abuts on the side peripheral portion of the article and acts to sandwich the pair of sandwiching bodies. The article can be properly clamped by causing the clamping action portion provided in each of the two to abut on the side peripheral part of the article to perform the clamping action. In the apparatus described in Patent Document 1, the article to be transferred is a rectangular parallelepiped article, and can be engaged as a clamping action portion with an engaged portion formed on a side peripheral portion of the rectangular parallelepiped article. An engagement-type clamping action part (claw part) is provided.

特開2004−224484号公報JP 2004-224484 A

特許文献1に記載の装置では、移載対象の物品が直方体形状の物品となっており、移載対象の物品の形状が1種類となっているが、例えば、物品移載装置を備えたスタッカークレーンでは、物品収納棚に異なる形状の物品を収納することが求められており、その要求に対応するために、物品移載装置として、異なる形状の物品を収納部との間で移載できることが求められる。   In the apparatus described in Patent Document 1, the article to be transferred is a rectangular parallelepiped article, and the shape of the article to be transferred is one type. For example, a stacker provided with the article transfer device In a crane, it is required to store articles of different shapes in an article storage shelf, and in order to meet the demand, articles of different shapes can be transferred to and from the storage unit as an article transfer device. Desired.

しかしながら、特許文献1に記載の装置では、挟持作用部が、直方体形状の物品の側周部に形成された被係合部に係合自在な係合式の挟持作用部(爪部)となっているので、係合式の挟持作用部にて適正に挟持できる物品の形状が直方体形状で被係合部を有するもの等に限られてしまい、異なる形状の物品を移載することができない。例えば、移載対象の物品の形状として、直方体形状の物品以外に、ロール紙を軸部の周りに巻回させた円筒形状の物品も考えられるが、この円筒形状の物品に対して係合式の挟持作用部がその物品の側周部に当接して挟持作用することができず、円筒形状の物品を適正に移載することができない。   However, in the apparatus described in Patent Document 1, the sandwiching action part is an engagement-type sandwiching action part (claw part) that can be engaged with an engaged part formed on a side peripheral part of a rectangular parallelepiped article. Therefore, the shape of the article that can be properly clamped by the engagement-type clamping operation portion is limited to a rectangular parallelepiped shape and has an engaged portion, and articles of different shapes cannot be transferred. For example, as the shape of the article to be transferred, in addition to the rectangular parallelepiped article, a cylindrical article in which roll paper is wound around the shaft portion is also conceivable. The sandwiching action part cannot abut on the side peripheral part of the article to perform the sandwiching action, and the cylindrical article cannot be transferred properly.

本発明は、かかる点に着目してなされたものであり、その目的は、複数の形状の物品に対してその物品の側周部に当接して挟持作用することができ、複数の形状の物品を移載することができる物品移載装置を提供する点にある。   The present invention has been made paying attention to such a point, and the object thereof is to contact a side peripheral portion of an article having a plurality of shapes while holding the article, and to provide an article having a plurality of shapes. It is in the point which provides the goods transfer apparatus which can transfer.

この目的を達成するために、本発明に係る物品移載装置の第1特徴構成は、物品を載置支持自在な本体載置部と、水平方向に接近離間自在で且つ前記本体載置部側に引退させた引退位置と前記本体載置部から移載対象箇所側に突出させた突出位置とに出退自在な一対の挟持体と、前記一対の挟持体を接近作動させて物品を両横から挟持する挟持状態と前記一対の挟持体を離間作動させて物品に対する挟持を解除する解除状態とに切換自在な挟持状態切換手段と、前記一対の挟持体を前記引退位置と前記突出位置とに出退駆動させる出退駆動手段とが設けられている物品移載装置において、
前記一対の挟持体の夫々には、前記挟持状態において異なる形状の複数種類の物品の夫々に対してその物品の側周部に当接して挟持作用する挟持作用部が複数箇所備えられ
前記挟持作用部として、直方体形状の物品の側周部に形成された被係合部に係合自在な第1挟持作用部と、円筒形状の物品の側周部に当接する第2挟持作用部とが備えられ、
前記第2挟持作用部は、前記挟持体の出退方向における中央部ほど前記一対の挟持体の接近離間方向の離間側に凹入する一対の傾斜面部を有する凹入溝状に形成され、
前記第1挟持作用部は、前記挟持体の出退方向において前記第2挟持作用部を挟んで並ぶ状態で一対設けられ、且つ、前記第2挟持作用部の前記傾斜面部に連なる連続傾斜部が備えられている点にある。
In order to achieve this object, the first feature configuration of the article transfer device according to the present invention includes: a main body placement section on which an article can be placed and supported; and a main body placement section side which is movable toward and away from the horizontal direction. A pair of holding bodies that can be moved back and forth between a retracted position that is retracted to a position where the main body is placed, and a protruding position that protrudes toward the transfer target location, and the pair of holding bodies are operated close to each other to move the article on both sides. A holding state switching means that can be switched between a holding state in which the pair of holding bodies are moved apart and a release state in which the holding of the article is released to release the holding of the article, and the pair of holding bodies between the retracted position and the protruding position In the article transfer apparatus provided with exit / exit driving means for exit / exit driving,
Each of the pair of sandwiching bodies is provided with a plurality of sandwiching action parts that abut on the side peripheral portion of the article and sandwich and act on each of a plurality of types of articles having different shapes in the sandwiched state ,
As the sandwiching action part, a first sandwiching action part that can be engaged with an engaged part formed on a side peripheral part of a rectangular parallelepiped article, and a second sandwiching action part that comes into contact with the side peripheral part of the cylindrical article And
The second sandwiching action part is formed in a recessed groove shape having a pair of inclined surface parts that are recessed toward the separating side in the approaching / separating direction of the pair of sandwiching bodies toward the center part in the retracting direction of the sandwiching body,
A pair of the first clamping action portions are provided in a state in which the second clamping action portions are arranged in the retracting direction of the clamping body, and a continuous inclined portion connected to the inclined surface portion of the second clamping action portion is provided. It is in the point provided .

本特徴構成によれば、挟持状態切換手段により一対の挟持体を接近作動させて挟持状態に切り換えられた状態で出退駆動手段が一対の挟持体を出退作動させることで、本体載置部と移載対象箇所との間で物品を移載する。一対の挟持体を挟持状態に切り換えると、一対の挟持体の夫々に備えられた挟持作用部が物品の側周部に当接して挟持作用する。そして、挟持作用部は、1箇所ではなく、複数箇所備えられており、それら複数箇所の挟持作用部の少なくとも1つ以上により異なる形状の複数種類の物品の夫々に対してその物品の側周部に当接して挟持作用することになる。よって、複数箇所の挟持作用部の少なくとも1つ以上により、各形状の物品に対して的確に挟持作用を発揮させることができる。したがって、複数の形状の物品の夫々に対して的確に挟持作用を発揮させて、複数の形状の物品を移載することができる物品移載装置を実現できる。
また、本特徴構成によれば、直方体形状の物品を移載するときには、一対の挟持体を挟持状態に切り換えると、第1挟持作用部が直方体形状の物品の側周部に形成された被係合部に係合してその物品の側周部に当接して挟持作用することができる。また、円筒形状の物品を移載するときには、一対の挟持体を挟持状態に切り換えると、第2挟持作用部が円筒形状の物品の側周部に当接して挟持作用することができる。よって、直方体形状の物品であっても、円筒形状の物品であっても、その物品に対して的確に挟持作用を発揮させて移載することができる。
さらに、本特徴構成によれば、円筒形状の物品を移載するときには、一対の挟持体を挟持状態に切り換えると、第2挟持作用部の一対の傾斜面部が円筒形状の物品の側周部に当接することになる。よって、円筒形状の物品の中心が挟持状態としたときの一対の挟持体の中心からずれていても、傾斜面部の当接により物品が一対の挟持体の接近離間方向だけでなく、
一対の挟持体の出退方向にも移動されて、挟持状態としたときの一対の挟持体の中心と円筒形状の物品の中心とが一致するように調心することができる。このようにして、挟持状態としたときの一対の挟持体の中心と円筒形状の物品の中心とが一致するように調心することができながら、円筒形状の物品の側周部に当接して挟持作用することができる。
加えて、本特徴構成によれば、第1挟持作用部には、第2挟持作用部の傾斜面部に連なる連続傾斜部が備えられているので、第2挟持作用部の傾斜面部及び第1挟持作用部の連続傾斜部の傾斜角度や配置位置等を調整することで、円筒形状の物品の外周部に沿って連なるように第2挟持作用部の傾斜面部及び第1挟持作用部の連続傾斜部を配置することができる。よって、円筒形状の物品を移載するときには、第2挟持作用部が円筒形状の物品の側周部に当接することに加えて、第1挟持作用部の連続傾斜部も円筒形状の物品の側周部に当接することになる。その結果、円筒形状の物品に対してより的確に挟持作用を発揮することができ、その円筒形状の物品を確実に移載することができる。
According to this characteristic configuration, the main body mounting portion is configured such that the exit / retreat driving means causes the pair of holding bodies to move back and forth in a state in which the pair of holding bodies are moved closer to each other by the holding state switching means and switched to the holding state. The article is transferred between the transfer target location. When the pair of sandwiching bodies is switched to the sandwiching state, the sandwiching action portion provided in each of the pair of sandwiching bodies comes into contact with the side peripheral portion of the article and sandwiches. And the clamping action | operation part is provided with multiple places instead of one place, The side peripheral part of the article | item with respect to each of the multiple types of goods of a different shape by at least 1 or more of these clamping action | operation parts It comes into contact with and acts to clamp. Therefore, the pinching action can be accurately exerted on the articles having the respective shapes by at least one of the plurality of pinching action portions. Therefore, it is possible to realize an article transfer device capable of transferring a plurality of shaped articles by accurately exerting a clamping action on each of the plurality of shaped articles.
In addition, according to the present feature configuration, when transferring a rectangular parallelepiped article, the first clamping action portion is formed on the side periphery of the rectangular parallelepiped article when the pair of clamping bodies are switched to the clamping state. It can engage with the joint and abut against the side periphery of the article to effect clamping. Further, when transferring a cylindrical article, if the pair of clamping bodies are switched to the clamping state, the second clamping action portion can be brought into contact with the side periphery of the cylindrical article to perform the clamping action. Therefore, even if it is a rectangular parallelepiped shaped article or a cylindrical shaped article, the article can be transferred while accurately exerting a clamping action on the article.
Furthermore, according to this characteristic configuration, when the cylindrical article is transferred, when the pair of sandwiching bodies is switched to the sandwiching state, the pair of inclined surface portions of the second sandwiching action portion are arranged on the side peripheral portion of the cylindrical article. It will abut. Therefore, even if the center of the cylindrical article is deviated from the center of the pair of sandwiched bodies when in the sandwiched state, the article is not only in the approach and separation direction of the pair of sandwiched bodies due to the contact of the inclined surface portion,
It is also moved in the direction in which the pair of sandwiching bodies are withdrawn and retracted so that the center of the pair of sandwiching bodies and the center of the cylindrical article when aligned can be aligned. In this way, the center of the pair of sandwiched bodies in the sandwiched state and the center of the cylindrical article can be aligned so that they are in contact with the side periphery of the cylindrical article. It can be pinched.
In addition, according to this characteristic configuration, since the first clamping action part is provided with the continuous slope part that is continuous with the sloped surface part of the second clamping action part, the sloped surface part and the first clamping part of the second clamping action part are provided. By adjusting the inclination angle and arrangement position of the continuous inclined portion of the action portion, the inclined surface portion of the second holding action portion and the continuous inclination portion of the first holding action portion so as to be continuous along the outer peripheral portion of the cylindrical article. Can be arranged. Therefore, when the cylindrical article is transferred, in addition to the second clamping action part coming into contact with the side peripheral part of the cylindrical article, the continuous inclined part of the first clamping action part is also on the cylindrical article side. It will contact the peripheral part. As a result, the pinching action can be more accurately exhibited with respect to the cylindrical article, and the cylindrical article can be reliably transferred.

