JPH03211103A - Wire driving picker device - Google Patents

Abstract

PURPOSE:To expedite picking and loading by providing a wire driving picker device used in a factory or the like with a travel wire stretched in a loop between the upper and lower parts of a travel body, and fixing a travel wire driving drum at the intermediate part of the wire, outside the travel body. CONSTITUTION:When a travel wire driving drum 4 is rotated, the upper fixed part 23 of a mast 2 and the lower fixed part 37 of a travel body 1 are pulled by a wire in the same direction so as to run the travel body 1 to the left or right according to the rotating direction of the drum 4. When an elevating wire driving drum 21 is driven, an elevating base 5 is elevated in the same way through an elevating wire 20. An article gripping hand is then operated by a cylinder 7 to grip an article for processing.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention can be used to store parts, products, etc. in small and medium-sized warehouses and factories.
The present invention relates to a wire-driven picker device that carries in/out, transfers, and transfers articles such as tools from a predetermined location to a predetermined location.

(Prior Art) Traveling of a traveling body of a conventional picker device and lifting and lowering of a picking device, a loading device, and an unloading device mounted thereon are performed by a motor and its transmission mechanism installed in the traveling body.

There is also a picker device in which the lower part of the traveling body is driven by a chain or screw shaft.

(Problems to be Solved by the Invention) In the conventional picker device, driving parts such as a motor and a transmission mechanism for a lifting platform on which a traveling body and a picking device, a loading device, and an unloading device are mounted are mounted on the traveling body, and the picker device The problem was that the weight (inertia) of the entire moving body became large, making it impossible to operate at high speed or perform large accelerations and decelerations, making it impossible to increase the picking and loading speed. Also, attach the lower part of the running body to the screw shaft.

With wheel-driven pickers, the top of the picker swings left and right when accelerating or decelerating, making it unstable and making it difficult to increase speed.

In addition, since it swings, it is necessary to increase the rigidity of the mast of the lifting platform, which increases the weight and increases the size, which hinders high speed and sudden acceleration and deceleration. In addition, chains and screw shafts are noisy, and wheels tend to slip easily, position control is complicated, and there is a limit to how high the speed can be increased.

The object of the present invention is to solve the conventional problems and to make it possible to operate at high speed, perform large accelerations and decelerations, and obtain high picking speeds and loading speeds.

(Means for Solving the Problems) The gist of the present invention that solves the problems is as follows: 1) In a traveling body equipped with a picking or loading device that takes in and out of articles and grips them, the traveling body runs along the middle or end of the wire. A running wire is attached to the upper and lower parts of the body and looped in the running direction so as to pull the upper and lower parts of the running body in the same direction. A wire-driven picker device characterized by having a drive drum fixedly installed and a traveling body traveling by operating the wire drive drum 2) A device in which a picking or loading device for taking in/out and grasping articles is mounted on a lifting platform. In the running body, a wire with the end fixed at a fixed place is stretched long in the running direction, and the middle of the wire is connected between the upper part of the traveling body and the lifting platform, and between the lower part and the lifting platform. A lifting wire drive drum is fixed in the middle of the wire outside the running body, and the picking or loading device on the running body is moved up and down by rotating the wire drive drum in forward and reverse directions. Wire-driven pinker device 3) In a traveling body equipped with a lifting platform equipped with a picking or loading device for taking in/out and gripping articles, the middle or end of the wire is fixed to the upper and lower parts of the traveling body, In addition, a looped running wire is stretched so as to pull the two lower parts of the running body in the same direction in the running direction, and a running wire drive drum is fixed in the middle of the wire outside the running body, and at the end A lifting wire fixed to a fixed place is stretched long in the traveling direction, and the middle of the wire is looped between the second part of the traveling body and the lifting platform, and between the lower part and the lifting platform. In history, a lifting wire drive drum was fixed in the middle of the outside of the wire running body, and by operating the running wire drive drum placed outside, the running body was moved and the lifting wire drive drum was operated. Wire-driven picker device 4, characterized in that the lifting platform on the traveling body is moved up and down by A wire-driven picker device according to claim 2 or 3, wherein the lifting platform is movable up and down by pressing a pair of rollers in orthogonal directions.

(Function) In the present invention, the traveling body is driven by a wire, and the traveling wire drive drum for driving the wire is fixedly installed on the outside of the traveling body. The weight increase will be extremely small. Moreover, since the upper and lower parts of the traveling body are pulled in the same direction and with the same force, the swinging and vibration of the traveling body are suppressed, making stable acceleration/deceleration and high speed possible. Also, since it is stable, the rigidity of the mast for rowing and descending platforms can be lowered, making it lighter and smaller.

In addition, the raising and lowering of the platform for the traveling body is similarly driven by a wire, and the wire drive drum is fixed to the outside of the traveling body, so that the weight of the traveling body due to the drive unit for raising and lowering the platform is extremely small. It is minor. Therefore, inertia is kept small and speed is increased.

