JPH10109745A - Unloading table equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To rapidly lower an unloading table at the position for transferring a cargo to be lowered, and to stop the table with less stopping shock even when the unloading table is supported by a parallel four-link mechanism in an elevatable and lowerable manner. SOLUTION: A projection link 31 to be extended from an oscillation link 5 is provided, and an unloading table 6 is lowered by sliding an operation member in which a round shaft end part 24b is inserted in a long hole 34 in the projection link 31 move a base end side of the projection link 31. The long hole 34, a roller 35 which is rollingly inserted in the long hole 34 and supported by the round shaft end part 24b, and an abutting part 32 which is abutted on the projection link 31 as the oscillation link 5 is lowered to make the relative turn of the links 5, 31 inoperable constitute a speed-change mechanism, and when the unloading table 6 is lowered at the prescribed position before the position to transfer the cargo to be lowered, the speed is reduced, and the unloading table 6 is lowered to the position to transfer the cargo to be lowered at lower speed than the lowering speed immediately before reaching.

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 The above-mentioned cargo receiving device is mainly installed in an automatic warehouse so that cargo can be transferred between a stacker crane and a low-lift type transport device such as a hand lifter. Conventionally, as this kind of receiving device,
For example, there is one disclosed in 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. Thus, the pair of support links can be raised and rocked to the upright posture to raise the load receiving table, or lowered to the lying down position to lower the load receiving table. In other words, the base plate and
The support link as a pair of swing links and the load receiving base constitute a parallel quadruple link mechanism. Then, the hydraulic cylinder becomes a drive mechanism for swinging the parallel quadruple link mechanism, and the parallel quadruple link mechanism is operated to raise and lower the load receiving table between the ascending load transfer position and the descending load transfer position. is there. In this type of load receiving device, by the action of the parallel quadruple link mechanism, the rising load transferring position and the descending load transferring position of the load receiving table move in the direction orthogonal to the swing axis of the link mechanism. Misalignment. For this reason, when the load is moved between the load receiving table and the hand stacker by setting the load receiving table to the downward load transfer position, the load receiving table is separated from the storage shelf, and a large working space around the load receiving table is secured, which is advantageous. You can work on it.

[0003]

In the above-mentioned load receiving table apparatus, the load receiving table is lowered from the ascending load transfer position by the swinging link of the parallel quadruple link mechanism swinging down from the standing posture. It descends to the load transfer position. And
Even if the swing link descends at a constant angular velocity, the descending speed of the distal end side becomes higher as the distal end side becomes lower.
For this reason, the lowering speed of the load receiver when the load receiver reaches the lowering load transfer position is set to be low so that the stop impact when the loader lowers to the lowering load transfer position and stops can be suppressed. When set, the speed at which the load receiving platform descends at a location higher than the lowering load transfer position becomes relatively slow, and the load receiving tray moves down from the ascending load transfer position to the descending load transfer position. The time it took to reach it was relatively long.
As a result, when carrying out or carrying in the luggage, the stacker crane removes the luggage from the three-dimensional storage shelf and places it on the loading tray, or the empty loading tray at the ascending loading position is the lowering loading position. The waiting time until getting off the train was long, and the work efficiency was poor. SUMMARY OF THE INVENTION An object of the present invention is to provide a load receiving device capable of quickly lowering a load receiving position to a descending load transfer position and suppressing a stop impact.

[0004]

In order to achieve the object, according to the first aspect of the present invention, in the load receiving device described at the outset, the load receiving device lowered by the drive mechanism is moved downward. When it reaches the set position before the use position, it slows down,
There is provided a speed change mechanism for automatically adjusting the lowering speed of the loading tray as the loading tray is lowered so that the lowering speed is lower than the speed immediately before the arrival, and the lowering speed of the loading tray is reached. That is, a deceleration position and a descent speed capable of suppressing a stop impact when the load receiving stand stops at the descending load transfer position as desired or close thereto are determined, and the deceleration position is set as the set position. Further, when this descent speed is set as the descent speed from the set position, the descent speed from the ascending load transfer position to the set position is quickly lowered at a relatively high speed, and the descent load transfer position is relatively small. When actually arriving at the descending load transfer position while arriving at the required descending time, it arrives at the descending speed after deceleration and stops with little stop impact. Therefore, the baggage or empty receiving tray is quickly lowered from the ascending load transfer position to the descending load transfer position to efficiently carry out the load,
It can be stored. For this reason, even small articles or light-weight luggage can be lowered to the descending load transfer position in a state where it is easy to avoid problems such as dancing in the container due to a stop impact or jumping out of the container.

According to the second aspect of the present invention, the drive mechanism includes an electric motor driven at a constant speed, and the transmission mechanism is connected to an interlocking mechanism that interlocks the electric motor with the parallel quadruple link mechanism. Because it is equipped, the lowering speed of the load receiving table can be reduced just before the lower load transfer position while driving the electric motor at a constant rotation speed so that the output of the motor does not change, and the output of the electric motor is reduced. The load receiving table can be decelerated and stopped at the descending load transfer position while the load receiving table is vertically moved up and down sufficiently and effectively.

