JPH08174464A - Holder gripping device - Google Patents

Abstract

PURPOSE: To reliably stop the opening action of tip claw parts by fitting an engaging pin provided on the other end of one pinching claw body to an elongated hole-like engaging part formed on a rotating arm, and setting the pinching angle on the engaging pin part to the approximately right angles when both pinching claw bodies are closed. CONSTITUTION: A pinching conveying means to be used for a housing rack unit is provided with a pair of pinching claw bodies 39 provided with tip claw parts 39a to be engaged with and disengaged from an engaging hole 7 in a holder 2 for a chart, and to be opened and closed, and both claw bodies 39 are interlocked, opened and closed through gears 40, 40 to be meshed with each other. An engaging pin 41 is provided on the other end of one pinching claw body 39, and it is engaged with an elongated hole 42a formed on a rotating arm 42a to be reciprocated and rotated by a rotating-type solenoid 42. When both claw bodies 39 are closed, the opening action of the tip claw parts 39a can be stopped by making the pinching angle θ on the engage pin 41 part in relation to the turning center 39b of one pinching claw body 39 and the turning center 42c of the rotating arm 42a into the approximately right angles.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a file holder (hereinafter referred to as "file holder" capable of storing a plurality of sheets, cards, documents such as medical records.
(Referred to simply as a holder), the structure of a holder gripping device for automatically taking out or storing.

[0002]

2. Description of the Related Art The present applicant has previously filed Japanese Patent Application No. 5-31817.
In No. 9, when storing and storing a large number of sheets and cards such as medical charts in hospitals, these cards are foldable holders (has a gusset at the lower end and extends over the upper ends of a pair of left and right cover covers). Suspended suspension type with fixed reinforcement)
Once, and the holder is automatically stored at a predetermined storage location in the storage rack unit by the transport unit that moves along the front surface of the storage rack unit in which many suspension rails are provided in parallel. I proposed a device to do or remove.

In this case, the carrier unit is provided with a holder gripping device provided with a pair of right and left sandwiching claws that are opened and closed. When the tip claws of the pair of left and right sandwiching claws are closed, the tip claws are closed. The state in which the part is fitted in the engaging hole formed in the side surface of the upper part of the holder is maintained, and the holder gripping device is moved back and forth to be stored in or taken out from a predetermined storage location. Then, in order to open and close the left and right clamping claws, an engaging pin is provided on each of the pair of clamping claws, and an engagement pin provided on the other end of one of the clamping claws,
The pin of the rotating arm of the rotating electromagnetic solenoid is connected by a link.

[0004]

However, when the holder gripping device is retracted while the holder is gripped by the pair of left and right sandwiching claws, the pair of left and right holders is slid due to sliding resistance of the holder. External force acts in the direction in which the tip side of the sandwiching claw body opens. When the rotating electromagnetic solenoid is de-energized, the built-in spring force closes the tip ends of the pair of left and right holding claws, and if the spring force is lost by the sliding resistance force, the holding force is reduced. There is a problem that the tip end side of the claw body is opened, the holder is not fully clamped during movement, and storage or removal failure of the holder occurs.

An object of the present invention is to solve this problem and to provide a holder gripping device which can surely store or take out the holder.

[0006]

In order to achieve the above object, a holder gripping device according to the present invention comprises a pair of left and right gripping members which open and close so as to engage and disengage with a tip claw portion with respect to an engaging hole in the holder. In a holder gripping device including a claw body,
Engaging gears are provided on the pair of holding claws, respectively, and an engagement pin provided on the other end of one of the holding claws is formed into a long hole-like engagement formed on a rotary arm that is reciprocally rotated by a rotary actuator. When the tip ends of the two holding claws are fitted to each other, the included angle of the engaging pin portion with respect to the rotation center of the one of the holding claws and the rotation center of the rotation arm is substantially a right angle. It is set so that

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described. FIG. 1 shows a plurality of storage rack units for storing flat rectangular holders 2 such as file holders for storing medical records in hospitals. 1 and a carrier unit 3 that moves along the front surface of the carriage 12 and the front surface of the storage rack unit 1 in the storage section 13 that is also provided on one side of each storage rack unit 1 and is also used as a shipping section. It is a partially broken perspective view of an extraction storage warehouse. The two storage rack units 1, 1
In between, a stacker crane 1 moving along a rail
0 is arranged, and the transport unit 3 moves up and down along the column 11 in the stacker crane 10. On the front side of each storage shelf unit 1, there is provided a storage section 13 into which the dolly 12 storing the holder 2 is inserted. At least one storage shelf unit 1 has a front surface for taking out the holders 2 one by one in an emergency. An emergency shipping section 14 is provided.