It facilitates large accelerations and decelerations. Moreover, regardless of the running of the traveling body, if the lifting wire drive drum is not rotated, the lifting wire will automatically balance itself by pulling the lifting platform from its upper and lower parts, so that the wire will loop with the lifting platform. The fold-back contact point allows the lifting platform to remain at a constant height even when moved.

Furthermore, if the traveling vehicle is driven by the traveling wire drive, and the lifting platform is also raised and lowered by the raising and lowering wire drive, the weight of the traveling body can be further reduced, and high speeds and rapid acceleration and deceleration are possible. It becomes something that can be said.

If the mast on which the platform is lowered four times is a square pipe, and the structure is such that the platform can be raised and lowered by pressing a pair of rollers in perpendicular directions to the corner surfaces of each corner of the same-square vibrator, the square pipe can be used. Together with the roller surface, it acts as a guide surface and restrains the movement of the rollers in the front, back, left and right directions, allowing for lifting and lowering with a small number of rollers, making the structure simple and lightweight and compact.

(Example) Examples will be described below based on the drawings.

In the embodiment shown in FIGS. 1 to 9, the running of the traveling body and the lifting and lowering of the platform are both driven by wires, and the mast of the platform is a square pipe, and a pair of rollers perpendicular to each corner of the platform, a total of four rollers, are used. This allows the platform to be raised and lowered freely. The lifting table is equipped with a picking device consisting of an arm that extends and retracts horizontally, and three sets of article grippers that can be rotated and selected at the tip of the arm.

Fig. 1 is a front view showing the embodiment, Fig. 2 is a side view of the same, and Fig. 3 is a front view showing the embodiment.
Figure 4 is an explanatory diagram showing the tensioned state of the wire in the embodiment, Figure 4 is an explanatory diagram showing the mast upper part of the traveling body and the lifting platform, Figure 5 is a perspective view showing the picking device, and Figure 6 is the annular chain. 7 is a perspective view showing the A lowering mechanism of the lifting platform, and FIG. 8.9 is a perspective view showing an example of its application.

In the figure, (1) is the running body, (2) is the square pipe mast, and (3
) is a running wire, (4) is a running wire drive drum,
(5) is a lifting platform, (6) is a picking device attached to the lifting platform, (7) is the 7-liner of the same picking device, (8)
is the cylinder rod of the same cylinder, (9), (+Q
, H is a hand that grips the article on the stand attached to the tip of the Linder rod, and (9) is a hand that grips the article by opening and closing the pair of pressing pieces (12) at 1, 1. (10 is the suction parameter) (14) is a hand that sucks air from the suction panel and grips the article with negative pressure; (11)
) is made by inserting the upper part of the article into the center of the annular tube (1). It is something to do.

(2[11 is the lifting wire, (21) is the lifting wire drive drum, 0 to 0 are the wires (21 end fixing point, (2'3
is the attachment point of the running wire (3) at the top of the mast (2), (24 is the pulley of the running wire (3), (21 is the elevating wire with a double pulley, C) is the running body (1) ) running wheels,
(2'7) is the guide roll of the traveling body (1), (the haze is the lifting roller of the lifting platform (5), (2 is the traveling rail of the traveling body (1), (3@ is the goods hangar, (3I) is an article conveyor, (3 is a storage box conveyor, (3 is a goods conveyor, (34 is an article conveyor,
is a storage box, (31 is a collection unit, (2) is a collection box, (
37) is the attachment point of the running wire (3) at the bottom of the running body (1), (38) is the article gripping hand (9), 0CII
, H mounting plate, (3 scratches rotate the same mounting plate to select the article gripping hand f9), Cl1), (I+) Rotating air motor that allows selection of (I+), (Pushing the article to the collection chute Yes.

In this embodiment, the running body (1) can be moved by rotating the running wire drive drum (4) and moving the wire (3) to the mast (
2) Pull the upper attachment point (23 and the traveling body ()) and the lower attachment point (37) in the same direction (to the left in Figure 1) to make the traveling body (1) run to the left. If the running wire drive drum (4) is reversed, it can run to the right.Also, if the lifting wire drive drum (21) is rotated in one direction, the lifting wire (20) can be moved below the mast (2). The wire part above the mast (2) is moved in the direction of being reeled in, raising the lifting platform (5).Also, by rotating the wire drive drum (21) in the opposite direction, the wire part (2) moves in the opposite direction to lower the lifting platform (5).If the wire drive drum (2) does not rotate, the wire (20) will not move even if the traveling body (1) moves and the lifting platform (5) will move. It works to brake the vertical movement of the running body (1
) can maintain a constant height regardless of the movement of the platform (5). In this way, the wire drive drum (4) is fixed externally, and the traveling of the traveling body (1) and the raising and lowering of the lifting platform (5) are independent of each other.

(21).

In this way, the traveling body (1) and the lifting platform (5) are placed at predetermined positions.