According to the third aspect of the present invention, the swing link of the parallel quadruple link mechanism is provided with a strut link that is rotatably connected at the distal end to the swing link and struts and supports the swing link. An operation member that supports the base end side of the tension link and raises and lowers the tension link, a feed screw shaft that is screwed into a female thread portion of the operation member and moves the operation member,
The drive mechanism is constituted by the electric motor that rotationally drives the feed screw shaft. That is, the rotational power of the electric motor is converted into linear power by the feed screw shaft and the operating member, and this linear power is output from the operating member to the tension link to operate the swing link. Regardless of the movement, the position of the electric motor and the feed screw shaft do not change up and down, or even if it does change, the parallel quadruple link mechanism can be operated, and the drive mechanism is supported by a simple support structure, and the structure , The cargo receiving table can be strongly moved up and down, and can be decelerated and stopped at the descending load transfer position.

According to the fourth aspect of the present invention, switching means for switching the relative rotation between the swing link and the tension link from enabled to disabled as the swing link descends and swings, The operation member is configured to support the tension link and to allow the tension link to swing down around the swing axis of the swing link with movement of the operation member. Since the speed change mechanism is constituted by the tension link and the cam mechanism located between the operation members, the descending speed of the swing link can be changed without changing the rotation speed of the electric motor or the moving speed of the operation member. , The lowering speed of the load receiving table can be changed, and the load receiving table can be strongly moved up and down and decelerated and stopped while the output of the drive mechanism can be obtained with a simple structure as compared with changing the output.

According to the fifth aspect of the present invention, the swing link is provided with a contact portion abutting on the tension link as the swing link descends and swings, and the switching means is provided by the contact portion. Thus, the switching means can be obtained with a simple structure, and from this aspect, the load receiving platform can be moved up and down and decelerated at a high speed while advantageously obtaining the structural advantage.

According to the invention described in claim 6, the elongated link is provided by the elongated link, and the roller is rotatably supported by the operating member in a state of rolling into the elongated hole. Since the cam mechanism is configured, the operating member is moved and the roller rotates in the slot when the tension link descends and swings while being received and supported by the operating member by the action of the cam mechanism. As a result, it is possible to make it difficult for the twisting to occur between the operation member and the tension link, and the deceleration stop of the load receiving base can be performed while the load receiving base is smoothly lowered.

According to the seventh 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 tension link, power is transmitted to any swing link of the pair of parallel quadruple link mechanisms, and the load receiving platform is raised and lowered on both sides. It can be operated, and even if it is heavy luggage, it can be lifted and lowered smoothly so that the inclination caused by twisting is hard to appear.

According to the invention as set forth in claim 8, a support arm extending swingably from a free end side of the swing link to a base end side to support the load receiving table, and the parallel quadruple link mechanism are provided. The transmission mechanism is constituted by a transmission means for transmitting a turning force for operating the swing link to the support arm and swinging the support arm with respect to the swing link. That is, as the swing link descends, the support arm is swung with respect to the swing link to lift the load receiving table with respect to the swing link. With this lifting stroke, the descending swing of the swing link is reduced. Therefore, the descending speed of the load receiving pedestal is reduced and adjusted by reducing the stroke of the load receiving pedestal descending to the ground. By adjusting the lowering speed of the swinging link by adjusting the lowering speed of the swinging link, the distance by which the load carrier is displaced from the ascending load transfer position when the ascending link is at the descending load transfer position is changed. This is a displacement distance caused only by the downward swing of the dynamic link. On the other hand, in the case of the invention according to claim 8, the direction in which the support arm is swung with respect to the swing link for lifting the load receiving stand with respect to the swing link is changed in accordance with the downward swing of the swing link. Set the same direction as the direction in which the platform moves with respect to the base end side of the swing link, and set the swing distance by which the load receiving table will be displaced from the ascending load transfer position when it reaches the descending load transfer position. The displacement distance can be obtained by adding the displacement distance caused only by the downward swing of the dynamic link and the displacement caused by the swing of the support arm. That is, when the load receiving table is set at the downward load transfer position, the load receiving table can be decelerated and stopped while securing a wide work space around the load receiving table to facilitate and efficiently transfer the load.

According to the ninth aspect of the present invention, the transmission means moves the support arm in the same direction as the load receiving table moving direction due to the lowering of the rocking link as the rocking link moves down. Because it is a transmission means that swings with respect to the
When the load receiving platform is at the lowering load transfer position, the distance that the position shifts from the upward load transfer position is determined by the position shift distance that occurs only due to the downward swing of the swing link, and the swing of the support arm. When the load carrier is set to the downward load transfer position, a large work space is secured around the load carrier to allow for the transfer of luggage. Easy and efficient.

[0013]

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 mainly at a transfer point on the lateral 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 left end of the front swing link 2, 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 to a base B such as the ground on which the load receiving device N is installed by an anchor. 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, the left and right front swing links 2 are bolted to the front load receiving base 3 so as to be rotatable integrally with each other, and are connected to a rotation support shaft 11 rotatably supported by the front swing link 2. 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 FIG. 2 and FIG. 4, the operating member 24 is configured to be fitted to the round shaft ends 24b on both ends of the operating member 24 and 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 causes the rotating power of the electric motor M to operate with the feed screw shaft 23. 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.