本発明に係る物品移載装置の第2特徴構成は、移載対象箇所から前記本体載置部に物品を移載するときには、前記一対の挟持体を前記解除状態に維持して前記引退位置から前記突出位置に突出作動させたのち、前記一対の挟持体を前記解除状態から前記挟持状態に切り換え、その後前記一対の挟持体を前記挟持状態に維持して前記突出位置から前記引退位置に引退作動させるべく、前記挟持状態切換手段の作動及び前記出退駆動手段の作動を制御し、且つ、前記本体載置部から移載対象箇所に物品を移載するときには、前記一対の挟持体を前記挟持状態に維持して前記引退位置から前記突出位置に突出作動させたのち、前記一対の挟持体を前記挟持状態から前記解除状態に切り換え、その後前記一対の挟持体を前記解除状態に維持して前記突出位置から前記引退位置に引退作動させるべく、前記挟持状態切換手段の作動及び前記出退駆動手段の作動を制御する移載制御手段が備えられ、前記移載制御手段は、前記本体載置部から移載対象箇所に物品を移載するときに、前記突出位置に突出作動させた前記一対の挟持体を前記挟持状態から前記解除状態に切り換えるに当たり、物品の形状に応じて定められた設定距離だけ前記一対の挟持体を物品から離間させて前記挟持状態から前記解除状態に切り換えるべく、前記持状態切換手段の作動を制御する点にある。 The second characteristic configuration of the article transfer device according to the present invention is such that when transferring an article from a transfer target location to the main body placement section, the pair of sandwiching bodies is maintained in the released state and is moved from the retraction position. After the projecting operation to the projecting position, the pair of sandwiching bodies are switched from the released state to the sandwiching state, and then the pair of sandwiching bodies are maintained in the sandwiching state, and the retracting operation is performed from the projecting position to the retracted position. Therefore, when controlling the operation of the holding state switching means and the operation of the exit / retreat driving means and transferring an article from the main body mounting portion to a transfer target location, the pair of holding bodies are held in the holding state. After maintaining the state and projecting from the retracted position to the projecting position, the pair of sandwiching bodies is switched from the sandwiching state to the releasing state, and then the pair of sandwiching bodies is maintained in the releasing state, Sudden A transfer control means for controlling the operation of the clamping state switching means and the operation of the withdrawal / retreat driving means for retreating from the position to the retraction position, and the transfer control means is provided from the main body mounting portion. When the article is transferred to the transfer target location, when the pair of holding members that are operated to protrude to the protruding position is switched from the holding state to the released state, only a set distance determined according to the shape of the article is used. The operation of the clamping state switching means is controlled so that the pair of clamping bodies are separated from the article and switched from the clamping state to the released state.

本特徴構成によれば、移載対象箇所から本体載置部に物品を移載するときには、移載制御手段が挟持状態切換手段の作動及び出退駆動手段の作動を制御することで、一対の挟持体を解除状態に維持して引退位置から突出位置に突出作動させたのち、一対の挟持体を解除状態から挟持状態に切り換えることにより、挟持作用部にて物品の側周部に当接して挟持作用を発揮することができる。よって、一対の挟持体にて物品を的確に挟持することができ、その後、移載制御手段が挟持状態切換手段の作動及び出退駆動手段の作動を制御することで、挟持状態に切り換えた一対の挟持体を挟持状態に維持して突出位置から引退位置に引退作動させることにより、移載対象箇所から本体載置部に物品を移載することができる。 According to this characteristic configuration, when an article is transferred from the transfer target location to the main body mounting portion, the transfer control means controls the operation of the holding state switching means and the operation of the withdrawal / retreat driving means, so that a pair of After holding the holding body in the released state and projecting from the retracted position to the protruding position, the pair of holding bodies are switched from the released state to the held state, so that the holding action part comes into contact with the side periphery of the article. A pinching action can be exhibited. Therefore, the article can be accurately sandwiched by the pair of sandwiching bodies, and then the transfer control unit controls the operation of the sandwiching state switching unit and the operation of the exit / retreat driving unit, thereby switching the paired state to the sandwiching state. The article can be transferred from the transfer target portion to the main body mounting portion by maintaining the holding body in the holding state and retracting from the protruding position to the retracted position .

本発明に係る物品移載装置の第特徴構成は、物品を載置支持自在な本体載置部と、水平方向に接近離間自在で且つ前記本体載置部側に引退させた引退位置と前記本体載置部から移載対象箇所側に突出させた突出位置とに出退自在な一対の挟持体と、前記一対の挟持体を接近作動させて物品を両横から挟持する挟持状態と前記一対の挟持体を離間作動させて物品に対する挟持を解除する解除状態とに切換自在な挟持状態切換手段と、前記一対の挟持体を前記引退位置と前記突出位置とに出退駆動させる出退駆動手段とが設けられている物品移載装置において、
前記一対の挟持体の夫々には、前記挟持状態において異なる形状の複数種類の物品の夫々に対してその物品の側周部に当接して挟持作用する挟持作用部が複数箇所備えられ、
前記挟持作用部として、直方体形状の物品の側周部に形成された被係合部に係合自在な第1挟持作用部と、円筒形状の物品の側周部に当接する第2挟持作用部とが備えられ、
前記第2挟持作用部は、前記挟持体の出退方向における中央部ほど前記一対の挟持体の接近離間方向の離間側に凹入する一対の傾斜面部を有する凹入溝状に形成され、
移載対象箇所から前記本体載置部に物品を移載するときには、前記一対の挟持体を前記解除状態に維持して前記引退位置から前記突出位置に突出作動させたのち、前記一対の挟持体を前記解除状態から前記挟持状態に切り換え、その後前記一対の挟持体を前記挟持状態に維持して前記突出位置から前記引退位置に引退作動させるべく、前記挟持状態切換手段の作動及び前記出退駆動手段の作動を制御し、且つ、前記本体載置部から移載対象箇所に物品を移載するときには、前記一対の挟持体を前記挟持状態に維持して前記引退位置から前記突出位置に突出作動させたのち、前記一対の挟持体を前記挟持状態から前記解除状態に切り換え、その後前記一対の挟持体を前記解除状態に維持して前記突出位置から前記引退位置に引退作動させるべく、前記挟持状態切換手段の作動及び前記出退駆動手段の作動を制御する移載制御手段が備えられ、前記移載制御手段は、前記本体載置部から移載対象箇所に物品を移載するときに、前記突出位置に突出作動させた前記一対の挟持体を前記挟持状態から前記解除状態に切り換えるに当たり、物品の形状に応じて定められた設定距離だけ前記一対の挟持体を物品から離間させて前記挟持状態から前記解除状態に切り換えるべく、前記持状態切換手段の作動を制御する物品移載装置。
A third characteristic configuration of the article transfer device according to the present invention includes: a main body placing portion on which an article can be placed and supported; a retraction position in which the article can be approached and separated in a horizontal direction and retreated toward the main body placing portion; A pair of sandwiching bodies that can be moved back and forth from the main body placement portion to the transfer target location side, a sandwiched state in which the pair of sandwiching bodies are operated to approach each other to sandwich the article from both sides, and the pair A holding state switching means capable of switching to a release state in which the holding body is released to release the holding of the article, and an exit / retreat driving means for driving the pair of holding bodies to the retracted position and the protruding position. In the article transfer device provided with
Each of the pair of sandwiching bodies is provided with a plurality of sandwiching action parts that abut on the side peripheral portion of the article and sandwich and act on each of a plurality of types of articles having different shapes in the sandwiched state,
As the sandwiching action part, a first sandwiching action part that can be engaged with an engaged part formed on a side peripheral part of a rectangular parallelepiped article, and a second sandwiching action part that comes into contact with the side peripheral part of the cylindrical article And
The second sandwiching action part is formed in a recessed groove shape having a pair of inclined surface parts that are recessed toward the separating side in the approaching / separating direction of the pair of sandwiching bodies toward the center part in the retracting direction of the sandwiching body,
When transferring an article from a transfer target location to the main body placing portion, the pair of holding bodies are operated by projecting from the retracted position to the protruding position while maintaining the pair of holding bodies in the released state. Is switched from the released state to the sandwiched state, and then the operation of the sandwiched state switching means and the withdrawing / retreating drive are performed so that the pair of sandwiched bodies is maintained in the sandwiched state and retracted from the protruding position to the retracted position. When controlling the operation of the means and transferring the article from the main body mounting portion to the transfer target location, the pair of holding bodies are maintained in the holding state and the protrusion operation is performed from the retracted position to the protruding position. After that, the pair of sandwiching bodies are switched from the sandwiched state to the released state, and then the pair of sandwiched bodies are maintained in the released state and are retracted from the protruding position to the retracted position. Transfer control means for controlling the operation of the clamping state switching means and the operation of the withdrawal / retraction drive means is provided, and the transfer control means is for transferring an article from the main body mounting portion to a transfer target location. In addition, when switching the pair of holding bodies that are operated to protrude to the protruding position from the holding state to the released state, the pair of holding bodies are separated from the article by a set distance determined in accordance with the shape of the article. An article transfer device for controlling an operation of the clamping state switching means to switch from the clamping state to the release state.

