JPH0710223A - Taking in and out device - Google Patents

Abstract

PURPOSE:To prevent power control units from coming into contact with an another body or a worker for improving safety by attaching an elevating and a traveling power control unit to a traveling body at a position where a driving wheel body is covered from its side for shortening wiring distances between the units. CONSTITUTION:A traveling body 14 is composed of a lower frame 11 and a support 12A vertically erectd on the lower frame 11, and an ascendable carriage 16 is provided on the one side of the support 12A in the travel direction of the traveling body 14, and an elevating drive unit 30 and a travelling drive unit 55 are provided on the other side. The elevating drive unit 30 has a driving wheel 36 arrangedly provided at the laterally central part of the traveling body 14, and an elevating and a traveling power control unit 60 are attached to the traveling body 14 at a position where a driving wheel body 36 is covered from its side. Thus the driving wheel body 36 being in an exposed state is covered, and arrangedly provided near the power control unit 60, the traveling drive unit 55 and the elevating drive unit 30 for shortening wiring distances between the units.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loading / unloading device which is used, for example, in an automated warehouse and which has a loading / unloading carriage which can be raised and lowered.

[0002]

2. Description of the Related Art Conventionally, as this type of apparatus, for example, a traveling crane for loading and unloading, which is disclosed in JP-A-2-182604, has been provided. In this conventional structure, the traveling crane includes a lower frame, a traveling drive unit and an elevating drive unit provided on one end side (out position side) in the traveling direction of the lower frame, and a pair of pillars erected from the lower frame side. An elevator carriage arranged between these columns and a box-shaped crane control unit provided on the other end side (home position side) of the lower frame in the traveling direction.

Here, the lifting drive unit has a drive frame attached to the machine frame mounted on the upper end of the lower frame with its shaft supported on both sides, and a motor positioned above the drive ring is mounted in the crane width direction. It is configured to interlock with the shaft via a speed reducer located on the other side, and to interlock a chain meshed with a driving toothed wheel with an elevating carriage. In this conventional configuration, the drive tooth wheel is driven in the forward and reverse directions by the motor, so that the chain can be moved in the forward and reverse directions to raise and lower the elevator carriage.

[0004]

According to the above-mentioned conventional structure, the crane control unit for controlling the traveling drive unit and the elevating drive unit is arranged at the farthest position from the traveling drive unit and the elevating drive unit. Therefore, wiring between the two cannot be easily performed. Further, since the driving toothed wheels are exposed on the side and the upper side, it is dangerous because, for example, another object or an operator easily comes into contact therewith.

An object of the present invention is to provide a loading / unloading device that facilitates wiring between units and that can easily cover a drive wheel of a lifting drive unit.

[0006]

In order to achieve the above object, the loading / unloading device according to the present invention comprises a lower frame and a pillar standing upright from the lower frame to constitute a traveling main body, and the traveling main body in the traveling direction. A carriage that can be raised and lowered is provided on one surface side of the pillar, and an elevation drive unit and a traveling drive unit are provided on the other surface side, and the elevation drive unit is a drive wheel body disposed in a central portion in the width direction of the traveling body. And a power control unit for raising and lowering and for traveling is attached to the traveling body at a position where the drive wheel is covered from the side.

[0007]

According to the above-described structure of the present invention, the traveling main body can be moved by the traveling drive unit and the carriage can be moved up and down by the operation drive unit through the traveling drive unit. . At this time, the raising and lowering of the carriage can be performed by rotating the driving wheel body in the forward and reverse directions by rotating the raising and lowering drive unit in the forward and reverse directions. The power control unit may cover the exposed drive wheel from the other side. By disposing the power control unit near the traveling drive unit and the elevating drive unit in this way, wiring between these units can be easily performed by shortening the wiring distance.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. 2 and 3, the frame-shaped shelf 1
Forms a plurality of storage units 2 in the vertical direction and the horizontal direction, and each storage unit 2 is configured to support a load 3 (directly or via a pallet) via a wrist device. The shelves 1 are juxtaposed with an aisle 4, and the aisle 4
Inside, a loading / unloading device 10 is arranged so that it can travel on a fixed path 5 in front of the shelf 1.