The set lowering position between the lowering load transferring position is a position where deceleration must be started in order to stop the load receiving tables 3 and 6 at the lowering load transferring position with little stop impact. When the load receiving tables 3 and 6 reach the set lowering position, the contact portion 32 comes into contact with the receiving portion 31a of the tension link 31. After this,
The rear swing link 5 and the tension link 31 are switched to a state in which relative rotation cannot be performed with the lowering of the rear swing link 5, and swing together about the axis X2 to descend. 3
5 moves in contact with the upper inclined inner surface 34b of the elongated hole 34 while regulating the downward stroke of the tension link 31 and the rear swing link 5 accompanying the movement of the roller 35.
The lowering stroke ST of the load receivers 3, 6 when the load receivers 3, 6 are lowered to reach the set lowering position by the operation member 24 moving by a unit stroke.
1 and the stroke ST2 in which the load receiving tables 3, 6 are lowered by the operation member 24 moving a unit stroke after the load receiving tables 3, 6 reach the set lowering position, so that ST1> ST2. The inclination angle A1 of the upper inclined inner surface 34b is set as shown in FIG. The inclination angle A1 is determined by the length of the long hole 3
4 becomes equal to the angle of inclination of the shaft center of the strut link 31. Thus, the contact portion 32 and the cam mechanism 33 constitute the transmission mechanism 40, and the operating member 2
The lowering speed NV is automatically adjusted so that the lowering speed NV of the load receiving tables 3 and 6 when the 4 moves at a constant moving speed to lower the load receiving tables 3 and 6 changes as shown in FIG. .

That is, the horizontal axis Z shown in FIG. 8 indicates the operation position of the round shaft end 24b of the operation member 24, and the vertical axis V indicates the magnitude of the descending speed NV of the load receiving tables 3 and 6. And
The operation position Z0 of the round shaft end portion 24b of the operation member 24 is a position where the load receiving tables 3 and 6 become the ascending load transfer position.
1 is a position where the receiving trays 3 and 6 are at the set lowering position,
The operation position Z2 is a position where the load receiving tables 3 and 6 become the descending load transfer position. That is, the round shaft end 24b is in the operation position Z.
When the load receiving tables 3 and 6 reach the set lowering position after reaching the operation position Z1 from 0, the load receiving tables 3 and 6 reach the set lowering position at the lowering speed V3. The operating position Z is the round shaft end 24b.
When the load receiving trays 3 and 6 start moving down from the set lowering position by starting to move from 1 to the operation position Z2, the load receiving trays 3 and 6 are lowered at a lower speed V2 lower than the lowering speed V3.
When the round shaft end 24b reaches the operation position Z1 and the load receiving tables 3 and 6 are in the lowering load transfer position, the load receiving tables 3 and 6 are lower than the lowering speeds V3 and V2. It reaches the descending load transfer position at the low descending speed V1. Note that a curve MW shown in FIG. 8 shows a change in output exerted by the electric motor M.

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. At this time,
Due to the speed change mechanism 40, the load receiving tables 3 and 6 are decelerated when they reach the set lowering position, and reach the lowering load transfer position at a lowering speed lower than the speed just before the arrival, so that the stopping impact is small. To stop. When the load receiving tables 3 and 6 reach the lowering load transfer position, the fork F2 of the hand lifter H is inserted into the load receiving tables 3 and 6 from the front side of the parallel quadruple link mechanism 10 and lifted on the pallet P so that the pallet P is moved. When the hand lifter H is transferred from the receiving trays 3, 6 to the fork F2, the hand lifter H is extracted from the receiving trays 3, 6 to the front side of the parallel quadruple link mechanism 10, and the load is loaded together with the pallet P into the receiving tray 3, 3.
Take out from 6. 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. When the pallet P is transferred from the fork F2 to the receiving trays 3, 6, the hand lifter H is pulled out from the receiving trays 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. Then, the parallelism four-link mechanism 10 is swung upward to raise the load receiving tables 3 and 6. When the receiving trays 3 and 6 are at the ascending load transfer position, the forks F1 of the stacker crane S are inserted into the receiving trays 3 and 6 from the side of the parallel quadruple link mechanism 10 and lifted on the pallet P to cause the load to move. Pallet P
At the same time, they are transferred from the receiving tables 3 and 6 to the stacker crane S.

[0025]