本特徴構成によれば、挟持状態切換手段により一対の挟持体を接近作動させて挟持状態に切り換えられた状態で出退駆動手段が一対の挟持体を出退作動させることで、本体載置部と移載対象箇所との間で物品を移載する。一対の挟持体を挟持状態に切り換えると、一対の挟持体の夫々に備えられた挟持作用部が物品の側周部に当接して挟持作用する。そして、挟持作用部は、1箇所ではなく、複数箇所備えられており、それら複数箇所の挟持作用部の少なくとも1つ以上により異なる形状の複数種類の物品の夫々に対してその物品の側周部に当接して挟持作用することになる。よって、複数箇所の挟持作用部の少なくとも1つ以上により、各形状の物品に対して的確に挟持作用を発揮させることができる。したがって、複数の形状の物品の夫々に対して的確に挟持作用を発揮させて、複数の形状の物品を移載することができる物品移載装置を実現できる。
また、本特徴構成によれば、直方体形状の物品を移載するときには、一対の挟持体を挟持状態に切り換えると、第1挟持作用部が直方体形状の物品の側周部に形成された被係合部に係合してその物品の側周部に当接して挟持作用することができる。また、円筒形状の物品を移載するときには、一対の挟持体を挟持状態に切り換えると、第2挟持作用部が円筒形状の物品の側周部に当接して挟持作用することができる。よって、直方体形状の物品であっても、円筒形状の物品であっても、その物品に対して的確に挟持作用を発揮させて移載することができる。
さらに、本特徴構成によれば、円筒形状の物品を移載するときには、一対の挟持体を挟持状態に切り換えると、第2挟持作用部の一対の傾斜面部が円筒形状の物品の側周部に当接することになる。よって、円筒形状の物品の中心が挟持状態としたときの一対の挟持体の中心からずれていても、傾斜面部の当接により物品が一対の挟持体の接近離間方向だけでなく、
一対の挟持体の出退方向にも移動されて、挟持状態としたときの一対の挟持体の中心と円筒形状の物品の中心とが一致するように調心することができる。このようにして、挟持状態としたときの一対の挟持体の中心と円筒形状の物品の中心とが一致するように調心することができながら、円筒形状の物品の側周部に当接して挟持作用することができる。
加えて、本特徴構成によれば、移載対象箇所から本体載置部に物品を移載するときには、移載制御手段が挟持状態切換手段の作動及び出退駆動手段の作動を制御することで、一対の挟持体を解除状態に維持して引退位置から突出位置に突出作動させたのち、一対の挟持体を解除状態から挟持状態に切り換えることにより、挟持作用部にて物品の側周部に当接して挟持作用を発揮することができる。よって、一対の挟持体にて物品を的確に挟持することができ、その後、移載制御手段が挟持状態切換手段の作動及び出退駆動手段の作動を制御することで、挟持状態に切り換えた一対の挟持体を挟持状態に維持して突出位置から引退位置に引退作動させることにより、移載対象箇所から本体載置部に物品を移載することができる。
According to this characteristic configuration, the main body mounting portion is configured such that the exit / retreat driving means causes the pair of holding bodies to move back and forth in a state in which the pair of holding bodies are moved closer to each other by the holding state switching means and switched to the holding state. The article is transferred between the transfer target location. When the pair of sandwiching bodies is switched to the sandwiching state, the sandwiching action portion provided in each of the pair of sandwiching bodies comes into contact with the side peripheral portion of the article and sandwiches. And the clamping action | operation part is provided with multiple places instead of one place, The side peripheral part of the article | item with respect to each of the multiple types of goods of a different shape by at least 1 or more of these clamping action | operation parts It comes into contact with and acts to clamp. Therefore, the pinching action can be accurately exerted on the articles having the respective shapes by at least one of the plurality of pinching action portions. Therefore, it is possible to realize an article transfer device capable of transferring a plurality of shaped articles by accurately exerting a clamping action on each of the plurality of shaped articles.
In addition, according to the present feature configuration, when transferring a rectangular parallelepiped article, the first clamping action portion is formed on the side periphery of the rectangular parallelepiped article when the pair of clamping bodies are switched to the clamping state. It can engage with the joint and abut against the side periphery of the article to effect clamping. Further, when transferring a cylindrical article, if the pair of clamping bodies are switched to the clamping state, the second clamping action portion can be brought into contact with the side periphery of the cylindrical article to perform the clamping action. Therefore, even if it is a rectangular parallelepiped shaped article or a cylindrical shaped article, the article can be transferred while accurately exerting a clamping action on the article.
Furthermore, according to this characteristic configuration, when the cylindrical article is transferred, when the pair of sandwiching bodies is switched to the sandwiching state, the pair of inclined surface portions of the second sandwiching action portion are arranged on the side peripheral portion of the cylindrical article. It will abut. Therefore, even if the center of the cylindrical article is deviated from the center of the pair of sandwiched bodies when in the sandwiched state, the article is not only in the approach and separation direction of the pair of sandwiched bodies due to the contact of the inclined surface portion,
It is also moved in the direction in which the pair of sandwiching bodies are withdrawn and retracted so that the center of the pair of sandwiching bodies and the center of the cylindrical article when aligned can be aligned. In this way, the center of the pair of sandwiched bodies in the sandwiched state and the center of the cylindrical article can be aligned so that they are in contact with the side periphery of the cylindrical article. It can be pinched.
In addition , according to this characteristic configuration, when an article is transferred from the transfer target location to the main body mounting portion, the transfer control means controls the operation of the holding state switching means and the operation of the withdrawal / retreat driving means. The pair of sandwiching bodies are maintained in the released state and operated to project from the retracted position to the projecting position, and then the pair of sandwiching bodies are switched from the released state to the sandwiched state, so that the sandwiching action unit moves to the side periphery of the article. It can abut and exert a clamping action. Therefore, the article can be accurately sandwiched by the pair of sandwiching bodies, and then the transfer control unit controls the operation of the sandwiching state switching unit and the operation of the exit / retreat driving unit, thereby switching the paired state to the sandwiching state. The article can be transferred from the transfer target portion to the main body mounting portion by maintaining the holding body in the holding state and retracting from the protruding position to the retracted position.

また、本体載置部から移載対象箇所に物品を移載するときには、移載制御手段が挟持状態切換手段の作動及び出退駆動手段の作動を制御することで、一対の挟持体を挟持状態に維持して引退位置から突出位置に突出作動させることにより、挟持作用部にて物品の側周部に当接して挟持作用を発揮して、一対の挟持体にて物品を的確に挟持しながら、一対の挟持体を突出位置に突出させることができる。そして、移載制御手段が挟持状態切換手段の作動を制御することで、一対の挟持体を挟持状態から解除状態に切り換えることにより、本体載置部から移載対象箇所に物品を移載することができる。   In addition, when transferring an article from the main body mounting portion to a transfer target location, the transfer control means controls the operation of the holding state switching means and the operation of the withdrawal / retreat driving means, thereby holding the pair of holding bodies And holding the article in a projecting position from the retracted position to abut the side peripheral part of the article at the clamping action part and exhibit the clamping action, while accurately holding the article between the pair of clamping bodies The pair of sandwiching bodies can be protruded to the protruding position. Then, the transfer control means controls the operation of the holding state switching means so that the pair of holding bodies are switched from the holding state to the released state, thereby transferring the article from the main body mounting portion to the transfer target location. Can do.

そして、本体載置部から移載対象箇所に物品を移載するときに、突出位置に突出作動させた一対の挟持体を挟持状態から解除状態に切り換えるに当たり、一対の挟持体を物品から離間させるために必要な距離(解除状態において一対の挟持体と物品とが接触せずに一対の挟持体を引退できる位置まで挟持状態における位置から移動させる距離)が物品の形状により異なる。よって、物品の形状に応じて異なる必要な距離の最大距離に設定された一定距離だけ一対の挟持体を物品から離間させると、必要以上に一対の挟持体を移動させることになる場合もあり、物品移載にかかる時間が長くなる虞がある。そこで、本特徴構成によれば、突出位置に突出作動させた一対の挟持体を挟持状態から解除状態に切り換えるに当たり、一定の距離だけ一対の挟持体を物品から離間させるのではなく、物品の形状に応じて定められた設定距離だけ一対の挟持体を物品から離間させて挟持状態から解除状態に切り換えるべく、移載制御手段が持状態切換手段の作動を制御する。よって、一対の挟持体を物品から離間させる設定距離として、物品の形状の夫々に対応した必要最低限の距離を設定することができ、必要以上に一対の挟持体を移動させることを防止でき、物品移載にかかる時間を短くできる。 Then, when the article is transferred from the main body placement portion to the transfer target location, the pair of sandwiching bodies are separated from the article when the pair of sandwiching bodies that are operated to project to the projecting position is switched from the sandwiched state to the released state. The distance required for the movement (the distance moved from the position in the holding state to the position where the pair of holding bodies can be retracted without contacting the pair of holding bodies in the released state) differs depending on the shape of the article. Therefore, when the pair of sandwiched bodies are separated from the article by a certain distance set to the maximum distance of the required distance that varies depending on the shape of the article, the pair of sandwiched bodies may be moved more than necessary. There is a possibility that the time required to transfer the article becomes longer. Therefore, according to the present feature configuration, when switching the pair of sandwiched bodies that are operated to project to the projecting position from the sandwiched state to the released state, the pair of sandwiched bodies is not separated from the article by a certain distance, but the shape of the article. a set distance defined according to the pair of clamping body is separated from the article in order to switch to the released state from the clamping state, the transfer control means controls the operation of the clamping state switching device. Therefore, as the set distance for separating the pair of sandwiched bodies from the article, it is possible to set a necessary minimum distance corresponding to each of the shape of the article, and to prevent the pair of sandwiched bodies from being moved more than necessary, The time required for transferring the articles can be shortened.

本発明に係る物品収納設備の第1特徴構成は、物品収納棚の棚横幅方向に沿って走行自在な走行台車とその走行台車に立設された昇降マストに沿って昇降駆動される昇降台とを備えた物品搬送装置の前記昇降台に、上記本発明に係る物品移載装置の第1〜5特徴構成の何れかに記載の物品移載装置が備えられ、前記物品収納棚に棚横幅方向及び上下方向に並ぶ状態で備えられた複数の収納部、入庫用荷受部、及び、出庫用荷受部の夫々を移載対象箇所として前記物品搬送装置の作動を制御する搬送制御手段が備えられている点にある。   A first characteristic configuration of the article storage facility according to the present invention is a traveling carriage that can travel along the shelf width direction of the article storage shelf, and a lifting platform that is driven up and down along a lifting mast standing on the traveling carriage; An article transfer device according to any one of the first to fifth characteristic configurations of the article transfer device according to the present invention is provided on the lifting platform of the article transfer device, and the article storage shelf has a shelf width direction. And a transport control means for controlling the operation of the article transport device with each of a plurality of storage units arranged in a vertically aligned state, a receiving cargo receiving unit, and an outgoing cargo receiving unit as a transfer target location. There is in point.

本特徴構成によれば、物品移載装置を備えた物品搬送装置により、入庫用荷受部の物品を物品収納棚の複数の収納部の何れかに入庫することができ、収納部に収納されている物品を出庫用荷受部に出庫することができる。そして、上述の本発明に係る物品移載装置で述べた如く、物品搬送装置に備えられた物品移載装置は、複数の形状の物品の夫々に対して的確に挟持作用を発揮させて、複数の形状の物品を移載することができるので、複数の形状の物品を入庫用荷受部から収納部に入庫したり、複数の形状の物品を収納部から出庫用荷受部に出庫することができる。したがって、物品収納棚に異なる形状の物品を収納したいという要求に対応することができる有用な物品収納設備を実現できる。   According to this characteristic configuration, the article transporting device provided with the article transfer device can store the articles in the receiving section for warehousing into any of the plurality of storage sections of the article storage shelf, and is stored in the storage section. The goods which are in stock can be delivered to the goods receiving part for delivery. Then, as described in the article transfer device according to the present invention described above, the article transfer device provided in the article transport device accurately exerts a clamping action on each of a plurality of shapes of articles. Can be transferred to the storage unit from the receiving part for receiving goods, or can be transferred from the storage part to the receiving part for delivery. . Therefore, it is possible to realize a useful article storage facility that can meet the demand for storing articles of different shapes in the article storage shelf.

物品収納設備の平面図Top view of goods storage equipment 物品収納設備の側面図Side view of goods storage equipment 物品移載装置の平面図Plan view of the article transfer device 物品移載装置の側面図Side view of article transfer device 物品移載装置の側面図Side view of article transfer device 物品移載装置の側面図Side view of article transfer device 第1形状物品及び第2形状物品に対して一対の挟持体を挟持状態とした状態を示す平面図The top view which shows the state which made the paired clamping body the clamping state with respect to the 1st shape article and the 2nd shape article 第1形状物品に対する一対の挟持体の動作を示す平面図The top view which shows operation | movement of a pair of clamping body with respect to 1st shape articles | goods 第2形状物品に対する一対の挟持体の動作を示す平面図The top view which shows operation | movement of a pair of clamping body with respect to a 2nd shape article 別実施形態における持作用部を示す平面図The top view which shows the clamping action | operation part in another embodiment

本発明に係る物品移載装置を備えた物品収納設備の実施形態について図面に基づいて説明する。
この物品収納設備は、図1及び図2に示すように、物品を出し入れする前面が互いに対向するように間隔を隔てて設置した2つの物品収納棚1と、2つの物品収納棚1同士の間に形成した走行通路2を自動走行するスタッカークレーン3(物品搬送装置に相当する)とを備えて構成されている。
An embodiment of an article storage facility provided with an article transfer device according to the present invention will be described based on the drawings.
As shown in FIGS. 1 and 2, the article storage facility includes two article storage shelves 1 that are installed at an interval so that the front surfaces for putting in and out the articles face each other, and the two article storage shelves 1. And a stacker crane 3 (corresponding to an article conveying device) that automatically travels along the travel path 2 formed in the above.

各物品収納棚1は、棚横幅方向(水平方向)に間隔を隔てて立設した複数の支持体1aと、棚横幅方向に並ぶ支持体1a同士に亘って設けられた物品載置板1bとを備えて構成されている。そして、物品収納棚1は、物品載置板1bにて物品Bを載置支持する形態で物品Bを収納するように構成され、各物品Bを収納する収納部4が棚横幅方向及び上下方向に複数並ぶように設けられている。   Each of the article storage shelves 1 includes a plurality of support bodies 1a erected at intervals in the shelf width direction (horizontal direction), and an article placement board 1b provided across the support bodies 1a arranged in the shelf width direction. It is configured with. The article storage shelf 1 is configured to store the article B in a form in which the article B is placed and supported by the article placement plate 1b, and the storage unit 4 that stores each article B includes the shelf width direction and the vertical direction. Are arranged in a row.