The loading / unloading device 10 includes a lower frame 11
And a pair of columns 12A and 12B made up of a square pipe (or a round pipe) in a front and rear pair that are erected from the lower frame 11 side,
An upper frame that connects the upper ends of these columns 12A and 12B
A traveling body 14 is constituted by 13 and. And both columns 12
A carriage 16 which is guided up and down via guide rollers 15 having both side surfaces of the columns 12A and 12B as guide surfaces is arranged between A and 12B (between one surface side), and further, on the carriage 16, a storage portion 2 and the like. A withdrawal tool (fork) 17 that can be freely moved in and out is provided. The upper frame 13 has a guide device 18 guided by the ceiling rail 7.

At one end (out position side) of the lower frame 11, there is a drive wheel that can roll on the floor rail 6.
20 is attached via a support base 21, and driven wheels 22 are attached to the other end (on the home position side where a cargo handling area is provided).
Are attached via a support 23. A control unit 24 for controlling the loading / unloading device 10 is provided on the other end of the support base 23 with its operation surface 25 facing sideways, and one end of the lower frame 11, that is, the other surface of one of the columns 12A. An elevating drive unit 30 is provided on the side using the support table 21.

That is, the lifting drive unit 30 is shown in FIGS.
As shown in FIG. 6, there is a case body 31 in the front-rear direction standing upright from one side of the support base 21 (one side of the width direction 26 of the traveling body 14), and on one side upper surface of the case body 31, Downward output shaft 32
A vertically-oriented drive device (motor or the like) 33 having the case inserted into the case body 31 is fixed.

A drive shaft 34 in the left-right direction is arranged on the other side of the case body 31, and the drive shaft 34 is provided on the output shaft 32 as a reduction transmission (a bevel gear mechanism or a flat gear mechanism). It consists of a gear mechanism, etc.). The drive shaft 34 is cantilevered and protrudes to the other side, and a drive sheave 36 which is an example of a drive wheel is fixed to the protruding portion. Further, a bearing device 38 is fixed to the upper part of the transmission case 31, and the bearing device 38 supports the rotating shaft 39 in the left-right direction in a cantilevered manner and fixes a driven sheave (idle sheave) 40 of the protruding portion thereof. . This allows both sheaves
36 and 40 are located in the central portion of the traveling body 14 in the width direction 26 and are arranged so as to be vertically distributed.

The drive sheave 36 has annular wire guide grooves 37 formed at eight positions (a plurality of positions) at a predetermined pitch P, and the driven sheave 40 has an annular wire guide groove 41. It is formed at four places (a plurality of places) with a pitch twice the predetermined pitch P, that is, a pitch 2P.

Wires (four in total), that is, a first wire 45A, a second wire 45B, a third wire 45C, and a fourth wire 45D, are individually provided from above in each wire guide groove 41 of the driven sheave 40. It is wound. Both sides of these wires 45A to 45D extend downward and are wound around the drive sheave 36 in mutually opposite directions and with a constant winding direction.

That is, the other side of the wires 45A to 45D is wound around the wire guide groove 37 of the drive sheave 36 from one side to the other and then extends upward, and the other side is driven by the drive sheave 36.
The wire guide groove 37 is wound from one side to the other side and then extends upward. At that time, each wire 45A-45D
Dedicated wire guide groove for drive sheave 36
It is wound using 37. In addition, since the side of both sheaves 36 and 40 opposite to the case body 31 and bearing device 38 is opened during construction, it can be easily performed through this opening, and maintenance and inspection can also be performed easily from the open side. You can do it.

Here, the wires 45A to 45D are searched for as shown in FIG.
As shown in FIG. 4, for example, the other ends of the four rods located on the column 12A side are wound around the first guide sheave 46 provided on the upper frame 13, and then two of them, the first wire 45.
A and the fourth wire 45D are extended downward and placed in the column 12A, and are connected to a counterweight 51A provided in the column 12A so as to be vertically movable. And the other two, the second
The wire 45B and the third wire 45C are wound from the first guide sheave 46 to the second guide sheave 47, then extended downward and put into the support column 12B, and the counterweight 51B provided in the support column 12B so as to be vertically movable. Connected to.

Also, one end side of the four pieces located on the side away from the column 12 has a third guide sheave 48 provided on the upper frame 13.
Is wound around the upper frame 13 in the front-rear direction, and is wound around the fourth guide sheave 49 and the fifth guide sheave 50. That is, it is divided into a group consisting of the third wire 45C and the fourth wire 45D and a group consisting of the first wire 45A and the second wire 45B and extends downward, and then one of the third wire 45C and the fourth wire 45D. One side of the carriage 16 is connected to the upper side of one side of the carriage 16, and one side of the first wire 45A and the second wire 45B is connected to the upper side of the other side of the carriage 16.