9. As shown in FIG. 9, the length R1 from the swing axis X2 of the rear swing link 5 to the axis X4 to which the tension link 31 is connected, and the load is received from the axis X4 of the rear swing link 5. The length R2 from the shaft center X4 connected to the rear swing link 5 to the shaft center of the elongated hole 34, the length of the rear swing link 5 When the imaginary straight line 5a passing through the cores X2 and X4 is inclined with respect to the imaginary straight line 5b passing through the axis X4 and the axis X6, the inclination angle A2, and when the receiving tables 3, 6 are located at the ascending load transfer position. When the virtual straight line 5c passing through the shaft cores X2 and X6 of the rear swing link 5 is inclined with respect to the vertical line passing through the shaft center X2, the inclination angle A4, and when the receiving tables 3, 6 are located at the ascending load transfer position. Shaft core 3 of the tension link 31
1b is an inclination angle A3 at which the rear swing link 5 is inclined with respect to the virtual straight line 5a, and the upper inclined inner surface 34b of the elongated hole 34 of the tension link 31 is inclined with respect to the axis 31b of the tension link 31. Angle A1, round shaft end 24 of operation member 24
The moving speed F of b and the moving distance R4 from the operating position Z0 to Z1 of the round shaft end 24b of the operating member 24 are set as follows. Then, the lowering speed V3 when the load receiving tables 3 and 6 reach the set lowering position, the lowering speed V2 when the load receiving tables 3 and 6 start lowering from the set lowering position,
The descending speeds V1 when the load receiving tables 3 and 6 reach the descending load transfer position have the following values, respectively. Length R1 of rear swing link 5 = about 165 mm Length R2 of rear swing link 5 = about 325 mm Inclination angle A2 of rear swing link 5 = about 135 degrees Inclination angle A4 of rear swing link 5 = about 7 degrees 9 minutes Length R3 of the tension link 31 = 205 mm Inclination angle A3 of the tension link 31 = about 27 degrees Inclination angle A1 of the long hole 34 = about 112 degrees The moving speed F of the operating member 24 = about 18.0 mm / sec. Moving distance R4 of member 24 = about 292 mm Lowering speed V3 = about 63 mm / sec Lowering speed V2 = about 29 mm / sec Lowering speed V1 = about 22 mm / sec

[Another Embodiment] As shown in FIGS. 10 and 11, a pair of left and right fulcrum bracket portions 1 of the front base member 1 are provided.
A front swing link 2 whose base end is rotatably supported around an axis X1 at each of the axles 1a and 1a, and a base end at each of a pair of left and right fulcrum brackets 4a, 4a of the rear base member 4 is the shaft X1. One load receiving table 3 is attached to the rear swing link 5 which is rotatably supported around an axis X2 parallel to. The base ends of the left front swing link 2 and the rear swing link 5 are connected by an interlocking link 7, and the base ends of the right front swing link 2 and the rear swing link 5 are connected by an interlocking link 7. The drive mechanism 20 including the electric motor M located on the rear end side of the rear base member 4 swings the swing links 2 and 5 via the tension links 27 extending from the left and right rear swing links 5. The load receiving device 3 is configured to be operated to raise and lower the load receiving table 3, so that the load receiving table 3 is moved up and down by controlling the electric motor M.
Is configured.

This load receiving device N is mainly installed at a transfer position on the side of a three-dimensional storage shelf T of an automatic warehouse as shown in FIGS. It can also be installed at the transfer location, and is configured in detail as follows.

As shown in FIG. 12, the load receiving table 3 includes a pallet mounting surface 3a serving as a load receiving surface formed by three rows of load receiving tables 3 arranged in the lateral direction of the load receiving table 3 and an upper surface of a ridge portion long in the front-rear direction.
The protruding portion is made of a member having a fork insertion / recess groove 3b formed between the protruding portions and facing the load receiving table, so that the load can be placed together with the pallet P on which the load is placed.

As shown in FIGS. 12 and 13, mounting shafts 3c are fixedly mounted on both the front and rear end sides of the load receiving table 3, and of these mounting shafts 3c, the mounting shaft on the front end side of the load receiving table. 3c is relatively rotatably supported on the extension end side of the front support arm 6a extending from the distal end side of the front swing link 2 toward the base end side, and the rear end of the load receiving table of the mounting shaft 3c. The mounting shaft 3c on the side is rotatably supported on the extension end side of the rear support arm 6b extending from the distal end side of the rear swing link 5 toward the base end side, so that the entire load receiving table 3 can be supported. Are connected to and supported by the swing links 2, 5. The left and right front support arms 6a are rotatably supported by the support shaft 11 of the front swing link 2, so that the support shaft 11 parallel to the axis X1 with respect to the front swing link 2 is provided. Swings around the axis X5. The left and right rear support arms 6b are
By being connected to the support shaft 15 of the rear swing link 5 so as to be relatively rotatable, the rear swing link 5 swings around the axis X6 of the support shaft 15 parallel to the axis X2 with respect to the rear swing link 5. . As a result, the load receiving base 3 is connected across all the swing links 2 and 5, but the front swing link 2 and the rear swing link 5 are connected.
And swing in relation to the base materials 1 and 4 in conjunction with each other.

The front base member 1 and the rear base member 4 are fixed to a base B, such as the ground, on which the load receiving device N is installed by an anchor. 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. FIG.
As shown in the figure, the front end side of each of the pair of interlocking links 7 is rotatably supported by the support shaft 8 of the front swing link 2, so that the outer side of the front swing link 2. The shaft 8 is connected to the support shaft 8 parallel to the shaft X1 so as to be relatively rotatable around the shaft X3. As shown in FIG. 12, the rear end side of each of the pair of interlocking links 7, 7 is a rear pivot link of a single rotation support shaft 9 which is rotatably mounted over left and right rear pivot links 5, 5. 5 is rotatably supported at an end protruding from the outer surface side to the outer surface side of the rear swing link 5, around the axis X 4 of the rotation support shaft 9 parallel to the axis X 2. Are connected so as to be relatively rotatable. For this reason, the left interlocking link 7 connects the left front rocking link 2 and the rear rocking link 5 so as to rock in the same rocking direction in conjunction with each other. The right 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. As a result, the front base member 1, the rear base member 4, the left front swing link 2, the rear swing link 5, and the interlocking link 7 form a parallel quadruple link mechanism 10a that supports the left side of the load receiving base 3 so as to be able to move up and down. Constitute
The front base member 1, the rear base member 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 base 3 so as to be able to move up and down. , Left and right parallel quadruple link mechanisms 10a, 10a
However, the parallel quadruple link mechanism 10 which supports the load receiving base 3 so as to be able to move up and down over the whole is constituted. The rotation support shaft 9 includes a member forming a shaft end 9a connected to the interlocking link 7 and the rear swing link 5, and left and right shaft ends 9a, 9a.
And a pipe member 9b which is connected so as to rotate integrally.

