JPH0364406B2 - - Google Patents

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention is a container delivery device installed in a lifting carriage of a traveling crane for loading/unloading work in an automated warehouse, and particularly suitable for use along a container pull-in/pull-out route. The present invention relates to a hook-type container delivery device that is equipped with a container pull-in/push hook that can be reciprocated and raised and lowered.

(Prior art and its problems) In this type of container delivery device, a traverse drive means for the hook for drawing in and pushing out the container is provided on a lifting platform that is moved up and down by a lift drive means. Since the motor that drives the traverse drive means and the hook traverse position detection means were also installed on the lifting platform, there was no power supply or connection between the lifting platform and the support frame so as not to interfere with the vertical movement of the platform. A moving cable for transmitting and receiving control signals had to be stretched through a cable protection guide. This not only increases the initial cost and maintenance cost of the electrical system, but also increases the possibility of accidents due to damage to the moving cables.

(Means for Solving the Problems) The present invention proposes a hook-type container delivery device that can solve the above-mentioned conventional problems, and its features are as follows: A traversing drive means is provided on the elevator platform, supported by a lifting platform that is raised and lowered by a lifting drive means, and for reciprocating the hook along a container pull-in and extrusion path, and a rotating body for driving the traversing drive means. A motor for rotationally driving the vertical rotation shaft and a hook transverse position detecting means are fitted to the vertical rotation shaft which is set upright from a frame supporting the lifting platform so that they cannot rotate relative to each other but can only slide in the axial direction. It is at the point set in .

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In Figs. 1 to 3, 1 is an elevating carriage of a traveling crane for loading and unloading work that runs along the shelves of an automated warehouse, and 2 is a horizontally extending carriage formed on the elevating carriage 1. This is a container retraction and extrusion route. Reference numeral 3 denotes a belt conveyor for carrying in and carrying out containers installed along the route 2, and is driven by a motor 4 to rotate in forward and reverse directions.
Reference numeral 5 denotes a lifting platform that is driven up and down by a lifting drive means 6, and a hook 8 for drawing in and pushing out a container is attached to this lifting table 5 via a traverse drive means 7 so as to be able to reciprocate in the length direction of the path 2. Supported.

As shown in FIGS. 4 and 5, the elevating drive means 6 of the elevating platform 5 is located between a lower support frame 9 and an upper support frame 10, which are fixed to the elevating carriage 1 on the side of the path 2. A vertical rotating screw shaft 11, a gear 12 at the lower end of the rotating screw shaft 11,
A motor 14 is interlocked and connected via a motor 13 and supported by the lower support frame 9, and a connecting member 1 is screwed onto the rotating screw shaft 11 and connected to the lifting platform 5.
It is composed of a female threaded body 16 connected via 5.

As shown in FIGS. 6 to 9, the traverse driving means 7 of the hook 8 moves a slide guide 18 that fits into two guide rails 17 laid on the lifting platform 5 to the center in the longitudinal direction. A middle lateral movement table 19 provided at the bottom, and a slide guide 2 that fits into two guide rails 20 laid on the middle lateral movement table 19.
1 at the bottom, a rack gear 23 attached to the side along the moving direction of the middle lateral movement table 19, and a pinion gear (rotating body for driving the traverse drive means) meshing with the rack gear 23. )2
4, and two chains 25 and 26 that drive the upper transverse movement table 22, and as shown in FIG. It is connected to the upper stage lateral movement table 22 via an inverted L-shaped support member 27 so as to be in the same position, and engaging portions 8a and 8b that protrude upward are connected to both ends of the movement direction.

The pinion gear 24 is a vertical rotation shaft (ball spline shaft) installed between the lower support frame 9 and the upper support frame 10 so as to be parallel to the rotation screw shaft 11, as shown in FIGS. 4 and 9. )
28 so as to be able to slide only in the axial direction without being relatively rotatable, and is rotatably supported by the support portion 15a of the connecting member 15 that connects the lifting platform 5 and the female screw body 16.

