JPH10109744A - Unloading table equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the direction to take out and in a cargo at the position to transfer the cargo to be elevated different from the direction to take in and out the cargo at the position to transfer the cargo to be lowered in an unloading table equipment capable of supporting a unloading table in an elavatable and lowerable manner at the position to transfer the cargo to be elevated and the position to transfer the cargo to be lowered by a parallel four-link mechanism. SOLUTION: When unloading tables 3, 6 are at the position to transfer a cargo to be elevated, an interlocking link 7 is located at the level lower than that of the unloading tables 3, 6, and a fork can be inserted in and drawn from a side of a parallel four-link mechanism 10 in the direction along the axes X1, X2 of oscillation. When the unloading tables 3, 6 are located at the position to transfer the cargo to be lowered, a pallet loading surface 3a of the unloading table 3 is located between right and left oscillation links, and the fork can be inserted and drawn in the direction orthogonal to the axes X1, X2 of oscillation of the parallel four-link mechanism 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a support system for vertically moving a load receiving platform by means of a parallel quadruple link mechanism, and operating the parallel quadruple link mechanism to move the load receiving platform to an ascending load transfer position and a descending load. The present invention relates to a load receiving table device provided with a drive mechanism for raising and lowering a transfer position.

[0002]

2. Description of the Related Art Conventionally, as the above-mentioned cargo receiving device, there has been a device disclosed in, for example, Japanese Utility Model Laid-Open No. 2-145206. That is, one end side of the base plate and the receiving table are connected to each other by a support link, and a hydraulic cylinder is attached to one of the support link and the base plate. By this, the pair of support links rises and swings to the upright posture to operate the load receiving platform,
The load receiving platform is lowered by swinging down and down to the lying posture. That is, the base plate, the support link as a pair of swing links, and the load receiving platform constitute a parallel quadruple link mechanism. The hydraulic cylinder serves as a drive mechanism for operating the parallel quadruple link mechanism, and operates the parallel quadruple link mechanism to move the load receiving table up and down between the ascending load transfer position and the descending load transfer position. This type of cargo receiving device is designed to be able to take in and out luggage by using a hand lifter in an automatic warehouse, for example. That is, in an automatic warehouse, generally, the limit at which the fork of the stacker crane can be lowered is located at a higher level than the limit at which the fork of the hand lifter can be raised. For this reason, when the stacker crane transfers the luggage taken out of the storage shelf to a fixed loading tray, the fork of the hand lifter cannot be lifted to the luggage on this loading tray, and the luggage is transferred from the loading tray to the hand lifter. I cannot transfer it. However, in the above-mentioned loading tray device, the loading tray is raised to the ascending load transfer position to transfer the load from the stacker crane to the loading tray, and thereafter, the loading tray on which the load is placed is moved downward. By lowering to the loading position, the load can be transferred from the load receiver to the hand lifter by aligning the load receiver with the fork of the hand lifter.
The luggage taken out of the storage shelf by the stacker crane can be put on the hand lifter. And conversely,
Lower the load carrier to the lowering load transfer position to transfer the luggage from the hand lifter to the loader, and raise the loader with the load to the ascending load transfer position to move the loader from the loader to the stacker crane. By transferring the luggage, the luggage brought by the hand lifter can be loaded on the stacker crane. In this type of load receiving device, the operation of the parallel quadruple link mechanism causes the rising load transferring position and the descending load transferring position of the load receiving table to be orthogonal to the swing axis of the link mechanism. Misalignment in the direction. For this reason, when transferring the load between the load receiving cradle and the hand lifter by setting the load receiving cradle to the descending load transfer position, the load cradle is separated from the storage shelf, and a large working space around the load cradle can be secured. It can work advantageously.

