JPH04179607A - Transport device with running fork - Google Patents

Abstract

PURPOSE:To make the whole structure of a transport device in a small size and suppress the cost by feeding current in the condition that a mobile dolly is locked and the body of a linear motor is unlocked, moving the motor body, and converting to the elevating/sinking motion of an elevating table on which a running fork is placed. CONSTITUTION:Current is fed to make energization in the condition that the bodies 8a, 8b of a linear motor are locked to a mobile dolly 3 by a motor locking means 16, and thereby the dolly 3 is allowed to run on guide rails 5a, 5b either in forward direction F or reverse direction R. The dolly 3 having stopped in the load transfer position is locked by a dolly locking means, and the motor locking means 16 is switched into the unlocked state to generate the condition in which the motor bodies 8a, 8b can move along guide rails 14a, 14b. A horizontal shaft roller 25 is moved from the bottom 24a of a cam 24 to its crest 24b by feeding current and energizing the motor bodies 8a, 8b in the direction of propelling the dolly 3 forward F, and a running fork 9 is changed over into the upper position DL.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention provides a running fork, which is provided with a running fork for transferring loads between the shelf and the self-propelled cart, which is supported so as to be able to run along the shelf. The present invention relates to a conveying device with an attached conveyor.

(Prior art and its problems) In order to transfer a load between a shelf and a self-propelled cart using the running fork, the running fork must be moved between the upper and lower positions of the load support level of the shelf. need to be moved up and down.

With this type of conventional conveyor device with running fork,
The running fork is equipped with a dedicated motor for lifting and lowering the running fork, which not only increases the cost of the running fork lifting means but also increases the size of the entire device.

(Means for Solving the Problems) In order to solve the conventional problems as described above, the present invention has the following features:
An on-vehicle linear motor is used as a driving source for the self-propelled trolley, and the main body of the traveling linear motor mounted on the trolley is supported so as to be movable back and forth within a certain range in the traveling direction of the self-propelled trolley. In addition, a lockable linear motor locking means for locking the linear motor main body in a fixed position to the self-propelled trolley, and an unlockable trolley locking means for locking the self-propelled trolley at a load transfer position are provided. The present invention proposes a conveying device with a running fork, which is provided with a means for converting the movement of the unlocked linear motor main body into the vertical movement of the lifting platform.

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

In FIG. 1, IA and IB are shelves installed with the trolley running path 2 in between, 3 is the trolley running path 2, IIIA,
It is a self-propelled trolley that runs horizontally along lB. The self-propelled carts 3 are arranged for each traveling path of multiple stages in the vertical direction corresponding to each stage of the cargo storage sections 4 in the shelves IA and IB, or in the figure, one stage of the cargo storage sections 4 is arranged. Only one self-propelled trolley 3 that travels in response to this is shown.

The self-propelled cart 3 is movably supported via wheels 6 on guide rails 5a and 5b attached at the same level on the cart running path 2 side of both shelves IA and IB, and the guide rails 5a and 5b are provided on both left and right sides. A pair of left and right running linear motor bodies 8a face secondary conductor parts 7a and 7b for linear motors formed on opposing vertical surfaces of rails 5a and 5b with a predetermined gap therebetween.

8b, and on the upper side there is a running fork 9 that can be raised and lowered within a certain range and is used for transferring loads between the shelves IA and IB.
A lifting platform 10 equipped with an elevator is provided.

The running fork 9 includes a base 11 fixed on the elevating table IO, an intermediate fork member 12 supported so as to be movable left and right with respect to the base 11, and further left and right with respect to the intermediate fork member 12. This is a conventionally well-known structure consisting of a distal fork member I3 supported so as to be movable in and out.

