JPS5831801A - Bucket operating equipment - Google Patents
Bucket operating equipmentInfo
- Publication number
- JPS5831801A JPS5831801A JP12781881A JP12781881A JPS5831801A JP S5831801 A JPS5831801 A JP S5831801A JP 12781881 A JP12781881 A JP 12781881A JP 12781881 A JP12781881 A JP 12781881A JP S5831801 A JPS5831801 A JP S5831801A
- Authority
- JP
- Japan
- Prior art keywords
- link
- shaft
- packet
- bucket
- turned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
【発明の詳細な説明】
本発明はパケットを取り扱うＩ！ＩＭに関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION The present invention provides an I! It is related to IM.
物品を取り扱う！ＩＭとして欄からパケット（客器）を
出したりするスタッカークレーンが知られてい墨、スタ
ッカークレーンにおいて、パケットを取り扱う場合、フ
ォークによるす曵い取り方式 □と爪に引つ掛けて引−
出す方式とがあ墨、引−出し方式はす曵い取り方式にく
らべてパケットを上下・〔駆動（すくい上げ下怪テ移動
）しなくてよいか）
らす畷゛れている。Handle goods! A stacker crane that takes out packets (customer equipment) from the column is known as an IM.When handling packets, a stacker crane uses a fork to pull the packets, or a fork to pull the packets.
The drawer method is significantly different from the scooping method in that it does not require the packet to be moved up and down (scooping up and moving downwards).
従来の引−出し方式ではパケットに特設した取手−２爪
を引り掛けてパケットを引き出していたので、特別製の
パケットしか取り扱うことがで−ね欠点があった・
本発明の目的は、一般的なパケットを引き出し方式で皐
り扱える装置を提供することにある。In the conventional drawer method, the packets were pulled out by hooking two handles specially installed on the packets, which had the disadvantage that only specially made packets could be handled. The object of the present invention is to provide a device that can handle standard packets using a pull-out method.
本発明の要点は、基本構成として互いに平行な２末のリ
ンクを一組とした平行リンク２組を折曲自在に連結して
リンク機構を構成し、このリンク機構の一端側を回転自
在に支持し、他端側に上下ｒ位自在に爪をパケットＭＸ
級時にパケット上縁よりも高い位Ｗとなる配置で設け、
Ｉ記２組の平行リンクに各組のリンクを互いに逆位相で
等角度回転するように設定したリンク回転駆動装置を有
し、リンク機構の折曲運動で瓜をパケットの上縁に位−
させて、爪の下方変位でパケットの上縁會引っ掛け、引
っ掛けたパケットをリンク機構の＃？自運動で水平に移
動させる点にある。The gist of the present invention is that a link mechanism is configured by bendably connecting two sets of parallel links each having two ends parallel to each other as a basic configuration, and one end of this link mechanism is rotatably supported. Then, attach the claw to the other end side freely up and down
It is placed in a position where W is higher than the top edge of the packet at the time of class.
The two sets of parallel links have a link rotation drive device set to rotate each set of links at equal angles in opposite phases to each other, and the bending movement of the link mechanism positions the gourd at the upper edge of the packet.
Let the upper edge of the packet be hooked by the downward displacement of the claw, and the # of the link mechanism to hook the hooked packet? The point is that it moves horizontally by its own movement.
以下に本発明の１！ＩＩ論例を第１図から第９図までの
各図に基づいて説明する・
第１図の如く、パケット６を扱うスタッカークレーンは
、レール４上を走行する走行体２と、こノ走行体２上に
立設したコラム！、と、コラムｌに沿って上下動自在は
昇降体３とを有し、この昇降体３と硼５との間でパケッ
ト６を受は渡しするものである。パケット６は、第２図
、１工３図の如く・棚５の支柱５ａ間に渡した棚板１０
上に格納され、上下のパケット６間隔として１寸法だけ
あけられている。Below is 1 of the present invention! The II theory example will be explained based on each figure from Fig. 1 to Fig. 9. As shown in Fig. 1, a stacker crane that handles packets 6 has a traveling body 2 running on a rail 4, and a traveling body 2 running on a rail 4. Column set up on 2! , and an elevating body 3 which is movable up and down along the column 1, and the packet 6 is transferred between the elevating body 3 and the container 5. The packet 6 is attached to a shelf board 10 passed between the supports 5a of the shelf 5 as shown in Fig. 2, Fig. 1/3.