The vertical rotation axis (ball spline axis) 28
is the motor 2 supported by the lower support frame 9
9 through gears 30 and 31. Reference numeral 32 denotes a hook traverse position detecting means, which is attached concentrically to the lower side of the gear 30 in two stages, upper and lower, as shown in FIGS. 4 and 10. Plate 33, detection plate 34 for setting the stroke limit when the hook is extended to the right, a detector 35 for detecting the stroke limit when the hook is extended to the left attached to the lower support frame 9 side, and a detector for detecting the travel limit when the hook is extended to the right. It is composed of a container 36.

Two chains 2 that drive the upper transverse movement table 22
5 and 26 are hung as shown in FIG.
That is, one end 25a of one chain 25 is locked to the left end of the lifting platform 5 via the tension means 38, the other end 25b is locked to the left end of the upper stage lateral movement table 22, and the middle stage lateral movement is connected between both ends. It is suspended from a guide gear wheel 39 that is pivotally supported at the right end of the stand 19. the other chain 26
, one end 26a is locked to the right end of the lifting table 5 via a tensioning means 40 (not shown) similar to the tensioning means 38, the other end 26b is locked to the right end of the upper transverse movement table 22, and both ends The gap is suspended by a guide gear wheel 41 that is pivotally supported on the left end of the middle transverse movement table 19.

The tensioning means 38, 40 are bolts 42 that are rotatably supported on the lifting platform 5 in a state parallel to the lateral movement direction of the middle lateral movement table 19, and loosely fitted onto the bolts 42 so as to be able to slide in the axial direction. Chain locking member 43, spring seat 4 screwed into the bolt 42
4. Composed of a compression coil spring 45 interposed between the spring receiving seat 44 and the chain locking member 43, and configured to tension the chain 25 or 26 locked to the chain locking member 43. energize. This biasing force can be freely adjusted by rotating the bolt 42 and changing the position of the spring receiving seat 44.

In the container delivery device configured as described above, by rotating the rotary screw shaft 11 with the motor 14, the female threaded body 1 is rotated according to the direction of rotation.
6 moves up and down, and the lifting platform 5 moves up and down accordingly. At this time, the pinion gear 24 spline-fitted to the vertical rotation shaft (ball spline shaft) 28 also moves up and down together with the lifting table 5. As the lifting platform 5 moves up and down, the hook 8 moves up and down.

When moving the hook 8 laterally along the container pull-in and push-out path 2, the vertical rotation shaft 2 is moved by the motor 29 regardless of the height of the lifting platform 5.
8 is rotationally driven, and the rotation is transmitted to the pinion gear 24 in the hook traverse drive means 7, and the intermediate traverse table 19 is moved to the left or right according to the rotational direction of the pinion gear 24 via the rack gear 23 to the guide rail. Move it sideways along line 17. Due to the lateral movement of the middle stage lateral movement table 19, the middle part of the chain 25 or 26 is pulled by the guide gear 39 or 41, so that the upper stage lateral movement table 22 is pulled by the chain 25 or 26 which is pulled. is pulled in the same direction as the lateral movement direction of the middle lateral movement table 19, and the upper lateral movement table 22 moves laterally on the guide rail 20 with respect to the middle lateral movement table 19. Then, when the middle stage traversing table 19 reaches its stroke limit (the slide guide 18 moves to the guide rail 1
7), the upper lateral movement table 22 also reaches its stroke limit with respect to the middle lateral movement table 19 (slide guide 2
1 reaches one end of the guide rail 20). This middle lateral movement table 19 and upper lateral movement table 2
2 moves laterally to the stroke limit, the upper lateral moving table 22 protrudes beyond the end of the lifting table 5, and at this time, the hook 8 moves as shown by the imaginary line in FIGS. 1 and 2, respectively. , the engaging portion 8a is closer to the end of the container pull-in and push-out path 4 (the end of the belt conveyor 3).
Or 8b will protrude.

6 and 7 show a state in which the middle stage lateral movement table 19 and the upper stage lateral movement table 22 have moved laterally to the rightward stroke limit. At this time, one end 34a of the detection plate 34 for stroke limit setting when the hook is put out to the right as shown in FIG.
is detected by the stroke limit detection detector 36 when the hook is moved to the right, and the vertical rotation shaft 28 is detected by the motor 29.
As shown in FIGS. 1, 2, and 8, the middle lateral movement table 19 is returned to a position symmetrically overlapping the lifting table 5, and the upper lateral movement table 22 is moved back to the middle lateral movement table 19. When the hook 8 is returned to the center position and moved backward to the home position at the longitudinal center of the container drawing and pushing path 2, the detector 36 is able to detect the other end 34b of the detection plate 34. Become.