In the embodiment shown in FIG. 1, only one set having one transport unit 3 for a pair of left and right storage rack units 1, 1 is shown, but a plurality of these sets are arranged side by side. It may be. Further, in the above-described embodiment, the storage section 13 is used in combination with the delivery section, but as a means for taking out the holder 2 from the storage shelf unit 1 and discharging it to the outside, the storage unit 13 may be installed at another location of the storage unit 3 from the transfer unit 3. It is also possible to form a shipping section by providing a shipping port for discharging the holder 2 and providing a transportation means such as a belt conveyor at this shipping port.

As shown in FIGS. 2 to 5, the holder 2 includes a pair of left and right cover covers 2a and 2b made of synthetic resin or paper.
Is provided in the middle to provide a bottom gusset portion 2c, and the overhanging reinforcements 6 and 6 made of synthetic resin and the like in the front-rear longitudinal direction are integrally formed on the upper ends of the pair of left and right cover covers 2a and 2b with adhesive or the like. It is fixed. Engagement holes 7 for engaging and disengaging the holding claw bodies 39, 39 for transferring the holder in the transport unit 3 which will be described in detail later are formed in front and rear portions of the overhanging reinforcement bodies 6, 6. Further, one cover cover 2a is provided with a pocket portion 8 for accommodating a piece of paper 8a on which a bar code, which is a kind of ID code for identifying the holder 2, is stored.
A watermark hole 8b is formed so that a laser beam for inspection from a bar code reader 29, which will be described later, can directly irradiate the bar code on the surface of the bar code paper piece (see FIG. 4).

Each storage shelf unit 1 has a plurality of upper and lower shelves 4, and a suspension rail member 5 is arranged on the lower surface of each shelf 4 at a constant interval P1. Between the two suspension support rail bodies 5 and 5, a suspension portion is configured to suspend and support the overhanging reinforcement portion 6 which is the upper end portion of each holder 2 (see FIGS. 2 and 3). ). The dolly 12 also has a plurality of upper and lower shelves 4, and the suspension support rail bodies 5 having the same configuration as described above are juxtaposed on the lower surface of each shelf 4 and the like. Insert 2 and hang it. In addition, a temporary storage unit (not shown) is provided in one of the storage shelf units 1 for temporarily storing the holder 2 such as a bar code reading failure, a thickness detection failure, or a storage failure.

Next, the structure of the carrying unit 3 will be described with reference to FIGS. 6 to 15.
The front surface of the box-shaped case 17 in FIG.
The holding / conveying means 18 as a holder gripping device which holds and engages with the engaging hole 7 of the front and rear sides (in the arrow A direction and the B direction) with respect to the suspended position in the carriage 12 in the loading / unloading section 13 or the storage rack unit 1. ) Is provided so as to move to the inside and outside of the case 17 and the case 17
Inside, a plurality of storage boxes 19a and 19b for suspending and supporting the overhanging reinforcement bodies 6 of the holder 2 one by one (in the embodiment, 2
2) are arranged side by side, and the two storage boxes 19a and 19b can be selectively moved by the storage box moving means so as to be orthogonal to the moving direction of the sandwiching and conveying means 18 with respect to the entrance and exit in plan view. Configure (see FIGS. 6 and 9).

Further, at the entrance and exit of the case 17,
When the holder 2 is unwound from the storage box 19a or 19b to the suspended position, the adjacent holders 2 at the suspended position
A pair of left and right insertion plates 2 for laterally displacing the upper and lower intermediate portions of the above to secure a storage gap for the holder 2 to be extended.
A restore guide means 20 composed of 1, 21 is provided (see FIGS. 6, 8 and 14).