As shown in FIGS. 2 to 4, the linear motor bodies 8a and 8b of the self-propelled bogie 3 are fixed to a pair of left and right guide rails 14a, 14b fixed to the self-propelled bogie 3 in a fixed manner in the bogie running direction. A movable platform 1 supported so as to be movable back and forth within a range.
It is installed on both the left and right sides of 5. Reference numeral 16 denotes an unlockable linear motor locking means for locking the linear motor bodies 8a, 8b to the self-propelled cart 3 in a fixed position via the movable table 15, and as shown in FIG. A double rod type solenoid 17 that moves in and out in the lateral direction, a vertical shaft roller 18 pivotally supported on the inner end of the solenoid 170 rod, and a recess that is attached to the movable base 15 and into which the vertical shaft roller 18 can be fitted and removed. 19a. 20 is shelf IA, 1B
As shown in FIG. The double rod type solenoid 17, the vertical shaft roller 21 pivotally supported on the outer end of the rod of the solenoid 7, and the recess 22a which is attached to the lower side of the guide rail 5a and into which the vertical shaft roller 21 can be freely fitted and removed. It is composed of a member 22 provided with. Therefore, the linear motor locking means 16 and the truck locking means 20, which are driven by the common double-rod type solenoid 17, perform the locking action alternatively. Incidentally, the recesses 19a and 22a can be formed directly on the movable base 15 and the guide rail 5a, and the members 19 and 22 can be omitted.

Reference numeral 23 denotes means for converting the movement of the unlocked movable table 15 (linear motor bodies 8a, 8b) into the vertical movement of the lifting table IO, and a trolley mounted at four locations on the bottom of the lifting table IO. Four cams 24 parallel to the running direction
and four horizontal shaft rollers 25 that are pivotally supported on both left and right sides of the movable table 15 so as to support the lifting table 10 via each of these cams 24.

As shown in FIGS. 2 and 3, when the movable base 5 is at the end of its stroke on the forward direction F side of the reciprocating range of the movable base 5, the vertical axis roller I8 of the linear motor locking means 16 and the movable base 15 side The recess 19a faces each other, and in this state, the vertical shaft opening 18 is advanced and moved by the solenoid 17 to fit into the recess 19a, and the movable base 15 (linear motor main body 8a, 8b) as self-propelled trolley 3
When locked, each horizontal shaft roller 25 on the side of the movable table 15 supports the lifting table 10 at the lowering limit level via the valley portion 24a of each cam 24. At this time, the running fork 9 is at a lower position DL where the pair of left and right cargo receivers in the cargo storage section 4 on the shelves IA and IB are at a slightly lower level than the tools 26a and 26b.

As mentioned above, the linear motor bodies 8a, 8b (movable base 1
5) is connected to the self-propelled trolley 3 by the linear motor locking means 16.
In the locked state, the linear motor main bodies 8a, 8
By energizing and energizing the guide rail 5a and the secondary conductor portion 7a for the linear motor on the Sb side, as is conventionally known,
, 7b, a thrust force in the forward direction F or backward direction R is applied to the self-propelled cart 3, and the self-propelled cart 3 is moved in the forward direction F along the shelves IA and IB on the guide rails 5a and 5b. Alternatively, the vehicle can be run in the reverse direction R.

When the self-propelled trolley 3 is driven by the linear motor and stopped at a load transfer position corresponding to an arbitrary load storage section 4 as described above, the self-propelled trolley 3 moves as shown in FIG. Since the vertical shaft roller 21 in the bogie locking means 20 of No. 3 faces the recess 22a on the guide rail 5a side,
As shown in FIG. 5, the vertical axis roller 21 is advanced and moved by the solenoid 17 and fitted into the recess 22a, thereby locking the self-propelled cart 3 at the load transfer position. At this time, the solenoid 17 disengages the vertical shaft roller 18 of the linear motor locking means 16 from the recess 19a on the movable base 15 side, so the linear motor locking means 16 is switched to the unlocked state.
The movable base 15 (linear motor bodies 8a, 8b) becomes movable along the guide rails 14a, 14b.

Therefore, in such a state, the linear motor bodies 8a, 8b
By energizing and energizing the self-propelled trolley 3 in the direction of propelling it in the forward direction F, the self-propelled trolley 3 is locked by the trolley locking means 20 and cannot be moved from the load transfer position.
On the other hand, the linear motor bodies 8a and 8b move together with the movable base 15 in the backward direction R on the guide rails 14a and 14b due to the reaction force. As a result, the horizontal axis roller 25 of the 15 movable bases moves from the trough 24a to the crest 24b of the cam 24.
, and via the cam 24, lift the platform IO up to its upper limit. As a result, the lower position D
The running fork 9 in the L position is attached to the left and right cargo receivers 26a and 26b in the cargo storage section 4 on the shelves IA and IB sides.
DL is switched to the upper position DL, which is at a slightly higher level. At this time, the lifting platform IO is stably moved to the upper limit position via the horizontal axis roller 25 on the side of the movable platform 15 that has reached the stroke end on the backward movement direction R side of the bogie in the reciprocating movement range, or via the flat peak 24a of the cam 24. However, if necessary, a linear motor locking means for locking the movable platform 15 at the end of the stroke on the backward movement direction R side of the bogie can also be provided.