[0003]

In the above-mentioned conventional load receiving device, the fork for loading or unloading the load from the load receiving direction is moved in a direction perpendicular to the swing axis of the quadruple link mechanism. Could only be removed. For this reason, for example, when the three-dimensional storage shelf T is along the wall K as shown in FIG.
That is, in this case, the load receiving device N is located between the stacker crane S for transferring the load to the stacker crane S and the wall K, and the fork is located on the opposite side of the load receiving device N from the wall side. Can only be inserted and removed from For this reason, when the stacker crane S unloads the luggage to be taken out from the three-dimensional storage shelf T, the stacker crane S transfers the luggage to the load receiving device N, and then brings the hand lifter H to the front side of the load receiving device N. The stacker crane S needs to be retracted from the front side of the load receiving device N to the side so that a space for transferring the load from the load receiving device N to the hand lifter H can be secured. When the load is carried in and stored by the hand lifter H, while the load is transferred from the hand lifter H to the load receiving device N, the load receiving device N
Bring the hand lifter H to the front side of the
The stacker crane S is retracted from the front side of the load receiving device N to the side so as to secure a space for transferring the load from the hand lifter H to the load receiving device N. After completing the luggage transfer,
It is necessary to return the stacker crane S to the front of the loading tray device N so as to take in the load from the loading tray device N. SUMMARY OF THE INVENTION It is an object of the present invention to provide a loading tray device which can be used advantageously, for example, in order to efficiently load and unload luggage even in an automatic warehouse under the above conditions.

[0004]

[MEANS FOR SOLVING THE PROBLEMS] To achieve the object,
According to the first aspect of the present invention, in the load receiving device described at the beginning, the fork removal direction of the load receiving table when the load receiving table is at the ascending load transfer position is the swing axis of the parallel quadruple link mechanism. It is set in the direction along the core, and the fork insertion / removal direction of the carrier when the carrier is in the downward load transfer position is set to the direction orthogonal to the pivot axis of the parallel quadruple link mechanism. In the case of an automatic warehouse, the fork of the stacker crane is inserted and removed from the load receiving table in the direction along the link mechanism pivot axis, and the load is transferred between the stacker crane and the load receiving table, and the fork of the hand lifter is received. The load can be transferred between the hand lifter and the load receiving table by inserting and removing the load from the table in a direction perpendicular to the link mechanism pivot axis. Thus, for example, even in the case of a three-dimensional storage shelf under the conditions described at the beginning, after the stacker crane transfers the luggage to the loading tray, the hand lifter is stopped while the stacker crane is stopped at the transfer position. The cargo is transferred between the two by moving the stacker crane closer to the loading tray, and the stacker crane does not need to be evacuated from the loading tray device as in the conventional loading tray device. For loading and unloading, it can be advantageous in a direction different from the direction of the stacker crane.

According to the second aspect of the present invention, the interlocking link connecting the rocking links of the parallel quadruple link mechanism arranged in the direction orthogonal to the rocking axis is moved by the load receiving platform. When the swinging link swings, the load receiving stand is rotated with respect to the swinging link, and the load is transferred. Is equipped with a posture holding mechanism that holds the product in the loading position, so that the space between the loading tray and the interlocking link when the loading tray is in the ascending load transfer position can be widened, and the distance between the stacker crane and the loading tray can be increased. Luggage transfer becomes easier.
That is, even if the interlocking link is connected between the support shafts of the two rocking links, the pair of rocking links can be connected so as to rock in conjunction with each other, and the load receiving table is not affected by the rocking of the rocking link. In addition, the posture of the load receiving table can be maintained so as to maintain the posture for load transfer. In this case, when the interlocking link has a bent shape in which both ends are vertically oriented and the middle portion is horizontally oriented, the length of both ends is relatively long, and when the load receiving table is set at the ascending load transfer position, By configuring so that the middle part of the interlocking link is located at a lower level than the loading tray, a gap is created between the loading tray and the interlocking link when the Can be inserted and removed in the direction along the link mechanism swing axis. Then, as the swinging link descends and swings, the intermediate portion of the interlocking link descends together with the load receiving stand and contacts the ground prior to the load receiving stand. In other words, depending on the level difference between the loading tray and the interlocking link middle part when the loading tray is in the ascending load transfer position, the loading tray does not fully descend, and the load transfer between the loading tray and the hand lifter. Becomes impossible. On the other hand, according to the second aspect of the invention, the holding of the load transfer posture of the load receiving table is performed not by the interlocking link but by the posture holding mechanism. As a result, when the interlocking link is formed as a relatively linear link and the load receiving platform is at the position for transferring the ascending load, the interlocking link is located at a lower level than the load receiving platform, and the interlocking link is linked to the load receiving platform. And the fork can be easily inserted into and removed from the loading tray, and when the loading tray is lowered, the interlocking link does not hinder the lowering of the loading tray. Is sufficiently lowered so that the transfer of the load between the load receiving table and the hand lifter can be performed without any trouble.