As can be understood from FIGS. 6 to 9, the restore guide means 20 is arranged in the vicinity of the entrance and exit, and the storage box 1
9a and 19b are arranged on the back side, and the front surface is open. In the present embodiment, the two storage boxes 19a and 19b are connected so as to move as a unit, and are slidably mounted on the rails 22 and 22 on the bottom surface of the case 17, and
Motor 23 for lateral movement fixed to the rear part of the vehicle and rotating in one direction
Via the storage box moving means consisting of
There is a space that can reciprocate in the direction D and the direction D. In addition, lateral movement sensors 25a and 25b for detecting this movement are arranged at the rear of the case 17.

A pair of left and right mounting guide rails 26, 26 on which the overhanging reinforcement body 6 of each holder 2 can be slidably mounted is provided at the upper ends of the storage boxes 19a, 19b. A pair of left and right L-shaped brackets 2 are provided at the entrance and exit of the case 17.
The left and right front guide rails 28, 28 are fixed to 7, 27, and when the holder 2 moves in the arrow C and D directions, the placement guide rails 26, 26 and the front guides in the storage boxes 19a, 19b, respectively. The holder 2 is configured to be able to pass through when the phases of the rails 28 and 28 coincide with each other.

Further, as shown in FIG. 9, detection light from a bar code reader 29, which is holder identification means provided on one side of the case 17, is perforated on the side surfaces of the storage boxes 19a and 19b. Each storage box 19 is passed through the holes 30a and 30b.
It is used to read the bar code on the holder 2 in a and 19b. Further, the presence or absence of the holder 2 in the case 17 is detected by the light transmission type sensors 31a and 31b provided on both the left and right sides of the case 17.

In this embodiment, when the holder 2 is taken into the transport unit 2 from the suspended position of the carriage 12 or the storage rack unit 1, the holder 2 is first placed in the storage box 19a far from the bar code reader 29. To store
Next, the storage box 19b on the near side is stored. Thereby, the barcodes on all the holders 2 can be read. When discharging (sending) from the transport unit 2 to the outside, it starts from the holder 2 of the storage box 19b on the side closer to the barcode reader 29. In other words, the first-in, first-out format is used. The number of storage boxes may be three or more and about ten.

The holding and conveying means 18 as a holder gripping device shown in FIGS. 10 to 13 is slidably mounted on a longitudinal rail 32 provided in the upper part of the case 17, and is mounted on the mounting guide rails 26, 26. 26 and the front guide rails 28, 2
It reciprocates over 8 and above. The chain 34 fixed to the locking portion 33 provided on one side of the main body block 18a of the sandwiching and conveying means 18 is wound around the chain sprockets 35, 35 and the drive chain sprocket 37 of the drive motor 36, and the normal rotation of the drive motor 36 and By reverse rotation, as shown in FIGS. 6 and 7, it is possible to move from the forward movement position to the rear standby position. On the front surface side of the main body block 18a, a pair of left and right guide fixing claws 38, 38 that move along the upper side between the placement guide rails 26, 26 and the front guide rails 28, 28, and a narrowing and expanding rotation below the guide fixing claws 38, 38 ( A pair of left and right holding claws 39, 39 that are opened and closed) are provided.

As shown in FIGS. 10 to 13, the holding claw body 3
9 and 39 are interlockingly rotated by a pair of gears 40 and 40 that rotate integrally with each other, and an engagement pin 41 connected to the base end side of one holding claw 39 is a rotation type as a rotation actuator. The electromagnetic solenoid 42 is fitted into the elongated hole-shaped engaging portion 42b of the arm 42a which is reciprocally rotated by a predetermined angle.
Electric power is constantly supplied to a rotary electromagnetic solenoid 42 that moves from a supply electric wire (not shown) arranged in the front-rear longitudinal direction on the lower surface of the upper plate of the case 17 through a pair of power supply terminals 43, 43 projecting on the upper surface of the main body block 18a. Supplied.