Activate the cylinder (7) at the same height, extend the cylinder (9), H, and H to the article gripping position attached to the tip of the Lindaron, operate the rotary air motor (31), and hold the article. (Grasping an object according to 31...nd f9), C11
(11) is selected, and then the elevating wire drive drum (21) is operated to lower the entire elevating platform (5) to the required gripping position t and grip one article. Then, after reversing the lifting wire drive drum (2I), the cylinder (7) is operated in the opposite direction to bring the picking device (6) close to the traveling body (
1), and at a predetermined location, operate the entire lifting platform (5), cylinder (7), and picking device (6) to transfer the grasped articles directly to the article conveyor (31) or to the storage box 9.
It is placed in the collection box.

Further, the mechanism for lifting and lowering the lifting platform (5) according to the embodiment using the rollers (2g) is shown in FIG. Fig. 8.9 shows the actual usage condition.

(Effects of the Invention) As described above, according to the present invention, the traveling body is driven by a wire and is pulled in the same direction at two points, the upper and lower parts, thereby enabling stable and highly accurate high-speed traveling. It is said that Furthermore, most of the driving parts of the traveling body are located outside, and the traction is carried out at two points, so there is less vibration of the mast and the structural strength can be reduced, making it possible to downsize the vehicle.This means that the inertia of the traveling body can be kept to a low level, allowing for high-speed running and sudden acceleration. It allows for deceleration.

Furthermore, if the lifting platform is moved up and down by a wire drive, it is possible to achieve high speed with light weight and high positional accuracy, similar to the case of running a traveling body.

These effects will be further enhanced if both the running of the traveling body and the raising and lowering of the platform can be driven by wires.

In addition, the mast of the square vibrator and the pair of mouths are used to raise and lower the lifting platform.
If the mast is assembled as a set, the weight of the mast and lifting structure can be reduced and the cost can be lowered, further enhancing the above-mentioned effects.

[Brief explanation of drawings]

Fig. 1 is a front view showing the embodiment, Fig. 2 is a side view of the same, and Fig. 3 is a front view showing the embodiment.
The figure is an explanatory diagram showing the tensioned state of the wire, Fig. 4 is an explanatory diagram showing the upper part of the mast of the traveling body and the lifting platform, Fig. 5 is a perspective view showing the picking device, and Fig. 6 is an explanatory diagram showing the use of the annular chive. FIG. 7 is a sectional view showing the elevating and lowering mechanism of the lifting platform, and FIGS. 8 and 9 are perspective views showing examples of its application. (1): Running body (2): Mast (3): Wire-driven drum lifting platform for running wire (6): Picking device (9), (l), (I+): Wire for lifting hand Wire drive drum end fixing point (2 rises, (3η): stopping point (2 places: pulley (28): lifting roller product Applicant: Seibu Electric Co., Ltd. Rintojima Ministry, Department 4)

Claims (1)

[Scope of Claims] 1) In a traveling body equipped with a picking or loading device for taking in and out of articles and gripping the article, the middle or end of the wire is fixed to the upper and lower parts of the traveling body, and the wire is fixed in the traveling direction. In addition, a looped running wire is stretched so as to pull the upper and lower parts of the running body in the same direction, and a running wire drive drum is fixed in the middle of the wire outside the running body, and the wire drive drum is operated. A wire-driven picker device that is characterized by a moving body that travels. 2) In a traveling body equipped with a lifting platform equipped with a picking or loading device for taking in and out goods and grasping them, a wire whose end is fixed at a fixed place is stretched long in the traveling direction, and the wire is The wire is looped between the upper part of the traveling body and the lifting platform, and between the lower part and the lifting platform, and a wire driving drum for lifting and lowering is fixed in the middle of the wire outside the traveling body, and the wire driving drum can be rotated in forward and reverse directions. A wire-driven picker device characterized in that a picking or loading device on a traveling body is moved up and down by rotation. 3) In a traveling body in which a picking or loading device for taking in/out and grasping articles is installed on a lifting platform, the middle or end of the wire is fixed to the upper and lower parts of the traveling body, and the wire is fixed in the traveling direction and in the traveling body. A looped running wire is stretched so that the upper and lower parts are pulled in the same direction, and a running wire drive drum is fixed in the middle of the wire outside the running body, and the end is fixed at a fixed place. The lifting wire is stretched long in the running direction, and the middle of the wire is looped between the upper part of the running body and the lifting platform, and between the lower part and the lifting platform. An elevating wire drive drum is fixedly installed at the top, and the traveling wire drive drum disposed outside is operated to cause the traveling body to travel, and the elevating wire drive drum is operated to move the lifting platform on the traveling body up and down. A wire-driven picker device that is characterized by moving. 4) Claim 2 or 3, wherein the mast on which the lifting platform moves up and down is a square pipe, and a pair of rollers in perpendicular directions are pressed against the corner surfaces of each corner of the square pipe, so that the lifting platform can be raised and lowered freely.
The wire-driven picker device described.