物品収納棚1に対する物品Bの収納については、物品載置板1b上で棚横幅方向に複数の物品Bを並べる形態で物品Bを収納するように構成されている。そして、物品Bについては、バケット等の直方体形状の第1形状物品B1と、ロール紙を軸部の周部に巻回したもの等の円筒形状の第2形状物品B2との2種類の形状の物品Bが収納対象となっている。また、第2形状物品B2については、径方向での大きさが異なるものがある。   About storage of the article | item B with respect to the article | item storage shelf 1, it is comprised so that the article | item B may be accommodated in the form which arranges the some article | item B in the shelf width direction on the article mounting board 1b. And about the goods B, two types of shape of 1st-shaped goods B1 of rectangular parallelepiped shape, such as a bucket, and cylindrical-shaped 2nd-shaped goods B2, such as what wound roll paper around the circumference of a shaft part, are carried out. The article B is a storage target. Moreover, about 2nd shape article | item B2, the magnitude | size in a radial direction differs.

走行通路2には、その床側に走行レール5が棚横幅方向に沿って設置され、その天井側にガイドレール6が棚横幅方向に沿って設置されている。図示は省略するが、物品収納棚1に入庫する物品Bや物品収納棚1から出庫する物品Bを載置支持する荷載置部(入庫用荷受部及び出庫用荷受部に相当する)が棚横幅方向において物品収納棚1の側部に配置されている。そして、スタッカークレーン3は、走行レール5及びガイドレール6により棚横幅方向で物品収納棚1の全長及び荷載置部に亘って移動自在に構成されている。   In the traveling path 2, a traveling rail 5 is installed on the floor side along the shelf width direction, and a guide rail 6 is installed on the ceiling side along the shelf width direction. Although not shown in the drawings, a load placement section (corresponding to a warehousing receiving section and a warehousing receiving section) for placing and supporting the article B entering the article storage shelf 1 and the article B exiting from the article storage shelf 1 is a shelf width. It is arranged on the side of the article storage shelf 1 in the direction. The stacker crane 3 is configured to be movable by the travel rail 5 and the guide rail 6 over the entire length of the article storage shelf 1 and the load placement portion in the width direction of the shelf.

スタッカークレーン3は、図2に示すように、走行レール5に沿って走行自在な走行台車8と、その走行台車8に立設された昇降マスト9に沿って昇降自在な昇降台10と、その昇降台10に装備された物品移載装置11(本発明に係る物品移載装置に相当する)とを備えて構成されている。この実施形態では、物品移載装置11が2つ設けられており、2つの物品移載装置11は棚横幅方向に隣接して並ぶ状態で配置されている。   As shown in FIG. 2, the stacker crane 3 includes a traveling carriage 8 that can travel along the traveling rail 5, a lifting platform 10 that can be moved up and down along a lifting mast 9 that is erected on the traveling carriage 8, An article transfer device 11 (corresponding to the article transfer device according to the present invention) equipped on the lifting platform 10 is provided. In this embodiment, two article transfer apparatuses 11 are provided, and the two article transfer apparatuses 11 are arranged adjacent to each other in the shelf width direction.

昇降マスト9は、走行台車8の前端部と後端部の夫々に1つずつ前後一対設けられている。昇降マスト9の上端部には、一対の昇降マスト9の上端部同士を連結し且つガイドレール6に案内される上部フレーム12が設けられている。   A pair of elevating masts 9 is provided in the front and rear, one at each of the front end portion and the rear end portion of the traveling carriage 8. An upper frame 12 that connects the upper ends of the pair of elevating masts 9 and is guided by the guide rail 6 is provided at the upper end of the elevating mast 9.

昇降台10は、走行台車8に立設した一対の昇降マスト9にて昇降自在に案内支持されており、その左右両側に一端部が連結された昇降用チェーン13にて吊下げ支持されている。昇降用チェーン13は、複数の回転案内体(図示省略)に巻き掛けられ、複数の回転案内体にて案内されて配置されており、昇降用チェーン13の他端部が走行台車10の一端に装備した巻き取りドラム(図示省略)に連結されている。巻き取りドラムをインバータ式モータである昇降用電動モータ16を正逆に駆動回転させて、昇降用チェーン13の繰り出し操作や巻き取り操作を行うことで、昇降台10が昇降自在となっている。   The lifting platform 10 is supported and supported by a pair of lifting masts 9 erected on the traveling carriage 8 so as to be movable up and down, and is suspended and supported by a lifting chain 13 having one end connected to the left and right sides thereof. . The elevating chain 13 is wound around a plurality of rotation guide bodies (not shown) and is guided and arranged by the plurality of rotation guide bodies. The other end of the elevating chain 13 is connected to one end of the traveling carriage 10. It is connected to an equipped take-up drum (not shown). The elevating platform 10 can be moved up and down by rotating and rotating the elevating electric motor 16, which is an inverter-type motor, in the forward and reverse directions to perform the feeding operation and the winding operation of the elevating chain 13.

走行台車8には、走行レール5上を走行自在な車輪17が前端部及び後端部の夫々に1つずつ設けられ、2つの車輪17のうちの一方側の車輪が、インバータ式モータである走行用電動モータ18にて駆動される駆動輪17aとして構成され、他方側の車輪が、遊転自在な従動輪17bとして構成されている。走行用電動モータ18の作動により駆動輪17aを回転駆動させることで、走行台車8が走行レール5に沿って走行自在となっている。   The traveling carriage 8 is provided with one wheel 17 that can travel on the traveling rail 5 at each of the front end portion and the rear end portion, and one of the two wheels 17 is an inverter type motor. The driving wheel 17a is driven by the traveling electric motor 18, and the other wheel is configured as a freely driven driven wheel 17b. The traveling vehicle 8 can travel along the traveling rail 5 by rotating the drive wheel 17 a by the operation of the traveling electric motor 18.

走行レール5上での走行台車8の走行位置を検出するために、走行台車8には、走行用レーザ測距計(図示省略)が備えられている。この走行用レーザ測距計から走行レール5の端部に設置された反射体に対して測定用光を投光し、走行用レーザ測距計が反射体にて反射された測定用光を受光して、走行台車8から反射体までの距離を検出することで走行台車8の走行位置を検出している。   In order to detect the traveling position of the traveling carriage 8 on the traveling rail 5, the traveling carriage 8 is provided with a traveling laser rangefinder (not shown). Measurement light is projected from the traveling laser rangefinder to the reflector installed at the end of the traveling rail 5, and the traveling laser rangefinder receives the measurement light reflected by the reflector. Then, the traveling position of the traveling carriage 8 is detected by detecting the distance from the traveling carriage 8 to the reflector.

また、昇降経路上での昇降台10の昇降位置を検出するために、走行台車8には、昇降用レーザ測距計(図示省略)が備えられている。この昇降用レーザ測距計は、昇降台10の下端部に配置された反射体に対して上下方向に沿って測定用光を投光し、昇降用レーザ測距計が反射体にて反射された測定用光を受光して、走行台車8から昇降台10までの距離を検出することで昇降台10の昇降位置を検出している。   In order to detect the lift position of the lift 10 on the lift path, the traveling carriage 8 is provided with a lift laser rangefinder (not shown). This elevating laser rangefinder projects measuring light along the vertical direction to a reflector disposed at the lower end of the elevating platform 10, and the elevating laser rangefinder is reflected by the reflector. The lift position of the lift 10 is detected by receiving the measurement light and detecting the distance from the traveling carriage 8 to the lift 10.

図3〜図6に基づいて、物品移載装置11の構成について説明する。ここで、上述の如く、昇降台10には2つの物品移載装置11が備えられているが、2つの物品移載装置11は同様の構成であるので、1つの物品移載装置11についてのみ説明する。そして、物品移載装置11は、物品Bを移載方向に沿って搬送することで、収納部4や荷載置部の移載対象箇所との間で物品Bを移載するが、このときの移載方向は、棚前後幅方向となっており、移載方向に水平に直交する水平直交方向は、棚横幅方向となっている。   Based on FIGS. 3-6, the structure of the article transfer apparatus 11 is demonstrated. Here, as described above, the lifting platform 10 is provided with the two article transfer devices 11. However, since the two article transfer devices 11 have the same configuration, only the one article transfer device 11 is provided. explain. Then, the article transfer device 11 transfers the article B between the storage unit 4 and the transfer target portion of the loading unit by conveying the article B along the transfer direction. The transfer direction is the shelf front-rear width direction, and the horizontal orthogonal direction that is orthogonal to the transfer direction horizontally is the shelf width direction.

図3は、物品移載装置11の平面図を示しており、図4は、移載方向(図中X方向)での物品移載装置11の断面図を示しており、図5及び図6は、移載方向に水平に直交する水平直交方向(図中Y方向)での物品移載装置11の断面図を示している。   FIG. 3 shows a plan view of the article transfer device 11, and FIG. 4 shows a cross-sectional view of the article transfer device 11 in the transfer direction (X direction in the figure). These show sectional drawing of the article transfer apparatus 11 in the horizontal orthogonal direction (Y direction in a figure) orthogonally orthogonal to a transfer direction.

物品移載装置11は、物品Bを載置支持する本体載置部19と、水平直交方向(図中Y方向)に接近離間自在で且つ本体載置部19側に引退させた引退位置と移載対象箇所側に突出させた突出位置とに出退自在な一対の挟持体20と、一対の挟持体20を接近作動させて物品Bを両横から挟持する挟持状態と一対の挟持体20を離間作動させて物品Bに対する挟持を解除する解除状態とに切換自在な挟持状態切換手段21と、一対の挟持体20を引退位置と突出位置とに出退駆動させる出退駆動手段22とを備えている。そして、物品移載装置11は、一対の挟持体20にて物品Bを両横から挟持して出退することにより、本体載置部19と収納部4や荷載置部の移載対象箇所との間で物品Bを移載するサイドクランプ式にて構成されている。   The article transfer device 11 includes a main body placement portion 19 that places and supports the article B, and a retreat position that is movable toward and away from the horizontal placement direction (Y direction in the drawing) and retreated toward the main body placement portion 19. A pair of sandwiching bodies 20 that can be moved back and forth to a projecting position projecting toward the mounting target side, a sandwiching state in which the pair of sandwiching bodies 20 is operated to approach and sandwich the article B from both sides, and the pair of sandwiching bodies 20 A holding state switching unit 21 that can be switched to a released state in which the holding of the article B is released by operating the separation is provided, and an exit / retreat driving unit 22 that drives the pair of holding bodies 20 to retreat and project. ing. Then, the article transfer device 11 holds the article B from both sides with a pair of sandwiching bodies 20 and moves out of the main body placing portion 19 and the places to be transferred in the storage portion 4 and the load placing portion. It is comprised by the side clamp type which transfers the article | item B between.

本体載置部19は、水平直交方向(図中Y方向)に沿う軸心周りで遊転自在に支持されて移載方向(図中X方向)に並ぶ複数のローラ23を備えている。そして、複数のローラ23は、水平直交方向の長さの異なる2種類のローラから構成されており、長さの短いローラが、移載方向の中央部に配置され、長さの長いローラが、長さの短いローラの移載方向で両側に配置されている。   The main body mounting portion 19 includes a plurality of rollers 23 that are supported so as to be freely rotatable around an axis along a horizontal orthogonal direction (Y direction in the drawing) and are arranged in the transfer direction (X direction in the drawing). The plurality of rollers 23 are composed of two types of rollers having different lengths in the horizontal orthogonal direction, a roller having a short length is disposed at the center in the transfer direction, and a roller having a long length is It is arrange | positioned at both sides in the transfer direction of the short roller.