When the rotary electromagnetic solenoid 42 is in the non-excited state, the force of the built-in biasing spring causes the tip claw portions 39a, 39a of the pair of left and right sandwiching claw bodies 39, 39 to be shown by the solid lines in FIGS. Is closed. At this time, the rotation center 4 of the rotation arm 42a around the engagement pin 41 is used.
The included angle θ between 2c and the center of rotation 39b of the one holding claw 39 is selected to be approximately 90 degrees. This allows
The main body block 18a is held in the engagement hole 7 with the tip claws 39a, 39a closed so that the holder 2 is grasped, and the main body block 18a is indicated by an arrow B in FIG.
When retracted in the direction, the tip claw portions 3 of the left and right sandwiching claw bodies 39, 39 are caused by the sliding resistance force between the holder 2 and the suspension support rail body 5.
Even if an external force for opening 9a, 39a is applied, since the included angle θ is substantially right angle, the engaging pin 41 cannot move in the widthwise direction of the hole in the elongated hole-shaped engaging portion 42b. Therefore, the opening movement of the tip claw portions 39a, 39a can be reliably prevented.

When the rotary electromagnetic solenoid 42 is excited, the rotary arm 42 is shown as shown by the chain double-dashed line in FIG.
When a is rotated, the tip claw portions 39a, 39a of the pair of left and right holding claw bodies 39, 39 are opened. Reference numeral 44 indicates the holding claws 39, 39.
Is a stopper for restricting the open position of the front end claw portions 39a, 39a. Further, on one side of the main body block 18a, the restore guide means 20 is pressed against a pressing block 59 at the tip of a latch lever 46 which is supported by a horizontal shaft 45 so as to be vertically rotatable and is L-shaped in a side view. A pressing roller 47 for advancing the fixed distance L1 (see FIG. 7) and a guide roller 48 for releasing the pressing are provided, and are biased downward by a biasing spring 49 (FIG. 11). reference).

Next, the structure of the restore guide means 20 will be described with reference to FIGS. 6, 8 and 14.
The restore guide means 20 is provided with four movable beams 51, which are provided on the inner surface of the case 17, and which move along a pair of U-shaped guide rails 50 in the front-rear longitudinal direction and a pair of left and right (a total of four) via rollers 52. Four arms 54 that rotate to the left and right via pivots 53 to each moving beam 51, and a pair of left and right insertion plates 21 fixedly attached to the tips of the right upper and lower arms 54 and the upper left and lower arms 54, 21 and the lower left and right moving beams 51, 51 are reinforced by a connecting bracket 55 so as to have rigidity. Then, each arm 54 is biased by a torsion spring loosely fitted to the pivot 53 in a direction in which the tip ends of the pair of left and right insertion plates 21, 21 are closed, and
By the stopper pieces 56, 56 fixed to the movable beams 51, 51, the left and right gaps of the tips of the left and right insertion plates 21, 21 are regulated so as to be kept at a gap slightly larger than the thickness of the upper side of the holder 2. There is. A return spring 57 having one end locked to the case 17 is urged to move the moving beam 51 in the backward direction (arrow B direction). Reference numeral 58
Is a damper for controlling the retracted position and mitigating the impact force of the movement.

Main body block 18 of the sandwiching and conveying means 18
When the gripping claw 39 advances from the rear end standby position in the direction of arrow A, the pressing roller 47 of the latch lever 46 contacts the vertical rear end surface of the pressing block 59 provided at the rear end of the one moving beam 51. And push it forward. The guide roller 48 of the latch lever 46 is attached to the chevron guide block 60 fixed to the inner surface of the case 17 or the guide rail 50.
When the vehicle rides, the latch lever 46 rotates upward about the horizontal shaft 45 and the engagement between the pressing roller 47 and the pressing block 59 is released, so that the insertion plates 21 and 21 move forward by the distance L1. , And is retracted by the force of the return spring 57 (see FIGS. 7 and 14). Since the pressing roller 47 of the latch lever 46 can ride on the front end surface of the pressing block 59 which is highly inclined toward the rear when the clamping and conveying means 18 is retracted, if the clamping roller 47 is positioned behind the pressing block 59, the clamping claw can be held. The body 39 can return to the aforementioned standby position.