The front support arm 6a supporting the front end side of the load receiving table 3 swings with respect to the front swing link 2, and the rear support arm 6b supporting the rear end side of the load receiving table 3 includes When swinging with respect to the rear swing link 5,
Is moved in the front-rear direction of the parallel quadruple link mechanism 10 with respect to the swing links 2 and 5, so that the swing links 2 and 5
Supports the load receiving table 3 so as to change its position in a direction along the pallet mounting surface 3a. As shown in FIG. 12, a chain sprocket 16 attached to the rear support arm 6b by bolt connection so as to rotate integrally with the rear swing link 5 on either the left or right, and a bolt attached to the shaft end 9a of the rotation support shaft 9. When the endless chain 18 is wound around the chain sprocket 17 attached so as to be integrally rotated by the connection, and the projecting link 27 swings the rear swing link 5, the link swing is accompanied by this swing. The generated rotational force to the rear swing link 5 of the tension link 27 is generated by the endless chain 18 to the rear support arm 6b.
, And the front support arm 6 b is operated to swing with respect to the rear swing link 5, and the front support arm 6 a is operated to swing with respect to the rear swing link 2. As a result, the position of the load receiving table 3 is changed in the direction along the load receiving surface 3a with respect to the swing links 2 and 5 in conjunction with the swing of the swing links 2 and 5, and the swing links 2 and 5 are lowered. When swinging to the side, the position changes in the same direction as the direction in which the load receiving base 3 moves with respect to the base materials 1 and 4 due to the downward swing of the swing links 2 and 5. When 5 swings up,
Due to the upward swing of the swing links 2 and 5, the position of the load receiving base 3 changes in the same direction as the direction in which the load receiving base 3 moves with respect to the base materials 1 and 4.

As shown in FIGS. 10 and 11, a bracket 2 bolted to the rear end of the rear base member 4 is provided.
An electric motor M which is rotatably supported around an axis X7; a feed screw shaft 23 which is rotatably supported by an output block portion 22 of the electric motor M; The drive mechanism 20 is constituted by an operation member 24 having a female thread portion 24a screwed into the drive member 20.

The operating member 24 is formed so as to be fitted to the round shaft ends 24b at both ends thereof, and is supported by a guide member 25 bolted to the rear base member 4. Each of the pair of guide members 25, 25 is
4b is provided with a guide hole 25a long in the front-rear direction of the device in which a roller 26 rotatably supported is rotatably inserted, and the operation member 24 slides in the front-rear direction of the device along the guide hole 25a. That makes it possible. As clearly shown in FIGS. 11 and 12, the lower ends of the elastic links 27 are connected to the round shaft ends 24b at both ends of the operation member 24 so as to be relatively rotatable.
The upper end of one of the shafts 7 and 27 is externally fitted to the shaft end 9a on the left side of the rotation support shaft 9 and is configured to rotate integrally with the rotation support shaft 9 by engagement with a key. The upper end of the other tension link 27 is externally fitted to the right shaft end 9a of the rotation support shaft 9 and is configured to rotate integrally with the rotation support shaft 9 by engagement with a key. 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. It is a motor, which transmits the rotational power in the forward rotation direction and the reverse rotation direction to the feed screw shaft 23 by a transmission mechanism built in the output block portion 22, and drives the feed screw shaft 23 in the forward rotation direction, Drive in the 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. . When the operation member 24 slides forward, the round shaft ends 24a at both ends of the operation member 24 move the base end side of the extension link 27 forward. Then, the axis X4, which is the point of action at which the left and right tension links 27 exert a tension on the rear swing link 5, descends about the axis X2, and the rear swing link 5 becomes And descend according to the weight of the luggage. When the operating member 24 slides rearward, the round shaft ends 24 at both ends of the operating member 24 are moved.
a moves the base end side of the tension link 27 to the rear side. Then, the rear swing link 5 of the right and left tension links 27
, The tension action point X4 rises about the axis X2, and the tension link 27 raises the rear swing link 5.