一対の挟持体20を接近作動及び離間作動させるための構成について説明する。
一対の挟持体20は、図3及び図4に示すように、水平直交方向(図中Y方向)の両側に振り分けて配置された一対の可動体24に支持されている。そして、一対の挟持体20は、水平直交方向(図中Y方向)で一対の可動体24と一体的に移動自在に設けられている。一対の可動体24の夫々は、図3及び図4に示すように、本体載置部19の移載方向(図中X方向)の中央部分において水平直交方向(図中Y方向)に沿って配置された一対のガイドレール25にスライド移動自在に設けられている。
A configuration for causing the pair of sandwiching bodies 20 to perform an approach operation and a separation operation will be described.
As shown in FIGS. 3 and 4, the pair of sandwiching bodies 20 are supported by a pair of movable bodies 24 that are distributed and arranged on both sides in the horizontal orthogonal direction (the Y direction in the figure). The pair of sandwiching bodies 20 are provided so as to be movable integrally with the pair of movable bodies 24 in the horizontal orthogonal direction (Y direction in the figure). As shown in FIGS. 3 and 4, each of the pair of movable bodies 24 is along the horizontal orthogonal direction (Y direction in the drawing) at the center portion of the transfer direction (X direction in the drawing) of the main body placement portion 19. A pair of guide rails 25 arranged are slidably provided.

挟持状態切換手段21は、一対の挟持体20を接近作動及び離間作動させるべく、一対の可動体24を水平直交方向(図中Y方向)に接近移動及び離間移動させる接近離間用電動モータ26を備えている。一対の可動体24の一方側には、接近離間用電動モータ26の出力軸に設けられた上下軸心周りに回転自在な駆動輪体27が配置され、一対の可動体24の他方側には、上下軸心周りに回転自在な受動輪体28が遊転自在に配置されている。駆動輪体27と受動輪体28とに亘ってワイヤ状の無端回転体29が巻き掛けられており、この無端回転体29の途中部分が、一対の可動体24の夫々に振り分けて連結されている。   The clamping state switching means 21 includes an approach / separation electric motor 26 that moves the pair of movable bodies 24 toward and away from each other in the horizontal orthogonal direction (Y direction in the drawing) in order to move the pair of sandwiching bodies 20 toward and away from each other. I have. On one side of the pair of movable bodies 24, a drive wheel body 27 that is rotatable around the vertical axis provided on the output shaft of the approaching / separating electric motor 26 is disposed, and on the other side of the pair of movable bodies 24. A passive ring body 28 that is rotatable around a vertical axis is disposed so as to be freely rotatable. A wire-like endless rotating body 29 is wound around the drive wheel body 27 and the passive wheel body 28, and a middle portion of the endless rotating body 29 is distributed and connected to each of the pair of movable bodies 24. Yes.

これにより、接近離間用電動モータ26を回転駆動させると、無端回転体29が上下軸心周りに回転駆動され、一対の可動体24がガイドレール25にて案内支持される状態で水平直交方向に移動される。よって、接近離間用電動モータ26を一方側に回転駆動させることで、一対の可動体24を接近移動させて一対の挟持体20を接近作動させ、一対の挟持体20にて物品Bを両横から挟持する挟持状態に切り換え自在となっている。また、接近離間用電動モータ26を他方側に回転駆動させることで、一対の可動体24を離間移動させて一対の挟持体20を離間作動させ、一対の挟持体20による物品Bに対する挟持を解除する解除状態に切り換え自在となっている。ちなみに、図4では、一対の挟持体20の間の距離が最大になるように一対の挟持体20を離間させた状態を実線にて示しており、一対の挟持体20の間の距離が最小になるように一対の挟持体20を接近させた状態を点線にて示している。   Thus, when the electric motor 26 for approaching / separating is driven to rotate, the endless rotating body 29 is driven to rotate around the vertical axis, and the pair of movable bodies 24 are guided and supported by the guide rails 25 in the horizontal orthogonal direction. Moved. Therefore, by rotating the electric motor 26 for approaching / separating to one side, the pair of movable bodies 24 is moved closer to move the pair of sandwiching bodies 20 closer to each other, and the pair of sandwiching bodies 20 moves the article B on both sides. It is possible to switch to a clamping state in which it is clamped. Further, the approaching / separating electric motor 26 is rotationally driven to the other side, so that the pair of movable bodies 24 are moved away from each other to cause the pair of sandwiching bodies 20 to be separated from each other, and the sandwiching of the article B by the pair of sandwiching bodies 20 is released. The release state can be switched freely. Incidentally, in FIG. 4, the state which separated the pair of clamping bodies 20 so that the distance between a pair of clamping bodies 20 may become the maximum is shown by the continuous line, and the distance between a pair of clamping bodies 20 is the minimum. A state in which the pair of sandwiching bodies 20 are brought close to each other is indicated by dotted lines.

一対の挟持体20を引退位置と突出位置とに出退作動させるための構成について説明する。
一対の挟持体20は、一対の可動体24に対して移載方向(図中X方向)に出退自在に支持されている。出退駆動手段22は、一対の挟持体20の夫々を一対の可動体24の夫々に対して突出移動及び引退移動させる出退用電動モータ30を備えている。出退用電動モータ30の出力軸には、図4及び図5に示すように、巻き掛け連動機構31を介して出退駆動軸32が連動連結されている。出退駆動軸32は、スプライン軸にて構成され、本体載置部19の移載方向(図中X方向)の中央部分において、水平直交方向(図中Y方向)に沿って一対の可動体24を貫通する状態で配置されている。一対の可動体24の夫々には、図6に示すように、出退駆動軸32にスプライン嵌合されて出退駆動軸32の回転駆動に伴って回転自在な第1歯輪33、その第1歯輪33に噛み合って第1歯輪33の回転により回転自在な第2歯輪34、及び、その第2歯輪34に噛み合って第2歯輪34の観点により回転自在な一対の第3歯輪35が備えられている。
A configuration for moving the pair of sandwiching bodies 20 to the retracted position and the protruding position will be described.
The pair of sandwiching bodies 20 are supported so as to be movable in and out of the pair of movable bodies 24 in the transfer direction (X direction in the figure). The exit / retreat driving means 22 includes an exit / retreat electric motor 30 that projects and retracts each of the pair of holding bodies 20 relative to each of the pair of movable bodies 24. As shown in FIGS. 4 and 5, an exit / retreat drive shaft 32 is interlocked and connected to the output shaft of the exit / retreat electric motor 30 via a winding interlock mechanism 31. The retractable drive shaft 32 is configured by a spline shaft, and a pair of movable bodies along the horizontal orthogonal direction (Y direction in the drawing) at the center portion of the main body mounting portion 19 in the transfer direction (X direction in the drawing). 24 is arranged in a state of passing through. As shown in FIG. 6, each of the pair of movable bodies 24 includes a first tooth ring 33, which is spline-fitted to the retractable drive shaft 32 and is rotatable as the retractable drive shaft 32 rotates. A second tooth ring 34 meshed with one tooth ring 33 and rotatable by rotation of the first tooth ring 33, and a pair of third gears meshed with the second tooth ring 34 and rotatable from the viewpoint of the second tooth ring 34. A tooth ring 35 is provided.

そして、移載方向に延びる出退案内部36が可動体24に対してローラ等の支持部により移載方向に出退自在に支持されている。出退案内部36の下端部には、可動体24に備えられた一対の第3歯輪35に噛み合うラック37が形成されている。挟持体20は、出退案内部36に対してローラ等の支持部により移載方向に出退自在に支持されている。また、図示は省略するが、一端部が可動体24に固定され且つ他端部が挟持体20に固定されて、中間部が出退案内部36の端部に備えられた回転案内体に巻き掛けられたワイヤ等の索状体が2本設けられており、出退案内部36が可動体24に対して移載方向に出退移動するに伴って、挟持体20が出退案内部36に対して移載方向に出退移動するようになっている。   The exit / retreat guide portion 36 extending in the transfer direction is supported by the support 24 such as a roller with respect to the movable body 24 so as to be able to move in and out in the transfer direction. A rack 37 that meshes with a pair of third tooth rings 35 provided in the movable body 24 is formed at the lower end of the exit / exit guide portion 36. The holding body 20 is supported by a support portion such as a roller with respect to the exit / retreat guide portion 36 so as to be movable in and out in the transfer direction. Although not shown, one end portion is fixed to the movable body 24 and the other end portion is fixed to the holding body 20, and the intermediate portion is wound around the rotation guide body provided at the end portion of the exit / retreat guide portion 36. Two cord-like bodies such as hooked wires are provided, and the holding body 20 is moved in and out in the transfer direction with respect to the movable body 24. Is moved in and out of the transfer direction.

これにより、出退用電動モータ30を回転駆動させると、巻き掛け連動機構31を介して出退駆動軸32を回転駆動され、その回転駆動に伴って第1歯輪33及び第2歯輪34を介して一対の第3歯輪35が回転される。そして、第3歯輪35がラック37と噛み合った状態で回転することにより出退案内部36を可動体24に対して移載方向に出退移動させ、その出退移動に伴って挟持体20が出退案内部36に対して移載方向に出退移動される。よって、出退用電動モータ30を一方側に回転駆動させることで、一対の挟持体20を引退位置から突出位置に突出作動させ、出退用電動モータ30を他方側に回転駆動させることで、一対の挟持体20を突出位置から引退位置に引退作動させる。   As a result, when the electric motor 30 is driven to rotate, the drive shaft 32 is driven to rotate via the winding interlocking mechanism 31, and the first tooth ring 33 and the second tooth ring 34 are accompanied by the rotation driving. A pair of 3rd tooth ring 35 is rotated via. Then, the third tooth ring 35 rotates in a state of being engaged with the rack 37 to move the withdrawal / retraction guide part 36 in and out of the movable body 24 in the transfer direction. Is moved in and out in the transfer direction with respect to the exit / exit guide 36. Therefore, by rotating the exit / exit electric motor 30 to one side, the pair of holding bodies 20 are operated to project from the retracted position to the projecting position, and the exit / exit electric motor 30 is rotationally driven to the other side, The pair of clamping bodies 20 are retracted from the protruding position to the retracted position.

本発明に係る物品移載装置11は、一対の挟持体20を接近作動させて物品Bを両横から挟持する挟持状態に切り換えることで、図7に示すように、物品Bの側周部に当接して挟持作用している。本発明に係る物品移載装置11は、移載対象の物品Bを、図7(a)に示す直方体形状の第1形状物品B1と図7(b)及び(c)に示す円筒形状の第2形状物品B2との形状の異なる複数種類の物品Bとしている。図7は、一対の挟持体20を挟持状態に切り換えた状態を示す平面図である。図7(b)は、径方向での大きさが大きい第2形状物品B2を示しており、図7(c)は、径方向での大きさが小さい第2形状物品B2を示している。   As shown in FIG. 7, the article transfer device 11 according to the present invention switches the gripping state in which the article B is sandwiched from both sides by moving the pair of sandwiching bodies 20 close to each other. It is abutting and pinching. In the article transfer device 11 according to the present invention, the article B to be transferred is a first rectangular article B1 shown in FIG. 7 (a) and a cylindrical shape shown in FIGS. 7 (b) and 7 (c). A plurality of types of articles B having different shapes from the two-shaped articles B2. FIG. 7 is a plan view showing a state in which the pair of sandwiching bodies 20 is switched to the sandwiching state. FIG. 7B shows the second shape article B2 having a large size in the radial direction, and FIG. 7C shows the second shape article B2 having a small size in the radial direction.

そこで、本発明に係る物品移載装置11では、第1形状物品B1及び第2形状物品B2の双方を適正に移載するために、一対の挟持体20の夫々には、挟持状態において異なる形状の複数種類の物品Bの夫々に対してその物品Bの側周部に当接して挟持作用する挟持作用部38が複数箇所備えられている。   Therefore, in the article transfer device 11 according to the present invention, in order to transfer both the first shape article B1 and the second shape article B2 appropriately, each of the pair of holding bodies 20 has a different shape in the holding state. Each of the plurality of types of articles B is provided with a plurality of pinching action portions 38 that abut on the side peripheral portion of the article B and perform a pinching action.