Next, the thickness detecting means 61 for detecting the thickness of the holder 2 will be described with reference to FIGS. 6, 8 and 15. Thickness detection means 61 in this embodiment
As shown in FIG. 8, a pair of left and right insertion plates 21 and 21 and the storage box 19a in the restore guide means 20 are provided.
The vertically elongated sensor bodies 63a and 63b, which are arranged in a space between the pair of right and left vertical shafts 62 and 62, are integrally rotatable with the pair of left and right vertical axes 62 and 62, and the transport holding means 18
When the holder 2 is taken in from the suspended position to the storage box direction, one or both of the sensor bodies 63a and 63b that rotate by contacting the left and right cover covers 2a and 2b of the holder 2 And a rotary encoder 64 for detecting. The thickness of the thickest portion of the space between the left and right cover covers 2a and 2b of the holder 2 is converted and detected from the detection value of the rotary encoder 64.

In this embodiment, the thickness of the holder 2 can be accurately determined from the total of the turning angles even if the turning angles of the left and right sensor bodies 63a and 63b are different due to the different degrees of contact of the holder 2. It can be detected.
As shown in FIG. 15, the adding means is one sensor body 63.
The vertical axis 62 to which b is attached is rotatably supported by a support bracket 65 fixed to the case 17, and the lower end of the vertical axis 62 is configured to rotate integrally with the sensor body 63b. A link plate 66 is attached. The link plate 66 is provided with a rack 67 and left and right longitudinal guide grooves 68. The vertical axis 62 that rotates integrally with the other sensor body 63a is rotatably fitted and inserted into a pair of upper and lower support bracket plates 69, 69.
The reference numerals 9 and 69 are attached to the connecting body 70.

The base of the connecting body 70 is rotatably mounted on the support bracket 73 via a pin shaft 72 with a return spring 71, and the support bracket 73 is fixed to the case 17. The first gear 74 that rotates integrally with the vertical axis 62 rotates the third gear 76 via the second gear 75 that is rotatably supported by the upper support bracket plate 69. The rotary encoder 64 is attached to the third gear 76. The fourth gear 77 mounted so as to rotate integrally with the lower end of the vertical axis 62 is arranged so as to mesh with the rack 67 of the link plate 66. The lower end of the vertical axis 62 is fitted into the guide groove 68 in the link plate 66 and cannot be removed.

The support bracket plate 69 and the connecting body 70
The support bracket 73 is located in a passage hole formed on the base side of one of the insertion plates 21 so as not to interfere with each other when the insertion plate 21 rotates. With the above configuration, the left and right sensor bodies 63a and 63b can be formed by the left and right thicknesses of the holder 2 taken in the direction of arrow B.
Rotates in the E and E'directions shown in FIG. Right sensor body 6
The link plate 66 is rotated by the rotation of 3b, but since the lower end of the vertical axis 62 of the left sensor body 63a is fitted in the guide groove 68, the fourth gear 77 and the link plate 66 of the vertical axis 62 are The engagement with the rack 67 does not come off.

Therefore, the fourth gear 77 is rotated by the rotation of the right sensor body 63b and / or the rotation of the left sensor body 63a itself, and the rotation angle is the vertical axis 62, the first gear 74, and the first gear 74. Two
Since the rotation angle is transmitted to the third gear 76 via the gear 75, this rotary angle can be read by the rotary encoder 64. In this way, since the rotary encoder 64 can detect the total amount of the rotation angle of the right sensor body 63b and the rotation angle of the left sensor body 63a, the holder 2 can be contacted with the left and right sensor bodies 63a, 63b. Even if the (contact) is uneven, the thickness can be accurately detected. As another embodiment, the fourth gear 77 may be provided without interposing the first gear 74 to the third gear 76.
The rotary encoder 64 may detect the rotation angle of the rotary encoder 64, or the rotary encoders 64 and 64 may be attached to the sensor bodies 63a and 63b, respectively, and the detection values of both may be added to determine the thickness of the holder 2. You may make it detect correctly.

The thickness of the holder 2 may be detected only when the holder 2 is moved from the carriage 12 to the transport unit 3 in the storage section 13. Even when the holder 2 is discharged from the storage boxes 19a and 19b, both the left and right sensor bodies 63a and 63b rotate in the F and F'directions, but in this discharge mode (feed-out mode), the detected value is output. It is sufficient not to store the detected value data. When the holder 2 is taken out from the storage rack unit 1, its thickness may be checked and a device for facilitating the setting of the storage interval in the carriage 12 may be executed.