Thus, when the electric motor M is driven in the forward rotation direction, the drive mechanism 20 converts the rotational power of the electric motor M into linear power in the front-rear direction of the apparatus by the feed screw shaft 23 and the operating member 24. The power is output from the operating member 24 and the right parallel quadruple link is connected to the rear swing link 5 via the one extension link 27 and to the rear swing link 5 via the other extension link 27. The rotation is transmitted to the rear swing link 5 of the mechanism section 10a, and all the swing links 2 and 5 of the parallel quadruple link mechanism 10 are operated to swing upward. At this time, the left and right endless chains 18 apply the rotational force for the swing operation of the rear swing link 5 to the rear support arm 6.
b, and the rear support arm 6b and the front support arm 6a swing to the rear side of the parallel quadruple link mechanism 10 with respect to the swing links 5 and 2 to move the load receiving table 3 due to the transmitted power. And the load receiving base 3 and the support arms 6a and 6b are connected to each other so as to be rotatable relative to each other. And the pallet placing surface 3a rises while maintaining a load transfer posture in which the pallet placing surface 3a is horizontal or close to the pallet placing surface 3a. When the rear swing link 5 and the front swing link 2 are operated to the set upright posture shown by the solid line in FIG. 10, the load receiving platform 3 floats from the base B and the pallet placing surface 3a is moved to a horizontal plane or a horizontal plane. A near-inverted state, and the connection point with the front support arm 6a is located on the side of the front swing link 2 and the connection point with the rear support arm 6b is located on the side of the rear swing link 5. And the fork F1 of the stacker crane S is inserted into or removed from the fork groove 3b of the load receiving stand 3 from the front side or the rear side of the parallel quadruple link mechanism 10 to load the pallet P between the stacker crane S and the load receiving stand 3. Can be transferred with

When the electric motor M is driven in the reverse rotation direction,
The drive mechanism 20 converts the rotational power of the electric motor M into linear power, outputs the power from the operating member 24, and to the rear swing link 5 of the left parallel quadruple link mechanism 10a via one of the extending links 27, The transmission is transmitted to the rear swing link 5 of the right parallel quadruple link mechanism 10a via the other tension link 27, and all the swing links 2 and 5 of the parallel quadruple link mechanism 10 are swung down. Manipulate. At this time, the left and right endless chains 18 transmit the turning force for the swing operation of the rear swing link 5 to the rear support arm 6b, and the rear support arm 6b and the front support arm 6a swing for the transmitted power. By swinging the links 5 and 2 toward the front side of the parallel quadruple link mechanism 10 to move the load receiving table 3, and
The load receiving base 3 and the support arms 6a and 6b are connected to each other so as to be relatively rotatable, so that the position of the load receiving base 3 changes to the front side of the parallel quadruple link mechanism 10 with respect to the swing links 2 and 5. The pallet mounting surface 3a descends while maintaining a load transfer posture in which the pallet mounting surface 3a is horizontal or close to this. When the rear swing link 5 and the front swing link 2 are operated to the set lying posture shown by the two-dot chain line in FIG. 10, the load receiving table 3 swings more than when it is located at the above-mentioned ascending load transfer position. Parallel quadruple link mechanism 1 for moving links 2 and 5
0, the bottom surface of the load receiving table 3 is placed on the base B, and the pallet placing surface 3a is at a descending load transferring position at or near a horizontal plane. Can be loaded and unloaded from the front side of the parallel quadruple link mechanism 10 into the fork groove 3b of the load receiving base 3 with the pallet P between the hand lifter H and the load receiving base 3.

When the front support arm 6a and the rear support arm 6b swing with respect to the swing links 2, 5, the load receiving table 3 moves up and down with respect to the swing links 2, 5. The endless chain 18 transmits the rotational force of the rear swing link 5 accompanying the swing operation of the parallel quadruple link mechanism 10 to the rear support arm 6b, and swings the rear support arm 6b with respect to the rear swing link 5. When the rear support arm 6b swings with respect to the rear swing link 5, the rotational power of the rear support arm 6b is transmitted to the front support arm 6a via the load receiving base 3, and the front support arm 6a Also the front swing link 2 in the same direction as the rear support arm 6b.
Rocks against. The chain sprocket 16 and the chain sprocket 16 are pivoted so that the support arms 6a and 6b swing to raise the load tray 3 with respect to the swing links 2 and 5 as the load tray 3 approaches the descending load transfer position. A transmission ratio between 17 and 17 is set. In this embodiment, the receiving table 3
When the arm is in the ascending load transfer position, the support arms 6a and 6b are set so that the free ends are located on the rear side of the parallel quadruple link mechanism 10 with respect to the base ends, so that the chain Rear support arm 6 of sprockets 16 and 17
The pitch circle of the chain sprocket 16 connected to b is set smaller than the pitch circle of the chain sprocket 17 connected to the interlocking link 7. As a result, the support arms 6a and 6b and the endless chain 18 constitute a speed change mechanism 40, and the operating member 24 moves at a constant moving speed to lower the load receiving table 3 when the load receiving table 3 is lowered.
The descending speed is automatically adjusted so that the descending speed changes as shown in FIG.