According to the third aspect of the present invention, the posture holding mechanism is a mesh-type winding transmission for transmitting a rotating force for operating the parallel quadruple link mechanism to the load receiving table. For example, an interlocking type winding transmission is wound around the rotation support shaft of the load receiving table and the rotation support shaft of the interlocking link, and the rotation force of the interlocking link with respect to the swing link accompanying the operation of the parallel quadruple link mechanism is received. It is possible to arrange the wrapping transmission as a posture holding mechanism along the swing link, such as transmitting it to the table without slipping, and it is possible to obtain a compact, secure power transmission and to move the load receiving table to the load transfer position. Can be reliably held with high accuracy.

According to the fourth aspect of the present invention, the drive mechanism is arranged such that a part of the drive mechanism enters below the load receiving table when the load receiving table is at the ascending load transfer position. Therefore, the drive mechanism can be moved toward the parallel quadruple link mechanism to minimize the length in the direction orthogonal to the link mechanism swing axis of the entire device, even if the installation space is not sufficiently large. The space that can be used for transferring the luggage by the hand lifter can be set as wide as possible.

According to the fifth aspect of the present invention, the parallel quadruple link mechanism comprises a pair of parallel quadruple link mechanism portions separately positioned on both sides of the load receiving table in the direction of the pivot axis. Since each of the pair of parallel quadruple link mechanisms is provided with the meshing type winding transmission, power is transmitted to any of the pair of parallel quadruple link mechanisms and the load receiving table is loaded on both sides. It can be operated in the transfer position, and it can be moved up and down while maintaining the posture so that even heavy loads will not tilt.

According to the invention described in claim 6, the interval between the oscillating links arranged in the direction along the oscillating axis on the side of the both ends of the interlocking link where the drive mechanism is located, Since the distance between the swing links arranged in the direction along the swing axis on the side opposite to the side where the drive mechanism is located is smaller than that of the swing mechanism, the swing link is used in the case of carrying luggage by a hand lifter. The gap between them is so wide that it is easy to insert and remove the fork. In the case where the drive mechanism is located, the gap between the swing links is narrow. The hand lifter can be installed in the space and the space available for transfer of luggage by the hand lifter can be set as wide as possible. According luggage transfer can be installed so as to be easily done.

According to the seventh aspect of the present invention, the load receiving table is connected to one and the other of a pair of swing links arranged in a direction along the swing axis. The free ends can be made solid by being connected by the loading tray, and the loading tray can be firmly supported at both ends. Even with heavy loads, poor rotation due to rocking links or twisting of the loading tray is unlikely to occur. Up and down operation.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIGS. 1 and 2, a pair of left and right fulcrum brackets 1a, 1a protruding from the upper surface of a front base member 1 respectively have a base end side of a front swing link 2 as an axis. In addition to being rotatably supported around X1, one front load receiving base 3 is attached to the front end sides of the left and right front swing links 2 and 2. A pair of left and right fulcrum brackets 4a, 4a projecting to the upper surface side of the rear base member 4 support the base end side of the rear swing link 5 rotatably around an axis X2 parallel to the axis X1. One rear load receiving base 6 is attached to the left and right rear swing links 5 and 5 between the distal ends thereof. The left end of the front swing link 2 and the rear end of the rear swing link 5 are connected to each other by an interlocking link 7, and the right front swing link 2 and the rear swing link 5 are connected.
Are connected by an interlocking link 7, and a drive mechanism 20 including an electric motor M located on the rear end side of the rear base member 4 has a protrusion extending from each of the left and right rear swing links 5. The swinging links 2 and 5 are swingably operated through an interlocking mechanism 30 having a link 31 and the like to lift and lower the load receiving tables 3 and 6. , 6 is configured to lift and lower.