Next, with reference to FIGS. 6 to 11, an operation procedure for loading (transferring) the holder 2 from the carriage 12 in the storage section 13 to the transport unit 3 will be described. As a preparatory step, the sandwiching and conveying means 18 in the conveying unit 3 is stopped at a standby position (rearward from the storage box) (see a chain double-dashed line in FIG. 7), and the lateral movement motor 23 is operated to operate the storage box in an empty state. 19a and 19b are moved in the direction of arrow D, and the storage box 19a farther from the bar code reader 29 is set so as to be located between the sensor bodies 63a and 63b.

The carrier unit 3 located in front of the carriage 12 in the storage section 13 is run in the parallel direction of the suspended holders 2, and the holder stock confirmation sensor 106 provided on the case 17 of the carrier unit 3 is moved. Detects the presence or absence of holder 2,
In front of the holder 2, the transport unit 3 is stopped at a position where the left and right insertion plates 21 and 21 at the entrance and exit of the transport unit 3 sandwich the holder 2 on both the left and right sides.

Next, in this state, when the holding and conveying means 18 is advanced in the direction of the entrance and exit (the direction of arrow A), the pressing block 59 at the rear end of the movable beam 51 in the restore guide means 20.
Is pushed out by the pressing roller 47 of the latch lever 46, so that the insertion plates 2 and 21 are inserted into both left and right sides of the holder 2 in the suspension position. As it is, the nipping and conveying means 18 advances in the direction of the arrow A, and the nipping claws 39, 39 in the opened state in the main body block 18a are engaged with the engaging holes 7 in the holder 2.
When it comes to the point of, the forward movement of the main body block 18a is stopped, the electromagnetic solenoid 42 is de-energized, and both the sandwiching claw bodies 39, 39 are closed. On the other hand, when the guide roller 48 of the latch lever 46 rides on the chevron guide block 60, the pressing roller 47 and the pressing block 59 are disengaged, and the restoring guide 57 causes the restore guide means 20 to retract.

Then, the body block 18a is retracted in the direction of arrow B. The holder 2 sandwiched between the left and right sensor bodies 6
The thickness of the holder 2 is detected by abutting on and rotating the holders 3a and 63b. Further, while the holder 2 is retracting, the barcode is read and detected by the barcode reader 29 to identify the holder 2 in the storage box 19a. When the overhanging reinforcement body 6 at the upper end of the holder 2 is completely placed on the placement guide rail 26 on the storage box 19a, the holding claws 39, 39 are opened, and the main body block 18a is once retracted to the standby position. Next, the lateral movement motor 23 is operated to store the storage box 1
9a and 19b are moved in the direction of arrow C, the storage box 19b is set so as to face the doorway, and another holder 2 is loaded into the other storage box 19b by the same operation as described above. This operation is performed from the storage rack unit 1 to the transport unit 3
The same procedure is performed when the holder 2 is taken in.

Next, an operation procedure for storing (inserting) the holder 2 between the transport unit 3 and the suspension rails 5, 5 of the storage rack unit 1 will be described. With the body block 18a retracted to the standby position, the storage box 19b is set so as to face the doorway, and then the body block 18a
a is advanced in the direction of the arrow A, and after being temporarily stopped, both sandwiching claws 39, 39 are closed to engage with the engagement hole 7, and the main body block 18a is further advanced. As a result, the space between the left and right sensor bodies 63a and 63b is widened by the end portion of the holder 2.
At this time, since the latch block 26 pushes the engaging block 59 almost at the same time, the restore guide means 20 moves forward,
Both the left and right insertion plates 21 and 21 ensure the left and right intervals of predetermined storage locations in the storage rack unit 1.