That is, the horizontal axis Z shown in FIG. 16 indicates the operating position of the round shaft end 24b of the operating member 24, and the vertical axis L indicates
It shows the point connected to the rear support arm 6b of the loading table 3, that is, the position of the mounting shaft 3c above the ground. Operation member 24
The operation position Z0 of the round shaft end portion 24b is a position where the load receiving table 3 becomes a position for ascending load transfer, and the operation position Z9 is a position where the load receiving table 3 becomes a position for descending load transfer. Round shaft end 24
The operation positions Z1 to Z9 of b indicate positions where the round shaft end 24b has moved by unit strokes from the operation position Z0 toward the operation position Z9. Ground height position L0 of mounting shaft 3c
Is the position when the receiving table 3 is in the ascending load transfer position,
The ground-to-ground height position L9 is a position when the load receiving table 3 is at the lowered load transfer position. The ground height position L1 of the mounting shaft 3c indicates the position when the round shaft end 24b is located at the operation position Z1.
L9 indicate positions corresponding to when the round shaft end 24b is located at the operation positions Z1 to Z9. That is, the round shaft end 24b
Each time moves the unit stroke Zd, the mounting shaft 3c descends the unit height Ld. The unit height Ld while the mounting shaft 3c descends from the ground height position L8 to L9 is:
It becomes smaller than the unit height Ld while the mounting shaft 3c descends from the ground height position L7 to L8. That is, when lowering the load receiving table 3 from the ascending load transfer position to the descending load transfer position, even if the operation member 24 is moved at a constant speed,
The loading stand 3 has the mounting shaft 3c at the ground height position L8 or
When the vehicle arrives at a ground height position set for deceleration near this ground height position L8 and before the descending load transfer position, the vehicle decelerates, and reaches the set deceleration position from this set deceleration position. It descends at a descending speed lower than the immediately preceding descending speed and reaches the descending load transfer position.

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 table 3 is moved upward. Operating position. Stacker crane S
P which has been taken out of the three-dimensional storage shelf T with luggage
Is inserted from the front or rear side of the parallel quadruple link mechanism 10 into the load receiving base 3, and the fork is pulled out of the load receiving base 3, the electric motor M is driven in the reverse rotation direction, and the parallel quadruple link mechanism 10 is driven. Is swung down to lower the load receiving table 3 from the ascending load transfer position. At this time, because of the transmission mechanism 40, the load receiving table 3 is decelerated when it reaches the set deceleration position, reaches the descending load transfer position at a lowering speed lower than the descending speed immediately before the arrival, and stops. Stop so that it is difficult to come out. When the load receiving table 3 is at the lowering load transfer position, the fork of the hand lifter H is inserted into the fork groove 3b of the load receiving table 3 from the front side of the parallel quadruple link mechanism 10 to cause the pallet P to lift. When the hand lifter H is transferred from the pallet mounting surface 3a of the load receiving table 3 to the hand lifter H, the hand lifter H is pulled out from the load receiving table 3 to the front side of the parallel quadruple link mechanism 10, and the load is taken out together with the pallet P.

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 downward, and the load receiving table 3 is lowered to the lower load transfer position. Then, the fork of the hand lifter H is inserted into the fork groove 3b of the load receiving table 3 from the front side of the parallel quadruple link mechanism 10 to perform the descending operation. When the pallet P is transferred from the hand lifter H to the load receiving table 3, the hand lifter H is pulled out from the load receiving table 3 to the front side of the parallel quadruple link mechanism 10, and then the electric motor M is driven in the forward rotation direction, and The connecting link mechanism 10 is swung upward to raise the load receiving table 3 from the lowered load transfer position. When the loading tray 3 is in the ascending load transfer position, the fork F1 of the stacker crane S is inserted into the fork groove 3b of the loading tray 3 from the front side or the rear side of the parallel quadruple link mechanism 10, and is lifted on the pallet P. The luggage is transferred together with the pallet P from the loading tray 3 to the stacker crane S.

FIG. 17 shows a speed change mechanism 25a according to still another embodiment, in which a round shaft end 24b of the operation member 24 is provided.
Is formed by a guide hole 25a of a guide member 25 for slidingly guiding the parallel quadruple link mechanism 10 in the front-rear direction.
In other words, the guide hole 25a is located on the side closer to the rear swing link 5 and at the same time along the horizontal plane.
b and the first guide hole portion 2 which is located on the opposite side of the rear swing link 5 with respect to the first guide hole portion 25b.
5b, the second guide hole portion 2 which is located at a higher level as it is further away from the parallel quadruple link mechanism 10 toward the front side and which is inclined forward.
5c. The first guide hole portion 25b slides on the round shaft end 24b of the operation member 24 until the load receiving table 3 reaches the set lowering position for deceleration from the rising load transfer position before the descending load transfer position. The second guide hole portion 25c slides and guides the round shaft end 24b of the operating member 24 when the load receiving table 3 is moved down from the set lowering position to the lowering load transfer position. The second guide hole portion 25c is moved so that the round shaft end 24b of the operation member 24 moves up while raising the base end side of the projecting link 31,
The round shaft end 24b is slid and guided so that the lifting amount of the tension link 31 increases as the round shaft end 24b reaches the front side of the parallel quadruple link mechanism 10. That is, when the load receiving table 3 is lowered from the set lowering position to the lowering load transfer position, if the round shaft end 24b of the operating member 24 is horizontally moved and guided similarly to the first guide hole portion 25b, Shaft end 24
b moves at a constant moving speed, and the rear swing link 5
Is to swing downward about the axis X2, the stroke in which the rear swing link 5 descends as the round shaft end 24b moves by a unit stroke is the load receiving stand 3
Is larger than that immediately before reaching the set lowering position, but by moving the base end side of the tension link 31 while performing a lifting operation, the rear swing link 5 accompanying the movement of the unit member 24 by the unit stroke is moved. The lowering stroke is smaller than that immediately before the receiving table 3 reaches the set lowering position. As a result, when the load receiving platform 3 is lowered by the drive mechanism 10, the load receiving platform 3 is decelerated when it reaches the set lowering position, and lowers at the set speed lower than the lowering speed immediately before reaching the set lowering position. It descends from the position to the descending load transfer position and stops so that the stop impact is small.