一対の挟持体20の夫々は、水平直交方向(図中Y方向)において互いに接近する側である物品Bに対向する対向面を有する板状体にて構成されており、持作用部38は、挟持体20の対向面に配置されている。そして、挟持作用部38として、第1形状物品B1の側周部に形成された被係合部41に係合自在な第1挟持作用部39と、第2形状物品B2の側周部に当接する第2挟持作用部40とが備えられている。 Each of the pair of holding member 20 is constituted by a plate-shaped body having a facing surface that faces the article B which is the side to approach each other in the horizontal direction perpendicular (Y direction in the figure), pinching action 38 , And disposed on the opposing surface of the sandwiching body 20. Then, as the clamping action part 38, the first clamping action part 39 that can be engaged with the engaged part 41 formed on the side circumferential part of the first shaped article B1 and the side circumferential part of the second shaped article B2 are contacted. A second clamping action part 40 is provided.

直方体形状の第1形状物品B1には、その側周部に外方側に突出するリブ等の被係合部41が形成されており、第1挟持作用部39には、被係合部41が係合自在な凹入状の係合溝42が形成されている。第2挟持作用部40は、板状体を折り曲げて形成されており、移載方向(図中X方向)の中央部ほど一対の挟持体20の接近離間方向(水平直交方向(図中Y方向))の離間側に凹入する一対の傾斜面部43を有する凹入溝状に形成されている。そして、第1挟持作用部39は、第2挟持作用部40を形成する板状体に取り付けられており、移載方向(図中X方向)において第2挟持作用部40を挟んで並ぶ状態で一対設けられている。また、第1挟持作用部39には、第2挟持作用部40の傾斜面部43に連なる連続傾斜部44が備えられている。ここで、傾斜面部43及び連続傾斜部44の双方は、直線状に傾斜するように形成されているが、一対の挟持体20の出退方向(図中X方向)に対する傾斜角度が異なっている。つまり、連続傾斜部44は、傾斜面部43よりも傾斜角度が大きくなっており、連続傾斜部44が、傾斜面部43よりも物品Bに近づく側に傾斜している。これにより、第2形状物品B2の外周部に沿って連なるように傾斜面部43及び連続傾斜部44を配置することができる。これにより、図7(b)に示すように、第2形状物品B2については、第2挟持作用部40だけでなく、第1挟持作用部39の連続傾斜部44によっても、物品Bの側周部に当接して挟持作用することができる。ちなみに、傾斜面部43及び連続傾斜部44の配置位置や形状を調整することによって、第2形状物品B2の外周部に沿って連なるように傾斜面部43及び連続傾斜部44を配置することもできる。   The first shape article B1 having a rectangular parallelepiped shape has an engaged portion 41 such as a rib projecting outward on the side peripheral portion thereof, and the first clamping action portion 39 has an engaged portion 41. A recess-like engagement groove 42 is formed to be freely engageable. The second sandwiching action part 40 is formed by bending a plate-like body, and the approaching / separating direction (horizontal orthogonal direction (Y direction in the figure)) of the pair of sandwiching bodies 20 toward the center in the transfer direction (X direction in the figure). )) Is formed in a recessed groove shape having a pair of inclined surface portions 43 that are recessed on the separated side. And the 1st clamping action part 39 is attached to the plate-shaped body which forms the 2nd clamping action part 40, and is in the state which puts the 2nd clamping action part 40 in order in the transfer direction (X direction in the figure). A pair is provided. Further, the first clamping action part 39 is provided with a continuous inclined part 44 that is continuous with the inclined surface part 43 of the second clamping action part 40. Here, both the inclined surface portion 43 and the continuous inclined portion 44 are formed so as to incline linearly, but the inclination angles with respect to the withdrawing / retracting direction (X direction in the drawing) of the pair of sandwiching bodies 20 are different. . That is, the continuous inclined portion 44 has a larger inclination angle than the inclined surface portion 43, and the continuous inclined portion 44 is inclined closer to the article B than the inclined surface portion 43. Thereby, the inclined surface part 43 and the continuous inclined part 44 can be arrange | positioned so that it may continue along the outer peripheral part of 2nd shape article B2. As a result, as shown in FIG. 7B, for the second shaped article B2, not only the second sandwiching action part 40 but also the continuous inclined part 44 of the first sandwiching action part 39 causes the side circumference of the article B to be It can abut and act on the part. Incidentally, the inclined surface part 43 and the continuous inclined part 44 can also be arrange | positioned so that it may continue along the outer peripheral part of 2nd shape article | item B2 by adjusting the arrangement position and shape of the inclined surface part 43 and the continuous inclined part 44.

以下、上述のように構成されたスタッカークレーン3の運転について説明する。
図示は省略するが、スタッカークレーン3には、スタッカークレーン3の運転を制御するクレーン制御装置(搬送制御手段、移載制御手段に相当する)が備えられている。クレーン制御装置は、地上側に設置された地上側コントローラからの指令に基づいて、荷載置部に入庫された物品Bを物品収納棚1の収納部4に収納する入庫動作や、物品収納棚1の収納部4に収納されている物品Bを荷載置部に搬送する出庫動作を行うべく、スタッカークレーン3の運転を制御する。このようにして、クレーン制御装置は、複数の収納部4、及び、荷載置部の夫々を移載対象箇所として、スタッカークレーン3の運転を制御する。
Hereinafter, the operation of the stacker crane 3 configured as described above will be described.
Although illustration is omitted, the stacker crane 3 is provided with a crane control device (corresponding to a transport control means and a transfer control means) for controlling the operation of the stacker crane 3. The crane control device is configured to store an article B received in the loading section in the storage section 4 of the article storage shelf 1 based on a command from the ground-side controller installed on the ground side, or the article storage shelf 1. The operation of the stacker crane 3 is controlled so as to carry out the unloading operation for conveying the article B stored in the storage unit 4 to the loading unit. In this way, the crane control device controls the operation of the stacker crane 3 with each of the plurality of storage units 4 and the loading unit as transfer target locations.

クレーン制御装置は、入庫動作及び出庫動作において、走行台車8の走行作動及び昇降台10の昇降作動を制御することにより、移載対象箇所となる収納部4又は荷載置部に対して設定された移載用位置に物品移載装置11を移動させ、移載用位置に物品移載装置11を位置させた状態において物品移載装置11の移載作動を制御することにより、移載対象箇所となる収納部4又は荷載置部との間で物品Bを移載する。   The crane control device is set for the storage unit 4 or the loading unit as a transfer target location by controlling the traveling operation of the traveling carriage 8 and the lifting operation of the lifting platform 10 in the entering operation and the leaving operation. By moving the article transfer device 11 to the transfer position and controlling the transfer operation of the article transfer device 11 in a state where the article transfer device 11 is positioned at the transfer position, The article B is transferred between the storage unit 4 or the loading unit.

入庫動作及び出庫動作におけるスタッカークレーン3の動作を具体的に説明すると、スレーン制御装置は、走行用レーザ測距計の検出情報に基づいて、走行台車8の走行位置を管理しており、その走行台車8の走行位置に基づいて走行用電動モータ18の作動を制御して走行台車8の走行作動を行うことで、棚横幅方向で移載用位置に物品移載装置11を移動させている。また、クレーン制御装置は、昇降用レーザ測距計の検出情報に基づいて、昇降台10の昇降位置を管理しており、その昇降台10の昇降位置に基づいて昇降用電動モータ16の作動を制御して昇降台10の昇降作動を行うことで、上下方向で移載用位置に物品移載装置11を移動させている。   The operation of the stacker crane 3 in the warehousing operation and the warehousing operation will be specifically described. The slane control device manages the traveling position of the traveling carriage 8 based on the detection information of the traveling laser rangefinder, and the traveling By controlling the operation of the traveling electric motor 18 based on the traveling position of the carriage 8 and performing the traveling operation of the traveling carriage 8, the article transfer device 11 is moved to the transfer position in the shelf width direction. The crane control device manages the lifting position of the lifting platform 10 based on the detection information of the lifting laser range finder, and operates the lifting motor 16 based on the lifting position of the lifting platform 10. The article transfer device 11 is moved to the transfer position in the up-down direction by performing the lifting operation of the lifting platform 10 under control.

このようにして、クレーン制御装置が、走行台車8の走行作動及び昇降台10の昇降作動を行うことで移載用位置に物品移載装置11を位置させると、持状態切換手段21及び出退駆動手段22の作動を制御することで物品移載装置11の移載作動を行い、物品移載装置11の本体載置部19と収納部4又は荷載置部との間で物品Bを移載する。 In this way, when the crane control device performs the traveling operation of the traveling carriage 8 and the lifting operation of the lifting platform 10 to position the article transfer device 11 at the transfer position, the clamping state switching means 21 and the output device The transfer operation of the article transfer device 11 is performed by controlling the operation of the retracting drive means 22, and the article B is transferred between the main body placement portion 19 of the article transfer device 11 and the storage portion 4 or the load placement portion. Included.

つまり、収納部4又は荷載置部から本体載置部19に物品Bを移載するときには、クレーン制御装置が、一対の挟持体20を解除状態に維持して引退位置から突出位置に突出作動させたのち、一対の挟持体20を解除状態から挟持状態に切り換えるべく、持状態切換手段21及び出退駆動手段22の作動を制御する。その後、クレーン制御装置は、挟持状態に切り換えた一対の挟持体20を挟持状態に維持して突出位置から引退位置に引退作動させるべく、持状態切換手段21及び出退駆動手段22の作動を制御する。 That is, when the article B is transferred from the storage unit 4 or the loading unit to the main unit mounting unit 19, the crane control device maintains the pair of sandwiching bodies 20 in the released state and operates to project from the retracted position to the protruding position. After the order to switch the pair of holding member 20 from the release state to the clamping state, to control the operation of the clamping state switching device 21 and the projecting and retracting the drive means 22. Thereafter, the crane control device operates the sandwiching state switching means 21 and the retracting drive means 22 so as to retract the pair of sandwiching bodies 20 switched to the sandwiching state from the projecting position to the retracted position while maintaining the sandwiching state. Control.

ここで、本発明に係る物品移載装置11は、移載対象の物品Bが、形状の異なる第1形状物品B1と第2形状物品B2になっているが、第1形状物品B1と第2形状物品B2のどちらを移載対象の物品Bとしているか及び第2形状物品B2であれば径方向での大きさを示す移載対象物品情報が地上側コントローラからクレーン制御装置に指令されている。よって、クレーン制御装置は、地上側コントローラからの移載対象物品情報に基づいて、第1形状物品B1と第2形状物品B2のどちらを移載対象の物品Bとしているか及び第2形状物品B2であれば径方向での大きさを把握している。   Here, in the article transfer device 11 according to the present invention, the articles B to be transferred are the first shape article B1 and the second shape article B2 having different shapes, but the first shape article B1 and the second shape article B2 are different. Which of the shaped article B2 is the article B to be transferred and, if it is the second shaped article B2, transfer target article information indicating the size in the radial direction is commanded from the ground controller to the crane control device. Therefore, the crane control device determines which of the first shape article B1 and the second shape article B2 is the transfer target article B based on the transfer target article information from the ground-side controller and the second shape article B2. If there is, we know the size in the radial direction.