Therefore, when the hook is driven to the right, the detector 36
When the detector 36 detects one end 34a of the detected plate 34, the motor 29 is stopped and the motor 29 is reversed to return the right hook to the home position. The motor 29 may be controlled to stop when the other end 34b of the motor 34 is detected.

Similarly, when the middle stage lateral movement table 19 and the upper stage lateral movement table 22 are moved laterally to the left and the hook 8 is moved to the leftward stroke limit, the detected plate 33 for setting the stroke limit when the hook is moved to the left When the one end 33a is detected by the stroke limit detection detector 35 when the hook is moved to the left, the motor 29 is stopped, and when the hook 8 is moved backward from the leftward stroke limit to the home position, the detected object is detected. The other end 3 of the plate 33
3b is detected by the detector 35, the motor 29 may be controlled to stop.

Next, how to use the above-mentioned container delivery device will be explained using as an example a case where a container 46 on a shelf or a handling platform located on the left side of the elevating carriage 1 (container pull-in and push-out path 2) is received onto the elevating carriage 1. Then, as shown in FIG. 11, the elevating carriage 1 is stopped so that the bottom surface of the container 46 and the belt conveyor 3 are at the same level, and the engaging portions 8a and 8b of the hook 8 are moved from the handle 46a of the container 46. While the hook 8 is lowered to the lowering limit level L where the lower limit level is lowered, the hook 8 is laterally moved to the left-out stroke limit position A. As a result, the left engaging portion 8a of the hook 8 is connected to the container 4.
It will be located directly below the right handle 46a of No. 6. In this state, as shown in FIG. 11, the hook 8 is raised to an intermediate level M where the engaging portion 8a of the hook 8 engages with the handle 46a of the container 46, and then the hook 8 is moved laterally to the right. and container 4
6 is pulled by the engaging portion 8a of the hook 8, drawn into the container pull-in and push-out path 2, and transferred onto the belt conveyor 3. At this time, the belt conveyor 3 can be driven in the same direction at the same speed as the lateral movement speed of the hook 8.

As shown in FIG. 12, when the hook 8 moves horizontally to position B where the entire container 46 is completely transferred onto the belt conveyor 3, the horizontal movement of the hook 8 is stopped (while the belt conveyor 3 is being driven). (the drive thereof is also stopped), and the hook 8 is lowered to the lowering limit level L again. In this state, the crane is run and the elevating carriage 1 is raised and lowered to transport the container 46 on the elevating carriage 1 to the desired container unloading location. However, when the container unloading direction at this container unloading location is to the right, The hook 8, which has been lowered to the lowering limit level L at position B, is further moved laterally to position C, where the engaging portion 8a is removed from the position directly below the handle 46a of the container 46 forward, and then,
The hook 8 is raised to the upper limit level H above the container 46. And the upper limit level H
At this point, move the hook 8 laterally to the left. Note that the hook 8 at position C does not protrude laterally outward from the elevating carriage 1.

When the elevating carriage 1 is stopped opposite to the desired container unloading location, the belt conveyor 3 is driven to unload the container 46 as shown in FIG.
The container 4 is sent out to the right.
The hook 8 is used to completely feed the 6 from the right end of the belt conveyor 3 to the right shelf or handling platform. That is, after moving the hook 8 laterally to a predetermined leftward position D (a position symmetrical to the rightward position C) and lowering the hook 8 which is at the upper limit level H to the lower limit level L, the hook 8 is moved to the right. By laterally moving the container 46 to the right handing stroke limit position E, the left end of the container 46 that has been fed to the right end of the belt conveyor 3 can be pushed out to a predetermined position by the right engaging portion 8b of the hook 8. The right stroke limit position E is symmetrical to the left stroke limit position A.