A traveling drive unit 55 of the traveling main body 14 is vertically arranged on the other side in the width direction 26 facing the drive device 33. That is, a speed reducer 56 that is interlocked with the drive wheels 20 is fixed to the other side surface of the support base 21, and a drive device (a flange type of which the downward output shaft is interlocked with the speed reducer 56 is mounted on the speed reducer 56. Motors with a brake, etc.) 57 are fixed vertically.

The traveling power control function and the lifting power control function are combined (integrated) at the front and rear positions of the traveling drive unit 55, that is, at a position on the column 12A side with respect to the traveling drive unit 55. A panelized power control unit 60 is provided. Here, the power control unit 60 has an elongated box shape, and is fixed to the support base 21 at a position and a shape in which a direction of a thin portion thereof is a width direction 26 and the drive sheave 36 is completely covered from a side. ing.

A power supply unit 61 is provided below the power control unit 60 and on the other side surface of the lower frame 11. The power supply unit 61 may be integrated (integrated) in the power control unit 60. A stopper device 62 is provided at a position on one side surface of the lower frame 11 on the side opposite to the power supply unit 61 and at a position on the other end and the other side surface of the lower frame 11 symmetrical to this position.

In the above embodiment, the power control unit 60
Can be arranged without making the lateral width of the loading / unloading device 10 wide and making the front-back length of the loading / unloading device 10 long by utilizing the dead space generated in front of the traveling drive unit 55. Then, the power control unit 60 can cover the exposed drive sheave 36 from the other side. Further, the power supply unit 61 can also be arranged by utilizing the dead space formed below the power control unit 60 without widening the lateral width of the loading / unloading device 10 and without increasing the front-rear length of the loading / unloading device 10.

By disposing the power control unit 60 near the traveling drive unit 55 and the elevating drive unit 30 as described above, the wiring between these units can be easily performed by shortening the wiring distance.

The loading / unloading device 10 thus constructed is
To move the traveling main body 14 through the traveling drive unit 55 by an operation command through the power control unit 60,
In addition, a combination operation of raising and lowering the carriage 16 through the raising and lowering drive unit 30 is performed, whereby the load 3 can be loaded and unloaded from the intended storage section 2 of the shelf 1.

When the carriage 16 is moved up and down, the forward and reverse rotations of the drive device 33 are transmitted to the output shaft 32, the speed reduction transmission device 35 and the drive shaft 34 to rotate the drive sheave 36 forward and backward, and The forward and reverse rotations of the drive sheave 36 give a moving force to the wires 45A to 45D wound around the drive sheave 36.

At this time, the wires 45A to 45D are wound around the driven sheave 40 positioned above and then wound around the drive sheave 36 in opposite directions.
The load of the carriage 16 and the counterweights 51A and 51B applied to both ends of A to 45D acts in the direction of tightening the winding of the wires 45A to 45D on both sheaves 36 and 40, so that the wires 45A to 45D are strong. The frictional force acts and a sufficient moving force can be obtained.

The movement of one side of the wires 45A to 45D is guided by the third to fifth guide sheaves 48, 49 and 50, so that the carriage 16 can be moved up and down. At this time, the movement of the wires 45A to 45D on the other side is guided through the first and second guide sheaves 46 and 47, so that both counterweights 51A and 51B behave in the columns 12A and 12B and move in the opposite direction. Therefore, the carriage 16 can be smoothly moved up and down while the overload of the drive device 33 is reduced.

Then, the traveling body 14 is moved to one side (the driving device of the lifting drive unit 30 by the hanging force of the wires 45A to 45D).
33)), but this can absorb a part of the tilting force by the load of the traveling drive unit 55 arranged on the other side, and further the load of the power control unit 60 and the power supply unit 61. Part of the above-mentioned tilting force can be absorbed by the load.

In the above-described embodiment, the wire 45A to 45D is wound between the pair of upper and lower sheaves 36 and 40, but in the present invention, the wire 45A to 45D is attached to one driving sheave 36. Rolled examples are also possible. In the above-mentioned embodiment, the form using four wires 45A to 45D is shown, but this may be a form using two wires. In this case, the wires on the upper frame 13 side are Are distributed back and forth one by one.

In the above-described embodiment, the traveling main body 14 is shown in which the upper ends of the pair of front and rear columns 12A and 12B are connected by the upper frame 13. However, in the present invention, one column has an upper frame. The loading / unloading device 10 may be of a type that does not. In addition, the loading / unloading device 10 may be of a type in which a cab for inspection or repair is movably provided on the outer side of the column 12B on the other side opposite to the lifting drive unit 30 in the above-described embodiment.