そして、クレーン制御装置は、突出位置に突出作動させた一対の挟持体20を解除状態から挟持状態に切り換えるに当たり、予め定められた接近距離だけ一対の挟持体20を接近作動させる。ここで、接近距離については、第1形状物品B1と第2形状物品B2との形状の異なる夫々の物品Bに対して定められており、第2形状物品B2の場合には、その径方向での大きさに応じて定められている。よって、クレーン制御装置は、予め定められた接近距離だけ一対の挟持体20を接近作動させることで、一対の挟持体20を解除除隊から挟持状態に切り換えることができる。また、クレーン制御装置は、接近距離だけ一対の挟持体20を接近作動させたときの接近離間用電動モータ26のトルク値を監視しており、そのトルク値が設定トルク値以上となっていると、一対の挟持体20を適正に挟持状態に切り換えていると判別して、一対の挟持体20を挟持状態に維持して突出位置から引退位置への引退作動を開始している。   Then, the crane control device causes the pair of sandwiching bodies 20 to approach each other for a predetermined approach distance when switching the pair of sandwiching bodies 20 that have been projected to the projecting position from the released state to the sandwiching state. Here, the approach distance is determined for each article B having a different shape between the first shape article B1 and the second shape article B2, and in the case of the second shape article B2, It is determined according to the size of. Therefore, the crane control device can switch the pair of sandwiching bodies 20 from the release discharge to the sandwiched state by causing the pair of sandwiching bodies 20 to approach each other for a predetermined approach distance. Moreover, the crane control apparatus monitors the torque value of the electric motor 26 for approaching / separating when the pair of sandwiching bodies 20 are actuated to approach the distance of approach, and the torque value is equal to or greater than the set torque value. Then, it is determined that the pair of sandwiching bodies 20 is properly switched to the sandwiching state, and the pair of sandwiching bodies 20 is maintained in the sandwiching state, and the retraction operation from the projecting position to the retracting position is started.

また、本体載置部19から収納部4又は荷載置部に物品Bを移載するときには、クレーン制御装置が、一対の挟持体20を挟持状態に維持して引退位置から突出位置に突出作動させたのち(図8(a)及び図9(a)参照)、一対の挟持体を挟持状態から解除状態に切り換えるべく(図8(b)及び図9(b)参照)、持状態切換手段21及び出退駆動
手段22の作動を制御する。その後、クレーン制御装置は、解除状態に切り換えた一対の挟持体を解除状態に維持して突出位置から引退位置に引退作動させるべく、持状態切換手段21及び出退駆動手段22の作動を制御する。
Further, when the article B is transferred from the main body placing portion 19 to the storage portion 4 or the load placing portion, the crane control device maintains the pair of sandwiching bodies 20 in the sandwiched state and projects the projecting position from the retracted position to the projecting position. After that (see FIGS. 8 (a) and 9 (a)), in order to switch the pair of sandwiching bodies from the sandwiched state to the released state (see FIGS. 8 (b) and 9 (b)), the sandwiching state switching means 21 and the exit / retreat driving means 22 are controlled. Thereafter, the crane control device, in order to retire actuated retracted position from the projecting position to maintain the pair of holding member is switched to the release state to the released state, controls the operation of the clamping state switching device 21 and the projecting and retracting drive unit 22 To do.

ここで、クレーン制御装置は、突出位置に突出作動させた一対の挟持体20を挟持状態から解除状態に切り換えるに当たり、物品Bの形状に応じて定められた設定距離だけ一対の挟持体20を物品Bから離間させて挟持状態から解除状態に切り換えるべく、持状態切換手段21の作動を制御する。つまり、持作用部38と物品Bとが接触することなく一対の挟持体20を突出位置から引退位置に適正に引退させるために、一対の挟持体20を物品Bから離間させなければならない距離が第1形状物品B1と第2形状物品B2とで異なるので、挟持状態から解除状態に切り換える際に、一対の挟持体20を物品Bから離間させる距離として物品Bの形状に応じて設定距離が設定されている。 Here, when the crane control device switches the pair of sandwiching bodies 20 that have been operated to project to the projecting position from the sandwiched state to the released state, the crane control apparatus moves the pair of sandwiched bodies 20 to the article by a set distance determined according to the shape of the article B. The operation of the clamping state switching means 21 is controlled so as to be separated from B and switched from the clamping state to the releasing state. That is, in order to properly retire retracted position a pair of holding member 20 from the projecting position without contact between the pinching action portion 38 and the article B, it must be separated from the pair of holding member 20 from the article B Distance Since the first shaped article B1 and the second shaped article B2 are different, when switching from the sandwiched state to the released state, the set distance is set as a distance for separating the pair of sandwiched bodies 20 from the article B according to the shape of the article B. Is set.

第1形状物品B1については、図8(b)に示すように、第1挟持作用部39の係合溝42と第1形状物品B1の被係合部41とが一対の挟持体20を引退させるときに当たらない位置まで一対の挟持体20を第1形状物品B1から離間させるまでの距離D1を設定距離として設定されている。それに対して、第2形状物品B2については、図9(b)に示すように、第1挟持作用部39と第2形状物品B1の側周部とが一対の挟持体20を引退させるときに当たらない位置まで一対の挟持体20を第2形状物品B2から離間させるまでの距離D2(距離D1よりも長い距離)を設定距離として設定されている。ここで、第2形状物品B2については、図7(b)及び(c)に示すように、径方向の大きさが大きいものと小さいものがあるが、径方向の大きさが大きいものも小さいものも、距離D1よりも長い距離である同一の距離D2を設定距離として設定されている。また、第1挟持作用部39と第2形状物品B1の側周部とが一対の挟持体20を引退させるときに当たらない位置まで一対の挟持体20を第2形状物品B2から離間させるまでの距離D2が径方向の大きさによって異なる場合には、径方向の大きさに応じて設定距離を変更して設定することもできる。ちなみに、図9(b)において点線は図9(a)の挟持状態における挟持体20の位置を示している。   As for the first shaped article B1, as shown in FIG. 8B, the engaging groove 42 of the first clamping action part 39 and the engaged part 41 of the first shaped article B1 retract the pair of sandwiched bodies 20. The distance D1 until the pair of sandwiching bodies 20 are separated from the first shaped article B1 up to a position where they do not hit is set as the set distance. On the other hand, as for 2nd shape article B2, as shown in FIG.9 (b), when the 1st clamping action part 39 and the side periphery of 2nd shape article B1 retreat a pair of clamping body 20 A distance D2 (a distance longer than the distance D1) until the pair of sandwiching bodies 20 are separated from the second shape article B2 to a position where they do not hit is set as a set distance. Here, as for the second shaped article B2, as shown in FIGS. 7B and 7C, there are a large size and a small size in the radial direction, but a small size in the radial direction is also small. Also, the same distance D2 that is longer than the distance D1 is set as the set distance. In addition, until the pair of sandwiching bodies 20 is separated from the second shaped article B2 to a position where the first sandwiching action portion 39 and the side peripheral portion of the second shaped article B1 do not contact when the pair of sandwiching bodies 20 are retracted. When the distance D2 differs depending on the size in the radial direction, the set distance can be changed and set according to the size in the radial direction. Incidentally, the dotted line in FIG.9 (b) has shown the position of the clamping body 20 in the clamping state of Fig.9 (a).

これにより、クレーン制御装置は、本体載置部19から収納部4又は荷載置部に第1形状物品B1を移載するときには、一対の挟持体20を挟持状態に維持して引退位置から突出位置に突出作動させたのち(図8(a)参照)、第1形状物品B1に対して設定された設定距離D1だけ一対の挟持体20を第1形状物品B1から離間させて一対の挟持体を挟持状態から解除状態に切り換えるべく(図8(b)参照)、持状態切換手段21及び出退駆動手段22の作動を制御する。
また、クレーン制御装置は、本体載置部19から収納部4又は荷載置部に第2形状物品B2を移載するときには、一対の挟持体20を挟持状態に維持して引退位置から突出位置に突出作動させたのち(図9(a)参照)、第2形状物品B2に対して設定された設定距離D2だけ一対の挟持体20を第2形状物品B2から離間させて一対の挟持体を挟持状態から解除状態に切り換えるべく(図9(b)参照)、持状態切換手段21及び出退駆動手段22の作動を制御する。
Thereby, when transferring the first shaped article B1 from the main body placing portion 19 to the storage portion 4 or the load placing portion, the crane control device maintains the pair of sandwiching bodies 20 in the sandwiched state and protrudes from the retracted position. (See FIG. 8A), the pair of sandwiching bodies 20 are separated from the first shaped article B1 by a set distance D1 set with respect to the first shaped article B1, and the pair of sandwiching bodies are formed. In order to switch from the sandwiched state to the released state (see FIG. 8B), the operations of the sandwiched state switching means 21 and the exit / retreat drive means 22 are controlled.
Further, when transferring the second shaped article B2 from the main body placing portion 19 to the storage portion 4 or the load placing portion, the crane control device maintains the pair of sandwiching bodies 20 in the sandwiched state and moves from the retracted position to the projecting position. After the protruding operation (see FIG. 9A), the pair of sandwiching bodies 20 are separated from the second shaped article B2 by the set distance D2 set with respect to the second shaped article B2, and the pair of sandwiching bodies are sandwiched. to switch from the state to the release state (see FIG. 9 (b)), controls the operation of the clamping state switching device 21 and the projecting and retracting the drive means 22.

〔別実施形態〕
(1)上記実施形態において、第1挟持作用部39及び第2挟持作用部40の構成や形状等については適宜変更が可能である。
例えば、図10に示すように、第2挟持作用部40は、上記実施形態と同様に、板状体を折り曲げて形成されており、移載方向(図中X方向)の中央部ほど一対の挟持体20の接近離間方向(水平直交方向(図中Y方向))の離間側に凹入する一対の傾斜面部43を有する凹入溝状に形成する。そして、第1挟持作用部39を、第1形状物品B1の側周部に形成された被係合部41に係合自在な凹入形状(U字状)の部材にて構成することができる。
[Another embodiment]
(1) In the above embodiment, the configurations and shapes of the first clamping action part 39 and the second clamping action part 40 can be changed as appropriate.
For example, as shown in FIG. 10, the second clamping action portion 40 is formed by bending a plate-like body, as in the above embodiment, and a pair of the center portion in the transfer direction (X direction in the figure). The sandwiching body 20 is formed in a recessed groove shape having a pair of inclined surface portions 43 that are recessed on the separating side in the approaching / separating direction (horizontal orthogonal direction (Y direction in the drawing)). And the 1st clamping action part 39 can be comprised with the recessed shape (U-shaped) member which can be engaged with the to-be-engaged part 41 formed in the side periphery part of 1st shape goods B1. .

(2)上記実施形態では、物品Bの形状として、直方体形状の第1形状物品B1と円筒形状の第2形状物品B2とを例示しているが、これらの形状に限らず、三角柱状の物品も適応可能であり、その他各種の形状の物品を適応することができる。そして、物品の形状を適宜変更した場合には、例えば、持作用部として、各形状の物品の側周部に当接して挟持作用する形状毎の持作用部を備えることができる。 (2) In the above embodiment, the shape of the article B is exemplified by the rectangular parallelepiped first shaped article B1 and the cylindrical second shaped article B2. However, the shape is not limited to these shapes, and a triangular prism shaped article. Can be applied, and various other shaped articles can be applied. Then, the shape of the article when appropriately modified, for example, as a clamping acting portion may be provided with a clamping action of each shape acting clamping contact with the side periphery of the article of the shape.

(3)上記実施形態では、本発明に係る物品移載装置を装備した物品搬送装置として、スタッカークレーン3に適応した例を示したが、物品移載装置を装備して、複数の物品移載箇所にわたる走行経路を走行する走行車体を設けている物品搬送車に適応することも可能であり、各種の物品搬送装置に適応することが可能である。また、物品搬送装置を備えずに、本発明に係る物品移載装置を載置台等の移載対象箇所に隣接する設置箇所に固定状態で設置して移載対象箇所との間で物品を移載するように用いることもできる。 (3) In the above-described embodiment, an example in which the article transfer device equipped with the article transfer device according to the present invention is applied to the stacker crane 3 is shown. However, the article transfer device is equipped with a plurality of article transfer devices. The present invention can be applied to an article transport vehicle provided with a traveling vehicle body that travels along a travel route extending over several places, and can be applied to various article transport apparatuses. In addition, the article transfer device according to the present invention may be installed in a fixed state at an installation location adjacent to the transfer target location such as a mounting table and the article transfer device may be transferred to and from the transfer target location without providing an article transfer device. It can also be used as described.