The upper and lower packets 6 are spaced apart by one dimension.
昇降体３０床面はパケット受面１１とされ多数のローラ
ニ１２が第４図、第７図の如く配Ｕされている。昇降体
３にはパケット６を引−込んだり押し出したりする為の
押引＊Ｗが股？される。The floor surface of the elevating body 30 is used as a packet receiving surface 11, and a large number of rollers 12 are arranged as shown in FIGS. 4 and 7. In the elevating body 3, the push/pull *W for pulling in and pushing out the packet 6 is the crotch? be done.
押引ｌＩＩ置は、リンク機構と、リンク回転駆動装置と
、爪及び爪の駆動ｌＩ隨とを主要な構成として有する。The main components of the push-pull device include a link mechanism, a link rotation drive device, a pawl and a pawl drive device.
リンク１ａＩｌｌＩは、２組の平行リンク７．８を第４
図の如く共通リンク９を介して一緒し、７字状のリンク
機構としたものである。平行リンク７は互いに平行なリ
ンク７ａ、７ｂとから成り、平行リンク８は互いに平行
なリンク８ｍ＋８ｂとから成る。各りンク７鳳＊７ｂｓ
８ａ＊８ｂは同じ長さを有する。リンク機構の一端側、
即ちリンク８ｍ＋８ｂの上端は昇降体３に同定設置した
ブラケット２０へ回転軸１３．１４で回転自由に取り付
けられる。この際、軸１３とリンク８ｍとは固定的に取
り付き、軸１４へリンクｓｂが回転自由に取り付鴫・・
リンク８ｍ ＊ ８ｂの下端は共通リンク９へ回転軸１
５．１６で連結される。この際、リンク８１は軸１５へ
回転自由に取り付−、リンク８ｂは回転自由に取り付曵
、リンク７ｍの下端は軸ｌＢへ回転自由に取り付伽、リ
ンク７ｂの下端は軸１６へ固定される。リンク機構の他
端、即ちリンクγｍ、７ｂの上端は支持台１７へ回転軸
Ｉｌｌ、１９で回転自由に取り付く。Link 1aIllI connects two sets of parallel links 7.8 to the fourth
As shown in the figure, they are connected together via a common link 9, forming a 7-shaped link mechanism. The parallel link 7 consists of mutually parallel links 7a and 7b, and the parallel link 8 consists of mutually parallel links 8m+8b. Each link 7feng*7bs
8a*8b have the same length. One end of the link mechanism,
That is, the upper ends of the links 8m+8b are rotatably attached to the brackets 20 which are installed on the elevating body 3 by rotary shafts 13 and 14. At this time, the shaft 13 and the link 8m are fixedly attached, and the link sb is rotatably attached to the shaft 14.
Link 8m * The lower end of 8b is the rotation axis 1 to the common link 9
Concatenated in 5.16. At this time, the link 81 is attached to the shaft 15 so that it can rotate freely, the link 8b is attached to the shaft 15 so that it can rotate freely, the lower end of the link 7m is attached to the shaft 1B so that it can rotate freely, and the lower end of the link 7b is fixed to the shaft 16. be done. The other end of the link mechanism, ie, the upper end of the link γm, 7b, is rotatably attached to the support base 17 around the rotation axis Ill, 19.
リンク回転駆動ｌｌ１ｌｌは、軸１４へ固定的に堆り付
−モーター２１のピニオン２２と噛み合一５工い番歯車
２３と、この歯車２３と噛み合って軸１３へ固定した歯
車２４と、軸１４へ固定的に取り付いたチシンスプロケ
ット２５と、軸１６へ固定的に取り付いたチェノスプロ
ケット２６と、各チェンジロケット２５．２６間にエン
ドレス状に掛けたチェノ２７とから成る。モーター２１
はブラケット２０に固定される。The link rotational drive ll1ll is fixedly attached to the shaft 14 - a gear 23 with a 5th diameter meshing with the pinion 22 of the motor 21, a gear 24 meshing with this gear 23 and fixed to the shaft 13, and the shaft 14. It consists of a chishin sprocket 25 fixedly attached to the shaft 16, a chain sprocket 26 fixedly attached to the shaft 16, and a chain 27 hung endlessly between the change rockets 25 and 26. motor 21
is fixed to the bracket 20.