When lowering the lifting platform IO to the lowering limit and lowering the running fork 9 from the upper position UL to the lower position DL again,
The self-propelled trolley 3 is locked by the trolley locking means 20, and the linear motor locking means 16 is in an unlocked state,
The linear motor bodies 8a and 8b are energized and excited in a direction to propel the self-propelled trolley 3 in the backward direction R. As a result, for the self-propelled trolley 3 which is locked by the trolley locking means 20 and cannot be moved from the load transfer position, the linear motor bodies 8a and 8b are moved together with the movable base 15 and the guide rail 14a.
, 14b in the forward direction F by the reaction force, and the movable platform 15m
The horizontal axis roller 25 moves from the peak 24b of the cam 24 toward the trough 24a. Therefore, as the movable platform 15 moves in the trolley forward direction F, the lifting platform 1O is lowered by gravity to its lower limit, and the running fork 9, which was in the upper position UL, is switched to the lower position DL again. Become.

When the switching of the running fork 9 to the lower 1tDL is completed, the movable platform 15 has reached the end of its reciprocating movement range in the bogie forward direction F, so in this state, the vertical axis roller 21 of the bogie locking means 2o is It is separated from the recess 22a on the guide rail 5a side by the solenoid 17,
At the same time, the self-propelled cart 3 is returned to a running state, and the vertical axis roller 18 of the linear motor locking means I6 is fitted into the recess 19a on the movable base 15 side by the solenoid 17, so that the linear motor bodies 8a and 8b are automatically activated. By locking to the carriage 3, the linear motor bodies 8a, 8b
By energizing and excitation, the self-propelled cart 3 can be made to travel forward or backward along the guide rails 5a, 5b.

With the self-propelled cart 3 stopped and locked at the load transfer position as described above, the lifting platform 10 can be raised and lowered to move the running fork 9 from the lower position DL to the upper position UL, or vice versa. However, the left and right pair of cargo receivers in the cargo storage section 4 on the shelves IA and IB carry the cargo W supported by the tools 26a and 26b onto the self-propelled cart 3 (running fork 9
When transferring goods out of the warehouse (above), as shown in Figs. 1, 3, and 4, after moving the running fork 9 located at the lower position DL into the cargo storage section 4, the running fork 9 is is raised to the upper position UL to scoop up the load W, and after supporting the load W and moving the running fork 9 at the upper position UL backward to above the self-propelled trolley 3, the running fork 9 is raised to the upper position UL. All you have to do is lower it from DL to the lower position DL.

Conversely, the load W on the self-propelled cart 3 (on the running truck 9)
When transferring the cargo into the cargo storage section 4, move it to the lower position D.
By first raising the running fork 9 supporting the load W at L to the upper position UL, and then moving the running fork 9 toward the load storage section 4 and lowering it to the lower position DL, The load W on the running fork 9 is transferred to a pair of left and right receivers of the load storage section 4 using the fittings 26a.
.

26b, and then move the running fork 9 backward to above the self-propelled cart 3 while keeping it in the lower position DL.

In addition, when the linear motor bodies 8a, 8b (movable base 15) are locked by the linear motor locking means I6, the elevating base 15 (running fork 9) may be configured to be at its upper limit.

Further, the movement direction converting means 23, the linear motor locking means 16, and the trolley locking means 2o are not limited to those in the above embodiment. For example, the linear motor locking means 16 and the truck locking means 2.degree. can be configured independently, and the two means can be controlled to operate in opposite directions.

Further, as the truck locking means 20, a brake device that brakes and stops the wheels 6 of the self-propelled truck 3 can also be utilized.

The linear motor locking means 16 shown in FIG.
A pair of opening/closing arms 28, 29 that can hold 7.
, a gear 30.31 that rotates the drive shafts 28a and 29a of both arms 28.29 in mutually opposite directions, and a motor 32 that drives one arm drive shaft 28a in forward and reverse rotation. is the guide rail 5a
a pair of opening/closing arms 34, 35 capable of holding a vertical axis roller (or bin) 33 pivotally supported at the bottom of the
Drive shaft 34a of both arms 34,35.