Therefore, when the holders 2 are already present on the suspension rails 5 and 5 adjacent to the storage location, the holders 2 on both the left and right sides are laterally displaced and stored (stored). This makes it easy to insert the holder 2 to be inserted. When the body block 18 stops at the most advanced position,
The holder 2 is a suspension support rail body 5 in the storage shelf unit 1.
Since it is in a state of being suspended from the carriage 5, the holding claws 39, 39 are opened, and the main body block 18a is retracted to the standby position.
Then, the lateral movement motor 23 is operated to move the storage box 19
By moving a and 19b in the direction of arrow C, the storage box 19a is set so as to face the entrance and exit, and another holder 2 is sent into the other storage box 19a by the same operation as described above. This operation is performed from the transport unit 3 to the carriage 12 to the holder 2
The same procedure is performed when discharging.

[0035]

As described above, the holder gripping device of the present invention is provided with the pair of right and left holding claws which open and close so as to be engaged and disengaged by the tip claws with respect to the engaging holes in the holder. In this holder gripping device, each of the pair of holding claws is provided with a meshing gear, and the engaging pin provided at the other end of one of the holding claws is formed on a rotating arm that is reciprocally rotated by a rotating actuator. When fitted into an elongated hole-shaped engaging portion, and when the tips of both the sandwiching claws are closed, the engagement pin location of the engaging pin location with respect to the rotation center of the one sandwiching claw and the rotation center of the rotation arm. It is set so that the included angle is almost a right angle.

Therefore, when the front end portions of the pair of right and left holding claws are closed, the angle between the rotation center of the rotation around the engagement pin and the rotation center of the one of the holding claws. If θ is selected to be approximately 90 degrees, when the holder gripping device is retracted with the tip closed while gripping the holder,
Even if an external force that causes the tips of the left and right sandwiching claws to open due to the sliding resistance force when the holder moves, the sandwiching angle θ
Is almost right angle, the engagement pin cannot move in the width direction of the hole in the elongated hole-like engaging portion, and therefore the opening movement of the tip claw portion can be reliably prevented.

Thus, there is an effect that it is possible to prevent a situation in which the holder is removed from the holder gripping device during the time when the holder gripping device takes out or stores the holder and the work such as the taking out becomes impossible.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view of an automatic holder retractor.

FIG. 2 is a side sectional view of a suspended portion of the holder.

FIG. 3 is a view taken along the line III-III in FIG.

FIG. 4 is a view taken along the line IV-IV of FIG.

FIG. 5 is a perspective view of a holder and a suspension rail body.

FIG. 6 is a plan view taken along the line VI-VI of FIG. 7 showing the transport unit.

FIG. 7 is a sectional side view taken along the line VII-VII in FIG. 6 showing the transport unit.

FIG. 8 is a front view of the transport unit taken along the line VIII-VIII of FIG.

9 is a sectional view taken along the line IX-IX in FIG.

FIG. 10 is a plan view of a main body block in the pinching and conveying means.

11 is a sectional view taken along the line XI-XI of FIG.

FIG. 12 is a front view of a main body block.

FIG. 13 is an explanatory view of the action of the sandwiching claw body.

FIG. 14 is a perspective view of restore guide means.

FIG. 15 is a component perspective view of the thickness detecting means.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Storage shelf unit 2 Holder 3 Conveying unit 5,5 Suspension rail body 7 Engagement hole 18 Holding transport means as a holder gripping device 29 Bar code reader 36 Drive motor 39, 39 Holding claw body 39b, 42c Rotation center 41 Engagement pin 42 Rotation type electromagnetic solenoid 42a as a rotation actuator 42a Rotation arm 42b Long hole-shaped engagement portion

Claims (1)

[Claims] 1. A holder gripping device comprising a pair of right and left sandwiching pawls that open and close so as to be engaged and disengaged by a tip pawl portion with respect to an engagement hole of a holder, and each of the pair of sandwiching pawls meshes with the pair of sandwiching pawls. A gear is provided, and an engaging pin provided on the other end of one of the sandwiching claws is fitted into an elongated hole-like engaging portion formed on a rotating arm that is reciprocally rotated by a rotating actuator, and both the sandwiching members are held. When the tips of the claws are closed, the sandwiching angle of the engaging pin portion with respect to the center of rotation of the one sandwiching claw and the center of rotation of the rotating arm is set to be substantially a right angle. Holder gripping device.