爪２８．２９は、第５図、第６図の如曵、パケット６の
上縁をはさみ込める間隔を開けて支持台１７へ軸３０に
より回転自在に取り付く。The claws 28 and 29 are rotatably attached to the support base 17 by means of a shaft 30 with an interval sufficient to sandwich the upper edge of the packet 6 as shown in FIGS. 5 and 6.
爪２８．２９を軸３０を中心に回転させて爪２８゜２９
の端部を上下に変位させる駆動！Ｊ！しは支持台１７に
固定したシリンダー装置１３１であって、このシリンダ
ー＊１Ｆ３１のピストンロッドはリンク３２を介して爪
２８．２９へ回転軸３３で連結される。このような爪２
８．２９と駆動装置との組み合せ物は第７図の如く支持
台１７の４Ｗｌゲ所に存在する・
尚、支持台１７は、第７図の如く、先に示したリンク−
橋で両端が交持されている。又、昇降体３にはローラー
１２０両側に先端がへの字状に開いたパケットｉ＊＊眉
゛ガ１イド３４−，３５を有する・木実施例において、
パケット６を昇降体３側へ引珈出す場合には、レール４
上で定行体２を走行させ、昇降体３をコラム１に沿つて
上下させる二とにより、パケット受面１１のローラー１
２が。Rotate the claws 28 and 29 around the shaft 30 to rotate the claws 28° and 29.
Drive that displaces the end of the up and down! J! The other is a cylinder device 131 fixed to the support base 17, and the piston rod of this cylinder *1F31 is connected to the pawls 28, 29 by a rotating shaft 33 via a link 32. nails like this 2
8. The combination of 29 and the drive device is present at the 4Wl position of the support stand 17 as shown in Fig. 7.The support stand 17 is connected to the link shown earlier as shown in Fig. 7.
Both ends are connected by a bridge. In addition, the elevating body 3 has packet i** eyebrow guides 34-, 35 whose tips are open in a curved shape on both sides of the roller 120.In the wooden embodiment,
When pulling out the packet 6 to the elevating body 3 side, use the rail 4
The roller 1 on the packet receiving surface 11 is moved by moving the moving body 2 on the column 1 and moving the elevating body 3 up and down along the column 1.
2 is.
第４５０．第７図の如（、！１１出そうとする目的のパ
ケット６の前でパケット６の底面と同ｅ１′１１１さに
なるように位−決めする。この時がパケット取扱時とな
る。その他の時にはパケット６とパケット受面１１とが
ずれているのでパケット６は取り讐えない。No. 450. As shown in FIG. Sometimes the packet 6 and the packet receiving surface 11 are misaligned, so the packet 6 cannot be handled.
ｐ次に、第４図で、モーター２１によりピニオン２２を
右回転させると、歯車２３が左回転し、歯車２４は右回
転する。歯車２３の左回転は歯車２３とスプロケット２
５とが軸１４へ固定されているの！スプロケット２Ｂへ
伝わり、二のスジ０ロケツ、ト１．２１５の左回転はチ
ェノ２７を介してスプロケット２６へ伝わる。スプロケ
ット２６の右回転は軸１６を伝わ）てリンク７ｂへ軸！
６を中心とする左回転力として伝わる。一方、歯車２４
の右回転は、歯車２４とリンク８暑ともに軸１３へ固定
しているからリンク８ｍへ軸１３を中心とする右回転力
として伝ねを、よって１丈持台１７は水平移動してパケ
ット６の上下寸法間ｌの間に水平に進入する０次にシリ
ンダー＠ｆｌ ３１のピストンロッドを突−出すと軸３
０を中心に爪２８．２９を回転させる。この回転によっ
て爪２８．２９の一端部は下方へ回転変位して第５図、
第６図、第８図の如くはさんで引っ掛ける。Next, in FIG. 4, when the pinion 22 is rotated clockwise by the motor 21, the gear 23 is rotated to the left and the gear 24 is rotated to the right. The left rotation of gear 23 is caused by gear 23 and sprocket 2.
5 is fixed to the shaft 14! It is transmitted to the sprocket 2B, and the counterclockwise rotation of the second streak 0 rocket and t 1.215 is transmitted to the sprocket 26 via the chino 27. The clockwise rotation of the sprocket 26 is transmitted through the shaft 16) to the link 7b!