In addition, when lowering the container 46 pulled in from the left side to the left side, as shown in FIG. Container 46 sent to the left by belt conveyor 3
can be further pushed out to a predetermined position by the left engaging portion 8a of the hook 8. Further, the work of receiving the container 46 in the shelf or on the handling platform located on the right side of the lifting carriage 1 (container pull-in/extrusion route 2) onto the lifting carriage 1 and sending the container 46 to the right or left is also carried out as described above. You can do the same thing in the same way.

When the container pull-in/push-out path 4 is long enough to ensure play equal to the length of the hook 8 on both front and rear sides of the container 46 that has been pulled in to the center position in the length direction, the belt conveyor 3 is omitted and the container 46 is moved using only the hook 8. It can be pulled in and pushed out to either the left or right side.

Detection of the stop position of the hook 8 during the lateral movement, that is, the positions B (there is also a symmetrical position when the container is pulled in from the right side), C, and D, is performed by vertical rotation as shown in Fig. 4. This can be done by comparing the current hook position value obtained by counting the pulses sent by the pulse encoder 37 connected to the lower end of the shaft 28 and the set value. Further, the arrival of the hook 8 at the position B and its bilaterally symmetrical position can also be detected by a container detector installed beside the container pull-in/push-out path 2.

In the above embodiment, a so-called running fork type drive means 7 for the hook 8 is shown, but the present invention is not limited thereto. For example, the hook 8 may be moved back and forth using a drive chain suspended from the lifting platform 5 along the horizontal movement path of the hook. In this case, instead of the pinion gear 24, a drive tooth wheel is used to drive the drive chain.

(Operations and Effects of the Invention) According to the hook-type container delivery device of the present invention implemented as described above, the hook traversing drive means provided on the lifting platform for raising and lowering the hook is moved by supporting the lifting platform. It can be driven by the vertical rotation shaft and motor on the frame side, and the hook traverse position detection means is also provided on the frame side, so the power supply cable and control signal transmission/reception cable can be connected to the lifting platform as in the conventional case. There is no need to provide a tension between the frame and the frame. Therefore, there is no need for moving cables or cable guides, and the initial cost and maintenance cost of the electrical system can be reduced, and there are no accidents caused by damage to moving cables.

[Brief explanation of drawings]

Figure 1 is a plan view, Figure 2 is a front view, Figure 3 is a side view, Figure 4 is an enlarged longitudinal sectional front view of the main part, Figure 5 is a cross-sectional plan view of Figure 4, and Figure 6 is a hook. A plan view of the traverse drive means, FIG. 7 is a front view of the same, FIG. 8 is a diagram illustrating the method of tensioning the drive chain of the means, FIG. 9 is a vertical side view of the means, and FIG. 10 is a hook traverse position. The bottom view of the detection means and FIGS. 11 to 13 are schematic front views for explaining how to use it. 1... Lifting carriage, 2... Container pull-in and push-out route, 3... Belt conveyor, 5...
Lifting platform, 6... Lifting drive means, 7... Traverse drive means, 8... Hook, 11... Rotating screw shaft, 14, 2
9... Motor, 16... Female threaded body, 17, 20
...Guide rail, 18, 21...Slide guide, 19...Middle lateral movement table, 22...Upper lateral movement table,
23... Rack gear, 24... Pinion gear (rotating body for driving the traverse drive means), 25, 26... Chain for driving the upper traverse table, 28... Vertical rotation axis (ball spline shaft), 32... Hook traverse Position detection means, 33, 34...Detected plate, 35, 36...
...Detector, 37...Pulse encoder, 46...
...Container, 46a, 46b...handle.

Claims (1)

[Claims] 1. A hook for drawing in and pushing out a container is supported by a lifting platform that is raised and lowered by a lifting drive means, and a traversing drive means for reciprocating the hook along a container pulling and pushing path is provided on the lifting platform, and this traversing A driving rotating body of the driving means is fitted to a vertical rotating shaft that is set upright from a frame that supports the lifting platform so that it cannot rotate relative to it but can only slide in the axial direction, and a motor and a hook that rotationally drive the vertical rotating shaft. A hook-type container delivery device comprising a traverse position detection means provided on the frame side.