1 物品収納棚
3 物品搬送装置
4 収納部
8 走行台車
9 昇降マスト
10 昇降台
11 物品移載装置
19 本体載置部
20 挟持体
21 挟持状態切換手段
22 出退駆動手段
38 持作用部
39 第1挟持作用部
40 第2挟持作用部
41 被係合部
42 係合溝
43 傾斜面部
44 連続傾斜部
B 物品
B1 直方体形状の物品
B2 円筒形状の物品
1 the article storage rack 3 article transport device 4 accommodating portion 8 traveling carriage 9 lifting mast 10 elevation frame 11 article transfer device 19 main body mounting portion 20 Kyojitai 21 nipping state switching means 22 extending and retracting the drive means 38 clamping action section 39 first 1 clamping action part 40 2nd clamping action part 41 engaged part 42 engaging groove 43 inclined surface part 44 continuous inclined part B article B1 rectangular parallelepiped article B2 cylindrical article

Claims (4)

物品を載置支持自在な本体載置部と、水平方向に接近離間自在で且つ前記本体載置部側に引退させた引退位置と前記本体載置部から移載対象箇所側に突出させた突出位置とに出退自在な一対の挟持体と、前記一対の挟持体を接近作動させて物品を両横から挟持する挟持状態と前記一対の挟持体を離間作動させて物品に対する挟持を解除する解除状態とに切換自在な挟持状態切換手段と、前記一対の挟持体を前記引退位置と前記突出位置とに出退駆動させる出退駆動手段とが設けられている物品移載装置であって、
前記一対の挟持体の夫々には、前記挟持状態において異なる形状の複数種類の物品の夫々に対してその物品の側周部に当接して挟持作用する挟持作用部が複数箇所備えられ
前記挟持作用部として、直方体形状の物品の側周部に形成された被係合部に係合自在な第1挟持作用部と、円筒形状の物品の側周部に当接する第2挟持作用部とが備えられ、
前記第2挟持作用部は、前記挟持体の出退方向における中央部ほど前記一対の挟持体の接近離間方向の離間側に凹入する一対の傾斜面部を有する凹入溝状に形成され、
前記第1挟持作用部は、前記挟持体の出退方向において前記第2挟持作用部を挟んで並ぶ状態で一対設けられ、且つ、前記第2挟持作用部の前記傾斜面部に連なる連続傾斜部が備えられている物品移載装置。
A main body placing portion that can freely place and support articles, a retreat position that is movable toward and away from the horizontal and retracted toward the main body placing portion, and a protrusion that protrudes from the main body placing portion toward the transfer target location. A pair of holding bodies that can be moved back and forth to a position, a holding state in which the pair of holding bodies are operated to approach each other to hold the article from both sides, and a release operation that releases the pair of holding bodies from each other to separate the article. An article transfer device provided with a holding state switching means switchable to a state, and an exit / retreat driving means for driving the pair of sandwiching bodies into and out of the retracted position and the protruding position,
Each of the pair of sandwiching bodies is provided with a plurality of sandwiching action parts that abut on the side peripheral portion of the article and sandwich and act on each of a plurality of types of articles having different shapes in the sandwiched state ,
As the sandwiching action part, a first sandwiching action part that can be engaged with an engaged part formed on a side peripheral part of a rectangular parallelepiped article, and a second sandwiching action part that comes into contact with the side peripheral part of the cylindrical article And
The second sandwiching action part is formed in a recessed groove shape having a pair of inclined surface parts that are recessed toward the separating side in the approaching / separating direction of the pair of sandwiching bodies toward the center part in the retracting direction of the sandwiching body,
A pair of the first clamping action portions are provided in a state in which the second clamping action portions are arranged in the retracting direction of the clamping body, and a continuous inclined portion connected to the inclined surface portion of the second clamping action portion is provided. article transfer apparatus is provided.
移載対象箇所から前記本体載置部に物品を移載するときには、前記一対の挟持体を前記解除状態に維持して前記引退位置から前記突出位置に突出作動させたのち、前記一対の挟持体を前記解除状態から前記挟持状態に切り換え、その後前記一対の挟持体を前記挟持状態に維持して前記突出位置から前記引退位置に引退作動させるべく、前記挟持状態切換手段の作動及び前記出退駆動手段の作動を制御し、且つ、前記本体載置部から移載対象箇所に物品を移載するときには、前記一対の挟持体を前記挟持状態に維持して前記引退位置から前記突出位置に突出作動させたのち、前記一対の挟持体を前記挟持状態から前記解除状態に切り換え、その後前記一対の挟持体を前記解除状態に維持して前記突出位置から前記引退位置に引退作動させるべく、前記挟持状態切換手段の作動及び前記出退駆動手段の作動を制御する移載制御手段が備えられ、
前記移載制御手段は、前記本体載置部から移載対象箇所に物品を移載するときに、前記突出位置に突出作動させた前記一対の挟持体を前記挟持状態から前記解除状態に切り換えるに当たり、物品の形状に応じて定められた設定距離だけ前記一対の挟持体を物品から離間させて前記挟持状態から前記解除状態に切り換えるべく、前記持状態切換手段の作動を制御する請求項1に記載の物品移載装置。
When transferring an article from a transfer target location to the main body placing portion, the pair of holding bodies are operated by projecting from the retracted position to the protruding position while maintaining the pair of holding bodies in the released state. Is switched from the released state to the sandwiched state, and then the operation of the sandwiched state switching means and the withdrawing / retreating drive are performed so that the pair of sandwiched bodies is maintained in the sandwiched state and retracted from the protruding position to the retracted position. When controlling the operation of the means and transferring the article from the main body mounting portion to the transfer target location, the pair of holding bodies are maintained in the holding state and the protrusion operation is performed from the retracted position to the protruding position. After that, the pair of sandwiching bodies are switched from the sandwiched state to the released state, and then the pair of sandwiched bodies are maintained in the released state and are retracted from the protruding position to the retracted position. Transfer control means is provided for controlling the operation of working and the exit-retraction drive means of the clamping state switching device,
The transfer control unit is configured to switch the pair of holding members that are operated to protrude to the protruding position from the holding state to the released state when transferring an article from the main body mounting unit to a transfer target location. The operation of the clamping state switching means is controlled so that the pair of clamping bodies are separated from the article by a set distance determined according to the shape of the article and switched from the clamping state to the release state. The article transfer apparatus according to the description.
物品を載置支持自在な本体載置部と、水平方向に接近離間自在で且つ前記本体載置部側に引退させた引退位置と前記本体載置部から移載対象箇所側に突出させた突出位置とに出退自在な一対の挟持体と、前記一対の挟持体を接近作動させて物品を両横から挟持する挟持状態と前記一対の挟持体を離間作動させて物品に対する挟持を解除する解除状態とに切換自在な挟持状態切換手段と、前記一対の挟持体を前記引退位置と前記突出位置とに出退駆動させる出退駆動手段とが設けられている物品移載装置であって、
前記一対の挟持体の夫々には、前記挟持状態において異なる形状の複数種類の物品の夫々に対してその物品の側周部に当接して挟持作用する挟持作用部が複数箇所備えられ、
前記挟持作用部として、直方体形状の物品の側周部に形成された被係合部に係合自在な第1挟持作用部と、円筒形状の物品の側周部に当接する第2挟持作用部とが備えられ
前記第2挟持作用部は、前記挟持体の出退方向における中央部ほど前記一対の挟持体の接近離間方向の離間側に凹入する一対の傾斜面部を有する凹入溝状に形成され、
移載対象箇所から前記本体載置部に物品を移載するときには、前記一対の挟持体を前記解除状態に維持して前記引退位置から前記突出位置に突出作動させたのち、前記一対の挟持体を前記解除状態から前記挟持状態に切り換え、その後前記一対の挟持体を前記挟持状態に維持して前記突出位置から前記引退位置に引退作動させるべく、前記挟持状態切換手段の作動及び前記出退駆動手段の作動を制御し、且つ、前記本体載置部から移載対象箇所に物品を移載するときには、前記一対の挟持体を前記挟持状態に維持して前記引退位置から前記突出位置に突出作動させたのち、前記一対の挟持体を前記挟持状態から前記解除状態に切り換え、その後前記一対の挟持体を前記解除状態に維持して前記突出位置から前記引退位置に引退作動させるべく、前記挟持状態切換手段の作動及び前記出退駆動手段の作動を制御する移載制御手段が備えられ、
前記移載制御手段は、前記本体載置部から移載対象箇所に物品を移載するときに、前記突出位置に突出作動させた前記一対の挟持体を前記挟持状態から前記解除状態に切り換えるに当たり、物品の形状に応じて定められた設定距離だけ前記一対の挟持体を物品から離間させて前記挟持状態から前記解除状態に切り換えるべく、前記挟持状態切換手段の作動を制御する物品移載装置。
A main body placing portion that can freely place and support articles, a retreat position that is movable toward and away from the horizontal and retracted toward the main body placing portion, and a protrusion that protrudes from the main body placing portion toward the transfer target location. A pair of holding bodies that can be moved back and forth to a position, a holding state in which the pair of holding bodies are operated to approach each other to hold the article from both sides, and a release operation that releases the pair of holding bodies from each other to separate the article. An article transfer device provided with a holding state switching means switchable to a state, and an exit / retreat driving means for driving the pair of sandwiching bodies into and out of the retracted position and the protruding position,
Each of the pair of sandwiching bodies is provided with a plurality of sandwiching action parts that abut on the side peripheral portion of the article and sandwich and act on each of a plurality of types of articles having different shapes in the sandwiched state,
As the sandwiching action part, a first sandwiching action part that can be engaged with an engaged part formed on a side peripheral part of a rectangular parallelepiped article, and a second sandwiching action part that comes into contact with the side peripheral part of the cylindrical article door is provided,
The second sandwiching action part is formed in a recessed groove shape having a pair of inclined surface parts that are recessed toward the separating side in the approaching / separating direction of the pair of sandwiching bodies toward the center part in the retracting direction of the sandwiching body,
When transferring an article from a transfer target location to the main body placing portion, the pair of holding bodies are operated by projecting from the retracted position to the protruding position while maintaining the pair of holding bodies in the released state. Is switched from the released state to the sandwiched state, and then the operation of the sandwiched state switching means and the withdrawing / retreating drive are performed so that the pair of sandwiched bodies is maintained in the sandwiched state and retracted from the protruding position to the retracted position. When controlling the operation of the means and transferring the article from the main body mounting portion to the transfer target location, the pair of holding bodies are maintained in the holding state and the protrusion operation is performed from the retracted position to the protruding position. After that, the pair of sandwiching bodies are switched from the sandwiched state to the released state, and then the pair of sandwiched bodies are maintained in the released state and are retracted from the protruding position to the retracted position. Transfer control means is provided for controlling the operation of working and the exit-retraction drive means of the clamping state switching device,
The transfer control unit is configured to switch the pair of holding members that are operated to protrude to the protruding position from the holding state to the released state when transferring an article from the main body mounting unit to a transfer target location. An article transfer device for controlling the operation of the clamping state switching means so that the pair of clamping bodies are separated from the article by a set distance determined according to the shape of the article and switched from the clamping state to the release state .
物品収納棚の棚横幅方向に沿って走行自在な走行台車とその走行台車に立設された昇降マストに沿って昇降駆動される昇降台とを備えた物品搬送装置の前記昇降台に、請求項1〜3の何れか1項に記載の物品移載装置が備えられ、  Claiming to the lifting platform of the article conveying apparatus comprising a traveling carriage that can travel along the width direction of the shelf of the article storage shelf, and a lifting platform that is driven up and down along a lifting mast standing on the traveling carriage. The article transfer device according to any one of 1 to 3 is provided,
前記物品収納棚に棚横幅方向及び上下方向に並ぶ状態で備えられた複数の収納部、入庫用荷受部、及び、出庫用荷受部の夫々を移載対象箇所として前記物品搬送装置の作動を制御する搬送制御手段が備えられている物品収納設備。  Control of the operation of the article transporting apparatus with the plurality of storage units, storage cargo receiving units, and storage cargo receiving units provided in a state in which the product storage shelves are arranged in the horizontal and vertical directions of the shelf as transfer target locations. An article storage facility provided with a conveyance control means.
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