- Gear 36.3 that rotates 35a in mutually opposite directions
7, and a motor 38 that drives one arm drive shaft 34a in forward and reverse rotation, and the arm 34, the gear 36, and the motor 38 are
Although the arm 28, the gear 3°, and the motor 32 are used together, they may be provided separately.

According to the linear motor locking means 16 and the carriage locking means 20, the linear motor main body is attached to the movable base 15 by sandwiching the roller 27 on the movable base 15 side with the opening/closing arms 28 and 29 as shown in the figure. 8
a, 8b are locked to the self-propelled cart 3, and at this time, the opening/closing arms 34 (28), 35 are separated from the rollers 33 of the guide rails 5all, so the self-propelled cart 3 can travel. From this state, the motor 32 (38) opens and closes the opening/closing arm 28.29 to open the roller 2 on the movable base 15 side.
By opening 7, the linear motor bodies 8a and 8b attached to the movable base 15 become movable relative to the self-propelled trolley 3.

At this time, the opening/closing arms 34 (28) and 35 close and sandwich the rollers 33 of the guide rail 5a#, so that the self-propelled cart 3 is locked in a predetermined position.

(Operations and Effects of the Invention) As described above, according to the carrying device with a running fork of the present invention, when the self-propelled cart is run, the linear motor body is locked to the self-propelled cart by the linear motor locking means. By energizing the linear motor main body, the self-propelled cart can be driven silently by the linear motor. When carrying out load transfer work using the running fork with the self-propelled cart stopped at a predetermined load transfer position, the self-propelled cart is locked at the load transfer position by the cart locking means, and the linear With the linear motor main body unlocked by the motor locking means, the linear motor main body is energized, and the linear motor main body is moved in the cart traveling direction with respect to the self-propelled cart, thereby causing the linear motor main body to move. , the running fork can be moved up and down by converting it into the up and down movement of the lifting platform on which the running fork is mounted, so that the loading and unloading of cargo can be carried out by the combination of the up and down movement of the running fork and the movement in and out of the running fork. I can get the work done.

In this way, the running fork can be moved up and down during load transfer work when the self-propelled trolley is stopped, but the drive source for the lifting and lowering is the linear motor used to drive the self-propelled trolley. Since there is no need for a drive source such as a motor dedicated to driving the running fork up and down, it is possible to downsize the entire device and reduce costs. Furthermore, since the self-propelled cart is locked in a predetermined position when the running fork is raised and lowered, there is no risk of the self-propelled cart moving unexpectedly during load transfer operations.

[Brief explanation of the drawing]

Fig. 1 is a schematic front view, Fig. 2 is a partially cutaway plan view, Fig. 3 is a longitudinal side view, Fig. 4 is a longitudinal front view, Fig. 5 is a cross-sectional plan view of the main part showing the locking means, FIG. 6 is a plan view showing another embodiment of the locking means. IA, IB... Shelf, 2... Trolley running path, 3...
Self-propelled cart, 4... Load storage section, 5a, 5b... Guide rail for self-propelled cart, 6... Wheels, 7a, 7b... Secondary conductor part for linear motor, 8a, 8b...・Linear motor body, 9...running fork, lO...
Elevating platform, 14a, 14b... guide rail for movable platform,
15...Movable base, 16...Linear motor locking means, 17...Double rod split solenoid, 18.21,2
7.33...Vertical axis roller, 19a, 22a...
Recessed portion, 23...Motion direction conversion means, 24...Cam,
25...Horizontal shaft ronirar, 26a, 26b...Cargo receiver, 28°29.34.35...Opening/closing arm, 30
, 31.37...Gear, 32.38...Motor.

Claims (1)

[Claims] A transport device equipped with a running fork, in which an elevating platform is provided on a self-propelled cart driven by a linear motor that is supported so as to be able to run along a shelf, and a running fork for transferring loads between the elevating platform and the shelf is provided. The main body of the traveling linear motor provided on the self-propelled cart is supported so as to be movable back and forth within a certain range in the traveling direction of the self-propelled cart, and the main body of the linear motor is mounted on the self-propelled cart in a fixed position. A lockable linear motor locking means for locking the self-propelled trolley at a load transfer position and an unlockable trolley locking means for locking the self-propelled trolley at a load transfer position are provided, and the movement of the unlocked linear motor body is prevented from moving on the lifting platform. A conveying device with a running fork, which is provided with a means for converting the motion into vertical motion.