As shown in FIG. 7, the loading tray device N is installed at a transfer position on the side of the three-dimensional storage shelf T of the automatic warehouse, and the front side of the three-dimensional storage shelf T is used in response to a command signal from the control device. And a stacker crane S that automatically moves and stores luggage in the three-dimensional storage shelf T and removes luggage from the three-dimensional storage shelf T, and a low lift that unloads and loads luggage from the automatic warehouse. It enables the delivery of a load to and from a hand lifter H as an example of a mold carrier. More specifically, it is configured as follows.

One end of the front load receiving base 3 is rotatably supported around the axis X5 parallel to the axis X1 on one end side of the front swing link 2 on the left side, and the other end is on the right side of the front swing link. 2
And a pallet mounting surface 3a as shown in FIGS. 2 and 3 which is rotatably supported around the same axis as the axis X5. The rear load receiving base 6 is rotatably supported on the distal end side of the rear swing link 5 on one end side around the axis X6 parallel to the axis X2,
The other end of the shaft core X6 is attached to the tip of the rear swing link 5 on the right side.
2 and 4, and is formed of a sheet metal member having a pallet mounting surface 6a as shown in FIGS. That is, by placing one end of the pallet P on which the load is placed on the front loading tray 3 and the other end of the pallet P on the rear loading tray 6, the load is placed on the loading tray 3.
Place on 6.

The front base member 1 and the rear base member 4 are fixed by anchors to a base B such as the ground on which the receiving device N is installed. Therefore, the front base material 1 and the rear base material 4
Are separated from each other, but become one base material connected by the base B when the receiving device N is used. As shown in FIG. 3, the front ends of the pair of interlocking links 7 are connected to the interlocking link 7 so as to rotate integrally with the interlocking link 7, and also rotate to the boss 2 a on the base end side of the front swing link 2. The front swing link 2 is rotatably connected to the front swing link 2 around the axis X3 of the rotation shaft 8 parallel to the axis X1 by a rotation shaft 8 configured to be freely supported. As shown in FIG. 4, the rear end side of each of the pair of interlocking links 7, 7 is integrally rotatably engaged with the boss portion of the interlocking link 7 by a key. Boss 5a on the base end
The rotation shaft 9 parallel to the axis X2 is attached to the rear swing link 5 by a single rotation shaft 9 configured to rotatably penetrate the rotation shaft 9.
Are rotatably connected around an axis X4. Therefore, the left interlocking link 7 connects the left front rocking link 2 and the rear rocking link 5 to rock in the same rocking direction in conjunction with each other, and the right interlocking link 7 links the right rocking link 7 to the right rocking link. The front swing link 2 and the rear swing link 5 are connected so as to swing in the same swing direction in conjunction with each other. Thereby, the base material 1
And 4, the left front swing link 2, the rear swing link 5 and the interlocking link 7 constitute a parallel quadruple link mechanism 10a that supports the left side of the load receiving tables 3 and 6 so as to be able to move up and down. 1 and 4, the right front swing link 2, the rear swing link 5, and the interlocking link 7 constitute a parallel quadruple link mechanism 10a that supports the right side of the load receiving tables 3 and 6 so as to be able to move up and down. The left and right parallel quadruple link mechanisms 10a, 10
a constitutes a parallel quadruple link mechanism 10 that supports the load receiving tables 3 and 6 so as to be able to move up and down as a whole. The rotation shaft 9 includes a member forming a shaft end 9a connected to the interlocking link 7 and the rear swing link 5, and a left and right shaft end 9a,
9a is formed by a pipe member 9b which connects the first member 9a so as to rotate integrally.