It is transmitted as a counterclockwise rotational force centered at 6. On the other hand, gear 24
Since the gear 24 and the link 8 are both fixed to the shaft 13, the clockwise rotation of the gear 24 and the link 8 is transmitted to the link 8m as a clockwise rotation force about the shaft 13. Therefore, the 1-length support 17 moves horizontally and the packet 6 is rotated to the right. When the piston rod of the zero-order cylinder @fl 31, which enters horizontally between the vertical dimension l of , is extended, the shaft 3
Rotate the claws 28 and 29 around 0. Due to this rotation, one end of the pawl 28.29 is rotationally displaced downward, and as shown in FIG.
Hook it between the two as shown in Figures 6 and 8.
次にモーター２１を逆転すると、リンク７ｂは軸１６を
中心に右回転し、リンク８ｍは軸１３を中裔に左回転す
る。よって支持台１７は水平に引き込まれる。この為、
爪２８．２９に引っ掛けられたパケット６は、第９図の
如く、棚板ｌＯ上から引きずり出されてローラー１２上
に移動され、スタッカークレーン内に収納される。この
ようなリンクモーシ冒ンでは、上述のように各平行リン
ク７．８は互いに左右逆、即ち逆位相にて圓魅し、しか
も回転量が、歯車２３と２４が一径且つスプロケット２
５と２６が同径であるから等しい・この為に支持台１７
は常に水平に移動し、爪２８．２９がパケット６の上縁
から外れてしまうような上下運動は発生せず確実な引込
み動作が得られる。Next, when the motor 21 is reversed, the link 7b rotates clockwise about the shaft 16, and the link 8m rotates counterclockwise about the shaft 13. Therefore, the support stand 17 is pulled in horizontally. For this reason,
As shown in FIG. 9, the packet 6 hooked on the claws 28 and 29 is pulled out from the shelf board 10, moved onto the roller 12, and stored in the stacker crane. In such a link motor system, each of the parallel links 7.8 rotates in opposite directions, that is, in opposite phases, as described above, and the amount of rotation is the same as that of the gears 23 and 24 with one diameter and the sprocket 2.
5 and 26 have the same diameter, so they are equal.For this reason, the support stand 17
always moves horizontally, and there is no vertical movement that would cause the claws 28, 29 to come off the upper edge of the packet 6, and a reliable retraction operation can be obtained.
パケット受面１１側から棚板ｌＯ上へパケット６を格納
する場合には、引き出す場合とは反対に爪２８．２９で
引っ掛けたパケット６をリンク機構の運動で押し込むこ
とによって行われる。When storing the packet 6 from the packet receiving surface 11 side onto the shelf board 10, the packet 6 hooked with the claws 28 and 29 is pushed in by the movement of the link mechanism, contrary to the case where the packet 6 is pulled out.
各平行リンク７．８が、第７図におけ番ブラケット２０
よりも右側に来る家で回転させると、右側の棚に対して
もパケット取り扱いが行える。この場合には、支持台１
７上における右側寄りの爪が使用される。Each parallel link 7.8 has a number bracket 20 in FIG.
If you rotate it with the house on the right side, you can also handle packets on the shelf on the right side. In this case, the support stand 1
The claw on the right side on 7 is used.
以上の如く、本発明によればパケットの上縁を。As described above, according to the present invention, the upper edge of the packet.
引っ掛けてパケットを取り扱えるので一般的なパケット
でも取り扱える効果が得られる・Since you can handle packets by hooking them, you can get the effect of handling ordinary packets.
第１図はスタッカークレーンの概略図、第２図はパケッ
トの格納状態を示した斜視図、第３図はスタッカークレ
ーンとパケットとの関連配置な示した一部断面図、第４
図は本発明の１実施例によりパケット取扱装置の側面図
、第５図は本発明の１実施例であつて爪がパケットに引
っ掛かった状態の要部部分図、第６図は第６図のムーム
矢視図、第７図は第４図の上平面図、第８図は本発明の
ｌ実施例でありてパケットに爪が引っ掛った場合のリン
ク機構の状態を示した概略図、第９図は第８図に示した
パケットを引き込んでいる状態を示した概略図である。
３・・・・・・昇降体、６・・曲パケット、７．８・・
・・・・平行リンク、’Ｉｓ、７ｂｔ８ａ ａ８ｂ””
・・’）ンク。
９・・・・・・共通リンク、１３ｅ１４ｓＪ５＊Ｚ６ｗ
１８ｅ１９ｅ３０・・・・・・回転軸、１７・・・・・
・支持台、２ｏ・・・・・・ブラケット、２１・・間モ
ーター、２２・・曲ビニオン。
２３．２４・・・・・・１１．２Ｂ、２６・・・・・・
テ、ンスプロケット、２７・・曲チェン、２８．２９・
・曲爪、３１・・・・・・シリンダー装置
才１ｒＡ
才３図
才４７２７
オ７図
Ｔ８図
葉９ａFigure 1 is a schematic diagram of the stacker crane, Figure 2 is a perspective view showing the storage state of packets, Figure 3 is a partial sectional view showing the relative arrangement of the stacker crane and packets, and Figure 4 is a schematic diagram of the stacker crane.