7 to 10 show a second embodiment of the present invention. That is, as shown in FIGS. 8 and 9, a frame-shaped shelf 71
Form a plurality of storage portions 72 in the vertical direction and the horizontal direction, and each storage portion 72 is configured to support a load 73 (directly or via a pallet) via arms. The shelves 71 are arranged side by side with a passage 74, and in the passage 74, a loading / unloading device 80 is arranged which can travel on a fixed path 75 in front of the shelves 71.

The loading / unloading device 80 includes a lower frame 81.
And a pair of front and rear struts 82 erected from this lower frame 81
A and 82B and an upper frame 83 that connects the upper ends of these columns 82A and 82B together form a traveling main body 84. A carriage 86 having a guide roller 85 is arranged between the columns 82A and 82B, and a withdrawal / removal tool (fork) 87 is arranged on the carriage 86 such that the storage section 72 and the like can be retracted. The lower frame 81 has a driving wheel 90 and a driven wheel 92 which are freely rollable on a floor rail 76, which are divided into front and rear, and an upper frame 83 is a ceiling rail.
It has a guide device 88 guided by 77.

As shown in FIGS. 7 to 10, the lower frame 81 is fitted between a pair of left and right channel members 94, and is fitted between the ends of the channel members 94, and is integrated with a fixing tool such as a rivet or a bolt. It is composed of a pair of front and rear end members 95, 96 and the like. Both end members 95, 96 are made of cast metal, and integrally form upward supporting pillar mounting seats. The supporting pillars 82A, 82B are erected on these supporting pillar mounting seats and are integrated with a fixing tool such as a rivet or a bolt. .

A support base 91 is detachably attached to the end member 95 at one end. That is, the support base 91 is made of cast metal, and has a horizontal or downward lower connecting portion formed on the lower portion thereof and an upper upper connecting portion formed on the upper portion thereof. And support
The reference numeral 91 is removably attached to the side surface or the upper surface of the end member 95 after the lower connecting portion is abutted thereto, and then is attached via a fixture such as a bolt. Further, the support base 91 has, at its upper coupling portion, a lift drive unit 100 interlocking with the carriage 86.
Is attached. The elevating drive unit 100 has a case body 101 in a vertical direction which is erected from a support base 91, and an output shaft 102 in a horizontal direction is provided on the other side surface of the upper part of the case body 101.
A vertically-oriented drive device (motor or the like) 103 having the case inserted into the case body 101 is fixed.

A drive shaft 104 in the left-right direction is arranged on the other side surface of the lower part of the case body 101, and the drive shaft 104 is mounted on the output shaft 102 in the reduction gear transmission (spur gear mechanism). Etc.) through 105. The drive shaft 104 is cantilevered and protrudes to the other side, and a drive sprocket 106, which is an example of a drive wheel, is fixed to the protruding portion. As a result, the drive sprocket 106 is positioned at the central portion of the traveling body 84 in the width direction 97.

2 mounted on the drive sprocket 106
One end side of a pair of free-end chains (an example of a rope) 107A, 107B is connected to the lower portion of the carriage 86 via lower guide sprockets 108A, 108B arranged on the lower frame 81, and After the other end moves up in one of the columns 82A, it is connected to the upper part of the carriage 86 via the upper guide sprockets 109A and 109B arranged on the upper frame 83.

On the other side surface of the end member 95, a lateral traveling drive device mounting seat is integrally formed, and the traveling drive unit 110 is integrated with the traveling drive device mounting seat by a fixing tool such as a rivet or a bolt. Has been converted. That is, the traveling drive unit 110 of the traveling main body 86 is vertically arranged on the other side in the width direction 97 facing the case body 101. The traveling drive unit 110 has a speed reducer 111 interlocking with the drive wheels 90 fixed to the other side surface of the end member 95, and a downward output shaft of the speed reducer 111 interlocks with the speed reducer 111. Drive device (flange type motor with brake, etc.)
It is constructed by fixing the 112 vertically.

The traveling power control function and the lifting power control function are integrated (integrated) at the front and rear positions of the traveling drive unit 110, that is, at the position on the column 82A side with respect to the traveling drive unit 110. A panel-like power control unit 113 is arranged. Here the power control unit 11
3 is an elongated box-like shape, and the thin portion has a width direction 97 and a position and shape that completely covers the drive sprocket 106 from the side, and is fixed to the bracket 114 from the end member 95. There is. The power control unit 113
A power supply unit is also built in. Reference numeral 115 indicates a control unit.