As shown in FIG. 3, in either of the left and right front swing links 2, a rotary support shaft 11 rotatably supported by the front swing link 2 and integrally connected to the front load receiving base 3 by a bolt. The chain sprocket 12 is mounted so as to rotate integrally by engagement with a key.
An endless chain 14 as a posture holding mechanism is wound around a chain sprocket 13 on an interlocking link side which is attached so as to be integrally rotated by engagement with a key. As shown in FIG. 4, the right and left rear swing links 5
In the above, the chain sprocket 16 is attached to a rotating support shaft 15 rotatably supported by the rear swing link 5 by being bolted integrally with the rear load receiving base 6 so as to be integrally rotated by engagement with a key. An endless chain 18 as a posture holding mechanism is wound around a chain sprocket 16 on the receiving table side and a chain sprocket 17 on an interlocking link side which is attached to the shaft end 9a of the rotary shaft 9 by key engagement so as to be integrally rotated. Turned. When the drive mechanism 20 swings the parallel quadruple link mechanism 10, the interlocking link 7 rotates with respect to the front swing link 2 and the rear swing link 5, and the endless chain 14 uses this rotating power as a rotation support shaft. 11 and the endless chain 18 transmits to the rotation support shaft 15. Accordingly, when the drive mechanism 20 moves the front load receiving base 3 and the rear load receiving base 6 up and down, the endless chain 14 transmits the rotating power for operating the parallel quadruple link mechanism 10 to the front load receiving base 3 so as not to slip. Then, the front load receiving table 3 is rotated with respect to the front swing link 2 so as to hold the pallet mounting surface 3a in a horizontal or nearly horizontal state. Then, the endless chain 18 transmits the rotating force for operating the parallel quadruple link mechanism 10 to the rear load receiving stand 6 so as not to slip.
Of the pallet mounting surface 6 by rotating the
a is held in a load transfer position in which a is horizontal or close to it.

As shown in FIGS. 1 and 2, a bracket 21 bolted to the rear end of the rear base member 4 is attached to the shaft center X7.
An electric motor M rotatably supported around the motor, a feed screw shaft 23 that is rotatably supported by an output block portion 22 of the electric motor M, and a feed screw shaft 23 facing the front and rear of the device; Operating member 24 having a set female thread portion 24a
Thus, the drive mechanism 20 is configured. As shown in FIG. 4, a sheet metal member is provided on the inner surface of each of the pair of rear swing links 5, 5 and the tension link 31 connected to the inner surface of each of the pair of rear swing links 5, 5. A contact portion 32 fixed and formed so as to act on a receiving portion 31a of the tension link 31 as shown in FIG. 5, a pair of tension links 31, 31 and a round shaft end 24b of the operation member 24 Tension link 31 by operating member 24 between
The interlocking mechanism 30 is constituted by a cam mechanism 33 provided to enable the above operation. The cam mechanism 3
3, a long hole 34 provided at the lower end side of the tension link 31 as shown in FIG. 5, and a rolling hole which is inserted into the long hole 34 and is rotatably inserted into the round shaft end 24b of the operating member 24. It is constituted by a roller 35 supported.

As shown in FIGS. 2 and 4, the operating member 24 is configured so as to be externally fitted to the round shaft end 24b at both ends thereof, and is bolted to the front end of the rear base member 4. It is supported by a guide member 25. Each of the pair of guide members 25, 25 has a guide hole 25a long in the front-rear direction of the device in which a roller 26 rotatably supported by the round shaft end 24b is rotatably inserted. The operation member 24 can slide in the front-rear direction of the device along the guide hole 25a. The electric motor M is driven in both the forward rotation direction and the reverse rotation direction, and is driven at a constant rotation speed so that the output intensity does not change when driven in either rotation direction. A motor, which transmits the rotational power in the forward rotation direction and the reverse rotation direction by a transmission mechanism built in the output block portion 22 to the feed screw shaft 2.
3 to drive the feed screw shaft 23 in the forward rotation direction or in the reverse rotation direction. Then, the feed screw shaft 23 slides the operation member 24 forward or backward along the guide hole 25a for the feed action by screwing with the female screw portion 24a. .