The figure is a side view of a packet handling device according to an embodiment of the present invention, FIG. 7 is a top plan view of FIG. 4, and FIG. 8 is a schematic diagram of an embodiment of the present invention showing the state of the link mechanism when a claw is caught on a packet. FIG. 9 is a schematic diagram showing a state in which the packet shown in FIG. 8 is being pulled in. 3... Elevating body, 6... Song packet, 7.8...
...Parallel link, 'Is, 7bt8a a8b""
...')nk. 9... Common link, 13e14sJ5*Z6w
18e19e30...rotation axis, 17...
・Support stand, 2o...bracket, 21...motor, 22...bent pinion. 23.24...11.2B, 26...
Te, sprocket, 27... curved chain, 28.29.
・Curved claw, 31... Cylinder device 1rA 3rd figure 4727 O7 figure T8 figure leaf 9a
Claims (1)
２組を折曲自在に連結してリンクＩ！構を構成し、この
リンク機構の一端側を回転自在に支持し、他端側に上下
変位自在に爪をパケット取扱時にパケットの上縁よりも
高い位置となる配「で設け、Ｉ記２組の平行リンクに各
組のリンクを互いに逆位相で等角度回転するように設定
したリンク回転駆動装置を取り７付けて成るパケット取
扱装置。1. Link I! Two sets of parallel links, each consisting of two parallel links, are connected in a bendable manner. One end of this link mechanism is rotatably supported, and the other end is provided with a vertically movable pawl at a position higher than the upper edge of the packet when handling the packet, and two sets of I. A packet handling device comprising a link rotation drive device set to rotate each set of links at equal angles in opposite phases to the parallel links of the device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12781881A JPS5831801A (en) | 1981-08-17 | 1981-08-17 | Bucket operating equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12781881A JPS5831801A (en) | 1981-08-17 | 1981-08-17 | Bucket operating equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5831801A true JPS5831801A (en) | 1983-02-24 |
| JPS6144761B2 JPS6144761B2 (en) | 1986-10-04 |
Family
ID=14969416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12781881A Granted JPS5831801A (en) | 1981-08-17 | 1981-08-17 | Bucket operating equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5831801A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180115284A (en) * | 2016-02-18 | 2018-10-22 | 가부시키가이샤 다이후쿠 | Product transport device |
| CN108778980A (en) * | 2016-02-26 | 2018-11-09 | 鲍米勒纽伦堡股份有限公司 | Telescopic driver, the stacking machine and its operating method containing telescopic driver and use |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS543778A (en) * | 1977-06-10 | 1979-01-12 | Okamura Corp | Device of horizontally transferring cargo |
-
1981
- 1981-08-17 JP JP12781881A patent/JPS5831801A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS543778A (en) * | 1977-06-10 | 1979-01-12 | Okamura Corp | Device of horizontally transferring cargo |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180115284A (en) * | 2016-02-18 | 2018-10-22 | 가부시키가이샤 다이후쿠 | Product transport device |
| EP3418221A4 (en) * | 2016-02-18 | 2019-10-23 | Daifuku Co., Ltd. | Article transport apparatus |
| EP3722231A1 (en) * | 2016-02-18 | 2020-10-14 | Daifuku Co., Ltd. | Article transport apparatus |
| US11124362B2 (en) | 2016-02-18 | 2021-09-21 | Daifuku Co., Ltd. | Article transport apparatus |
| CN108778980A (en) * | 2016-02-26 | 2018-11-09 | 鲍米勒纽伦堡股份有限公司 | Telescopic driver, the stacking machine and its operating method containing telescopic driver and use |
| CN108778980B (en) * | 2016-02-26 | 2021-06-11 | 鲍米勒纽伦堡股份有限公司 | Telescopic drive, stacker comprising telescopic drive, method for operating same and use thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6144761B2 (en) | 1986-10-04 |
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