In the above embodiment, the power control unit 11
3 can be arranged by utilizing the dead space generated in front of the traveling drive unit 110 without widening the lateral width of the loading / unloading device 80 and without increasing the front-rear length of the loading / unloading device 80. The power control unit 113 can then cover the exposed drive sprocket 106 from the other side. By disposing the power control unit 113 near the traveling drive unit 110 and the elevating drive unit 100 as described above, wiring between these units can be easily performed by shortening the wiring distance.

The loading / unloading device 80 configured as described above is
In response to an operation command from the power control unit 113, the travel main unit 84 is moved by the travel drive unit 110, and the carriage is moved via the lift drive unit 100.
Performs a combined operation with raising and lowering 86, and
The load 73 can be loaded / unloaded into / from the intended storage section 72.

The raising and lowering of the carriage 86 described above causes the forward and reverse rotations of the drive unit 103 to be reflected by the output shaft 102 and the speed reduction transmission unit 105.
, To the drive shaft 104 to rotate the drive sprocket 106 in the forward and reverse directions, and forward and reverse rotation of the drive sprocket 106 gives a moving force to the chain 107 A, 107 B group meshing with the drive sprocket 106. I am doing that. The movement of the chains 107A and 107B is guided by the lower guide sprockets 108A and 108B and the upper guide sprockets 109A and 109B, so that the carriage 86 can be moved up and down.

[0041]

According to the present invention having the above structure, since the power control unit is arranged near the traveling drive unit and the elevating drive unit, the wiring between the units can be easily performed by shortening the wiring distance. Can be done. The lifting drive unit can easily cover the side of the drive wheel, and can prevent contact with other objects and workers, thus making the entire structure safe.

[Brief description of drawings]

FIG. 1 shows a first embodiment of the present invention and is a side view of an arrangement portion of a power control unit.

FIG. 2 is a partially cutaway side view of the loading / unloading device.

FIG. 3 is a front view of an automated warehouse using the same loading / unloading device.

FIG. 4 is a side view of an arrangement portion of the lifting drive unit.

FIG. 5 is a partially cutaway front view of an arrangement portion of the lifting drive unit.

FIG. 6 is a plan view of an arrangement portion of the power control unit.

FIG. 7 shows a second embodiment of the present invention and is a side view of an arrangement portion of a power control unit.

FIG. 8 is a partially cutaway side view of the loading / unloading device.

FIG. 9 is a front view of an automatic warehouse using the same loading / unloading device.

FIG. 10 is a partially cutaway front view of an arrangement portion of the lifting drive unit.

[Explanation of symbols]

 1 shelf 4 aisle 5 constant path 10 loading and unloading device 11 lower frame 12A stanchion 12B stanchion 13 upper frame 14 running body 16 carriage body 16 carriage 17 loading and unloading tool 24 control unit 25 operation surface 26 width direction 30 lifting drive unit 33 drive device 36 drive sheave (drive wheel) Body 40 Driven sheave 45A 1st wire 45B 2nd wire 45C 3rd wire 45D 4th wire 46 1st guide sheave 47 2nd guide sheave 48 3rd guide sheave 49 4th guide sheave 50 5th guide sheave 55 Travel drive unit 57 Drive device 60 Power control unit 61 Power supply unit 71 Shelf 74 Passage 75 Constant path 80 In / out device 81 Lower frame 82A Post 82B Post 83 Upper frame 84 Traveling body 86 Carriage 87 In / out device 97 Width direction 100 Lifting drive unit 103 Drive device 105 Deceleration Transmission 106 Drive sprocket (drive wheel) 107 A Emission 107 B chain 108 A lower guide sprocket 108 B lower guide sprocket 109 A top guide sprocket 109 B upper guide sprocket 110 traveling drive unit 112 drives 113 the power control unit 115 control unit

Claims (1)

[Claims] 1. A traveling main body is composed of a lower frame and a support erected from the lower frame, and a carriage that can be raised and lowered is provided on one side of the support in the traveling direction of the traveling main body, and on the other side. An elevating drive unit and a traveling drive unit are provided, and the elevating drive unit is
A drive wheel body disposed in a central portion in the width direction of the traveling body, and a power control unit for raising and lowering and traveling are attached to the traveling body at a position where the driving wheel body is laterally covered. A device for taking in and out.