As shown in FIG. 5A, the rear swing link 5
Are in the standing posture U shown by the solid line in FIG.
Is in the ascending load transfer position, the roller 35 stops against the rear end inner surface 34a of the elongated hole 34 shown in FIG. 6 so as not to move the base end of the tension link 31 toward the front of the apparatus. Then, the tension link 31 stretches and supports the rear swing link 5 so as not to descend to the upright posture. In this state, when the operation member 24 is slid to the front side of the apparatus and the roller 35 moves, the weight of the rear swing link 5 and the luggage is applied to the tension link 31. The base end side moves following the roller 35 while contacting the roller 35 at the rear end inner surface 34a of the elongated hole 34, and the tension link 31 is connected to the rear swing link 5 and acts as a tension. Of the shaft core X4 descends around the shaft center X2, and the rear swing link 5 descends. As shown in FIG. 5 (b), the rear swing link 5 becomes the first lying posture D1 in which the set angle has fallen from the standing posture U, and the load receiving tables 3 and 6 descend before the descending load transfer position. When it comes to the position, the contact portion 32 comes into contact with the receiving portion 31a of the strut link 31, and the rear swing link 5 and the strut link 31 move as the rear swing link 5 descends as before. As a result, the state in which the two 5 and 3 freely rotate relative to each other is disabled, and the state is switched to a state in which the two 5 and 3 descend integrally around the axis X2. Thereafter, when the roller 35 further moves toward the front side of the apparatus, the tension link 31 descends around the axis X2 together with the rear swing link 5. At this time, the roller 35 is the upper inclined inner surface 3 of the elongated hole 34 as shown in FIG.
4b, and the tension link 3 accompanying the movement of the roller 35
Strut link 31 so as to regulate the descending stroke 1
We receive and support and move. As a result, after the load receiving tables 3 and 6 reach the lowering position before the lowering load transfer position, the tension link 31 moves to the upper inclined inner surface 34.
It slides on the roller 35 at b and descends. As shown in FIG. 5 (c), when the rear swing link 5 further descends to the second lying posture D2, the load receiving trays 3, 6 become the descending load transfer position shown by the two-dot chain line in FIG. At the same time, the roller 35 is located at the upper end side of the elongated hole 34 and acts as a stopper on the tension link 31, so that the rear swing link 5 does not descend any more.
When the operation member 24 is moved rearward from the state where the rear swing link 5 is in the second lying posture and the roller 35 is moved, the roller 35 is moved to the upper inclined inner surface 3 of the elongated hole 34.
4b, the base end side of the tension link 31 is pushed up, and the pushing force causes the tension link 31 and the rear swing link 5 to both rise around the axis X2. When the rear swing link 5 rises to the first lying posture D1, the roller 35 is located at the rear end 34a of the elongated hole 34 and thereafter pushes the base end side of the tension link 31 toward the rear side of the apparatus. With this pushing operation force, the tension link 31 pushes up on the tension action point X4 for the rear swing link 5 to raise the rear swing link 5 to the standing posture U.

Thus, when the electric motor M is driven in the reverse rotation direction from the state where the load receiving tables 3 and 6 are at the ascending load transfer position, the drive mechanism 20 operates to rotate the electric motor M with the feed screw shaft 23 to operate. The member 24 converts the linear power into linear power in the front-rear direction of the device, outputs this linear power from the operating member 24, and transmits the linear power to the rear swing link 5 on any of the left and right parallel quadruple link mechanisms 10a by the interlocking mechanism 30, All the swing links 2 and 5 of the parallel quadruple link mechanism 10 are operated to swing downward. At this time, the load receiving tables 3 and 6 are lowered by the endless chains 14 and 18 while maintaining the load transfer position where the pallet mounting surfaces 3a and 6a are in a horizontal plane or a state close to the horizontal plane. Then, when the rear swing link 5 is operated to the second lying posture D2, the load receiving tables 3 and 6 become the descending load transfer position. Then, the pallet mounting surfaces 3a, 6a of the load receiving tables 3, 6 extend along the upper surface of the base B between the left swing links 2, 5 and the right swing links 2, 5 in a horizontal plane or in a state close to the horizontal plane. The insertion opening of the fork is formed to face forward of the parallel quadruple link mechanism 10.
Therefore, by inserting and removing the fork F2 of the hand lifter H from the front side of the parallel quadruple link mechanism 10 with respect to the load receiving tables 3 and 6 in a direction orthogonal to the swing axis X1 and X2, the load receiving tables 3 and 6 can be connected. The luggage can be transferred together with the pallet P to and from the hand lifter H. When the electric motor M is driven in the forward rotation direction from a state where the load receiving tables 3 and 6 are at the descending load transfer position, the drive mechanism 20 converts the rotational power of the electric motor M into linear power in the front-rear direction of the device. The power is output from the operation member 24 and transmitted to the rear swing link 5 of the parallel quadruple link mechanism portion 10a on any of the left and right sides by the interlocking mechanism 30, and all the swing links 2 and 5 of the parallel quadruple link mechanism 10 are transmitted. Perform swing operation to the ascending side. At this time, the load receiving tables 3 and 6 are raised by the posture holding action of the endless chains 14 and 18 while maintaining the load transfer posture in which the pallet mounting surfaces 3a and 6a are in a horizontal plane or a state close thereto. Then, when the rear swing link 5 is operated in the upright posture U, the load receiving tables 3 and 6 become the ascending load transfer position.
Then, the load receiving tables 3 and 6 are separated from each other in the front-rear direction of the parallel quadruple link mechanism 10, and the interlocking link 7 is located at a lower level than the load receiving tables 3 and 6, so that the insertion / extraction opening of the fork is connected to the parallel 4 link. The link mechanism 10 is formed laterally.
Therefore, by inserting and removing the fork F1 of the stacker crane S from the side of the parallel quadruple link mechanism 10 with respect to the rear load receiving tables 3 and 6 in the direction along the swing axes X1 and X2, the load receiving tables 3 and 6 are inserted. The load can be transferred together with the pallet P between the pallet P and the stacker crane S.

That is, in order to carry out the load by the hand lifter H, the electric motor M is driven in the forward rotation direction, the parallel quadruple link mechanism 10 is swung upward, and the load receiving tables 3 and 6 are lifted. Operate to the transfer position. The stacker crane S places the pallet P taken out together with the luggage from the three-dimensional storage shelf T on the loading trays 3 and 6 and forks F
When 1 is extracted from the load receiving trays 3, 6, the electric motor M is driven in the reverse rotation direction, and the parallel quadruple link mechanism 10 is operated to swing down to lower the load receiving trays 3, 6. When the receiving trays 3 and 6 are at the descending load transfer position, the hand lifter H
When the pallet P is transferred from the load receiving bases 3, 6 to the fork F2, the hand lifter H is received. The luggage is extracted from the tables 3 and 6 to the front side of the parallel quadruple link mechanism 10, and the luggage is taken out from the load receiving tables 3 and 6 together with the pallet P. Then, in order to carry in the luggage by the hand lifter H, the electric motor M is driven in the reverse rotation direction, the parallel quadruple link mechanism 10 is swung down, and the load receiving tables 3 and 6 are moved downward. Position, the fork F2 of the hand lifter H is inserted from the front side of the parallel quadruple link mechanism 10 into the load receiving tables 3 and 6, and the pallet P is lowered. Pallet P
Is transferred from the fork F2 to the load receiving tables 3, 6, the hand lifter H is extracted from the load receiving tables 3, 6 to the front side of the parallel quadruple link mechanism 10, and thereafter, the electric motor M is driven in the forward rotation direction, and The four-link mechanism 10 is swung upward to raise the load receiving tables 3 and 6. Receiving stand 3,6
Is moved to the ascending load transfer position, the fork F1 of the stacker crane S is inserted into the load receiving tables 3, 6 from the side of the parallel quadruple link mechanism 10, and is lifted on the pallet P.
The load is transferred from the receiving tables 3 and 6 to the stacker crane S together with the pallet P.

As shown in FIGS. 1 and 2, when the load receiving tables 3 and 4 are in the ascending load transfer position, the front side of the feed screw shaft 23 and the operating member 24 enters the lower part of the load receiving table 3. The drive mechanism 20 is arranged at the bottom. That is,
When the receiving trays 3 and 4 are in the ascending load transfer position, a part of the drive mechanism 20 on the front side of the device enters below the receiving tray 3, and the driving mechanism 20 moves as close to the parallel quadruple link mechanism 10 as possible. Thus, the length of the entire apparatus in the front-rear direction is reduced.

As shown in FIG. 2, the swinging links arranged in the direction along the swinging axes X1 and X2 of the parallel quadruple link mechanism 10 on the side where the driving mechanism 20 is located on both ends of the interlocking link 7 are arranged. , Ie, the interval W between the rear swing links 5
1 is a distance W2 between the rocking links arranged in the direction along the rocking axes X1 and X2 of the parallel quadruple link mechanism 10 on the side opposite to the side where the drive mechanism 20 is located, that is, a distance W2 between the front rocking links 2. And the width at the rear end of the apparatus is smaller than the width at the front end. That is, the hand lifter F
For example, it is possible to make the rear end side of the apparatus enter a dead space between the columns TP of the three-dimensional storage shelf T while widening a frontage for inserting and removing the.

[Other Embodiments] In addition to the endless chains 14 and 18, a link mechanism for interlocking the load receiving tables 3 and 6 with the interlocking link 7 may be used as the attitude holding mechanism, or the rotation shafts 9 and 15 may be used. , 8 and 11 may be implemented by employing a gear mechanism or a belt with projections. In addition, endless chain 1
The use of belts with protrusions 4 and 18 and projections can be advantageously implemented in such a way that they can be transmitted compactly along the swing links 2 and 5 without slipping, and these are collectively referred to as mesh-type windings. It is called a transmission.

[Brief description of the drawings]

FIG. 1 is a side view of the entire receiving table apparatus.

FIG. 2 is a plan view of the entire receiving table apparatus.

FIG. 3 is a front view of a front swing link support structure.

FIG. 4 is a front view of a rear swing link support structure.

FIG. 5 is an explanatory diagram of a raising / lowering operation of a rear swing link.

FIG. 6 is a side view of the tension link.

FIG. 7 is an explanatory diagram of a state of use of the receiving tray device.

[Explanation of symbols]

 2,5 swing link 3,6 load receiving stand 7 interlocking link 10 parallel quadruple link mechanism 10a parallel quadruple link mechanism section 14,18 attitude holding mechanism 20 drive mechanism X1, X2 swing axis W1, W2 interval

Claims (7)

[Claims] The load receiving table is supported by a parallel quadruple link mechanism so as to be able to move up and down, and the parallel quadruple link mechanism is operated to move the load receiving table to an ascending load transfer position and a descending load transfer position. A load receiving table device having a drive mechanism for raising and lowering, wherein a fork insertion / removal direction of the load receiving table when the load receiving table is at an ascending load transfer position is set to a swing axis of the parallel quadruple link mechanism. A load receiving table which is set in a direction along the axis, and a fork insertion / removal direction of the load receiving table when the load receiving table is at the downward load transfer position is set to a direction orthogonal to the swing axis of the parallel quadruple link mechanism. apparatus. 2. An interlocking link for connecting rocking links arranged in a direction orthogonal to the rocking axis of the parallel quadruple link mechanism when the load receiving table is at an ascending load transfer position. A posture holding mechanism that is arranged to be positioned at a lower level than the table and that holds the load receiving position by rotating the load receiving table with respect to the rocking link when the rocking link rocks. 2. The receiving device according to claim 1, further comprising: 3. The load receiving device according to claim 2, wherein the attitude holding mechanism is a mesh type winding transmission for transmitting a rotating force for operating the parallel quadruple link mechanism to the load receiving table. 4. The drive mechanism according to claim 1, wherein the drive mechanism is arranged such that a part of the drive mechanism enters below the load receiving table when the load receiving table is at the ascending load transfer position. Receiving platform equipment. 5. The parallel quadruple link mechanism section comprises a pair of parallel quadruple link mechanism sections separately located on both sides of the load receiving table in the direction of the pivot axis, and the pair of parallel quadruple link mechanism sections. The load receiving stand device according to claim 3 or 4, further comprising: 6. An interval between swing links arranged in a direction along the swing shaft center on a side of the both ends of the interlocking link where the drive mechanism is located is opposite to a gap between swing links arranged in a direction along the swing axis. 6. The load receiving device according to claim 5, wherein the interval between the swing links arranged in the direction along the swing axis on the side is smaller than each other. 7. The load receiving device according to claim 5, wherein the load receiving device is connected to one and the other of a pair of swing links arranged in a direction along the swing axis.