In place of the contact portion 32, a tension link 3
1 and the rear swing link 5,
The two 31, 31 are locked so as not to rotate relative to each other about the axis X4, and the tension link 31 and the rear swing link 5 are locked.
By removing from either one of
Various lock members such as a lock pin for unlocking the lock member 5 so as to rotate relative to the axis X4 may be employed. Therefore, these are collectively referred to as switching means.

In order to enable the deceleration stop of the load receiving table 6 by employing the support arms 6a and 6b, the support arms 6a and 6b are parallel to the swing links 2 and 5 as the load receiving table 6 is lowered. You may comprise and implement so that rocking | fluctuation operation may be carried out to the back side of the quadruple link mechanism 10. FIG.

Instead of the endless chain 18, a belt with projections that engages the rotating shaft 11 and the support shaft 15 by interlocking them and employs a gear mechanism that engages the rotating shaft 11 and the support shaft 15 is employed. Or may be implemented. Therefore, these are collectively referred to as transmission means.

[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 rear swing link operation structure.

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

FIG. 7 is an explanatory view of a use state of the loading tray device.

FIG. 8 is an explanatory diagram of a change in the lowering speed of the loading tray.

FIG. 9 is an explanatory diagram of specifications of a rear swing link and a tension link.

FIG. 10 is a side view of the entire cargo receiving device of another embodiment.

FIG. 11 is a plan view of an entire cargo receiving device according to another embodiment.

FIG. 12 is a front view of a rear swing link support structure in a loading tray device of another embodiment.

FIG. 13 is a front view of a front swing link support structure in a loading tray device of another embodiment.

FIG. 14 is an explanatory diagram of a use state of a receiving tray device according to another embodiment.

FIG. 15 is an explanatory diagram of a use state of a receiving tray device according to another embodiment.

FIG. 16 is an explanatory diagram of a change in the lowering speed of the receiving tray in the receiving tray device of another embodiment

FIG. 17 is a schematic view of a transmission mechanism according to another embodiment.

[Explanation of symbols]

 3, 6 Load receiving stand 6a, 6b Support arm 5 Swing link 10 Parallel quadruple link mechanism 10a Parallel quadruple link mechanism section 18 Transmission means 20 Drive mechanism 23 Feed screw shaft 24 Operation member 24a Female thread section 25a, 40 Transmission mechanism 30 Interlocking mechanism 31 Strut link 32 Contact part 33 Cam mechanism 34 Slot 35 Roller M Electric motor

Claims (9)

[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 device having a drive mechanism for raising and lowering, wherein when the load receiving table lowered by the drive mechanism reaches a set position before a descending load transfer position, the load receiving table is decelerated. A load receiving device provided with a transmission mechanism for automatically adjusting the load receiving device descending speed as the load receiving device descends so as to reach a descending load transferring position at a lowering speed lower than the speed. 2. The load receiving device according to claim 1, wherein said driving mechanism includes an electric motor driven at a constant speed, and said interlocking mechanism for interlocking said electric motor and said parallel quadruple link mechanism includes said transmission mechanism. Table equipment. 3. A swinging link of the parallel quadruple link mechanism, a tip end of which is rotatably connected to the swinging link to stretch and support the swinging link, and supports a base end side of the swinging link. Operating member for raising and lowering the tension link, a feed screw shaft screwed to a female thread portion provided in the operating member to move the operating member, and the electric motor for rotating the feed screw shaft 3. The load receiving device according to claim 2, wherein the driving mechanism is configured by the following. 4. A switching means for switching relative rotation between the swing link and the tension link from enabled to disabled as the swing link descends and swings; and Between the tension link and the operating member so as to allow the support and allow the tension link to swing down around the pivot axis of the pivot link with the movement of the operation member. 4. The load receiving device according to claim 3, wherein the speed change mechanism is constituted by a cam mechanism located at a position indicated by the arrow. 5. The swing link according to claim 4, wherein the swing link has a contact portion that comes into contact with the tension link as the swing link descends and swings, and the contact portion constitutes the switching means. Cradle equipment. 6. The cam mechanism is constituted by an elongated hole provided in the tension link, and a roller rotatably supported by the operating member in a state of rolling into the elongated hole. 6. The receiving stand device according to 4 or 5. 7. The parallel quadruple link mechanism section, wherein 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. 7. The cargo receiving device according to claim 3, wherein the strut link is provided in any one of the devices. 8. 8. A support arm extending swingably from a free end side of the swing link to a base end side to support the load receiving table, and a support arm for operating the swing link of the parallel quadruple link mechanism. A transmission means for transmitting a rotating power to the support arm and swinging the support arm with respect to the swing link,
The load receiving device according to claim 1, wherein the speed change mechanism is configured. 9. The transmission means for causing the support arm to swing relative to the swing link in the same direction as the load receiving table moving direction due to the lowering of the swing link as the swing link lowers. 9. The receiving stand device according to claim 8, wherein: