JPS6019602A - Transferring apparatus for handling object - Google Patents

Abstract

PURPOSE:To improve efficiency of transferring operation in an apparatus for transferring objects between a storing shelf and a crane, by adjusting the position of the apparatus by means of a movable supporting arm provided on an elevator frame and a receiving member on the shelf, and by transferring the object by means of a gripping arm and a conveyor. CONSTITUTION:A stacker crane is moved to the front of a predetermined shelf and an elevator is moved to adjust its position to the height of a predetermined section of the shelf. Then a supporting arm 42 is put forward to the shelf 2 by actions of a cylinder 45, a telescopic rod 43 and a lever 44. Then the elevator is lowered so that the supporting arm 42 is supported by a receiving member 17 to automatically align a guide rail 5 with a frame 36. Under this condition, a conveyor frame not shown in the drawing is raised to adjust the height of a conveyor chain for sending a pallet 7 into the shelf 2. Then transferring operation is performed by means of a gripping arm not shown in the drawing. By this constitution, efficiency of transferring operation can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a device for transferring objects between a storage shelf and a crane.

[Background of the invention]

Materials with a diameter of about 1011 and a length of about 4 m, which are used for shafts of precision machines, are stored in special pallets beforehand at the user's side to prevent bending or other deformation during the transportation and storage process. will be donated to. For this,
Users also need to transport materials on special pallets and store them in storage shelves.

Since the special pallets are over 4 meters long, it is difficult to take them in and out of the shelves using a conventionally known stacker crane that runs along the shelf and supports an elevating body with a telescoping fork so that it can move up and down. The idea is to place the pallet on the fork with the length direction of the pallet perpendicular to the fork, extend the fork to the depths of the shelf, and move the pallet from the fork to the shelf or from the shelf to the fork. However, in the second case, the pallet is stored on the shelf with the longitudinal direction of the pallet oriented in the direction of travel of the stacker crane. Therefore, the length of the shelf along the running direction of the stacker crane becomes longer, and the distance that the stacker crane travels to the front of the shelf section to be worked becomes longer, which deteriorates the working efficiency of the stacker crane. Further, when handling the pallet by placing it on the fork with the longitudinal direction of the pallet facing the longitudinal direction of the fork, the extension and contraction stroke of the fork becomes long. For this reason, it becomes necessary to increase the mechanical rigidity of the fork and its related components, which increases the size and weight, and also causes a long extension/retraction stroke of the fork, resulting in a decrease in work efficiency.

[Purpose of the invention]

An object of the present invention is to accurately and efficiently transfer objects between a storage shelf and a crane.

[Summary of the invention]

The present invention provides an apparatus for transferring objects between a crane and the storage shelf, which is equipped with an elevating body that travels along a storage shelf and is supported on the elevating body so as to be able to move up and down. , a conveyor installed in the frame so as to be able to move up and down;
a guide rail installed on either the frame or the conveyor frame of the conveyor and arranged at a higher location than the conveyor; and a grasping arm that is installed freely on the guide rail and protrudes downward. ,n
(1) a gripping arm protruding laterally and movably installed on the frame; and a support having a low slope in the center and installed on a front height shelf in a position that can receive the protruding gripping arm. A handling object transfer device characterized by comprising a receiving member for an arm, the holding arm rests on the receiving member, and the shelf and the conveyor are aligned,
Only the items to be handled are inserted into the depths of the shelves by means of a conveyor and a moving gripping arm, and the height of the conveyor is adjusted to an easy-to-work height according to when the items to be handled are taken in and out of the shelves.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to FIGS. 1 to 37.

3 on both sides of the stacker crane 1 as shown in Figure 1.

(A storage shelf 2 is installed on the floor.

The storage shelf 2 consists of a pillar 3 set up on the floor, a rack 4 horizontally fixed to the pillar 3, and a rack as shown in Figures 4, 5, and 6. A guide rail 5 having a circular cross section fixed to the upper surface of the end of the guide rail 4 via a bracket 16;
As shown in FIGS. 5 and 6, it consists of a stopper 6 fixed to the rack 4 near one end of the guide rail 5. The other end of the guide rail 5 +4 is cut diagonally as shown in FIG. 5 so that the pallet 7 can easily get onto the guide rail 5.

As shown in FIG. 2, the pallets 7 are received on racks 4 between columns 3 and stored on shelves 2.

As shown in FIG. 6, this pallet 7 has a rectangular outer frame 9 large enough to surround the material 8, and an outer frame 9 arranged to receive the material 8.
A support frame 10 fixed to a support frame 10, a stopper 11 fixed to both ends of a specific support frame 10 as shown in FIG. 8, a movable stopper 12 installed to another specific support frame 10, and FIG.
As shown in FIG. 10, it consists of a sliding block 13 fixed to the outer frame 9 and the support frame 10, and arm receivers 95 protruding from the four corners of the outer frame 9. The second sliding block 13 has an arcuate lower surface as shown in FIG. 10, so that it is stabilized by the guide rail 5''. In addition, the movable stopper 12 is shown in FIG.
As shown in FIG.
The movable piece 14 is attached to the support frame 10 with a fastening force of 5.

As shown in FIGS. 4, 5, and ff16, a support arm receiving member 17, which will be described later, is fixed to the support column 3 erected on the side closer to the stacker crane 1. The receiver member 17 is attached to the base plate 1 as shown in FIGS. 13, 14, and 15.
It is made by fixing a section steel 19 to B in a V-shaped posture, and fixing a plate to the bottom for reinforcement.

The stacker crane 1 has a motor 2 as shown in Fig. 16.
1, one wheel n is driven to travel on a rail n. The other wheel is the driven wheel.

Rail 231. Since the stacker crane 1 is fixed on the floor in the direction along the shelf 2 as shown in FIGS. To prevent the stacker crane 1 from falling over, a guide rail 5 fixed to the ceiling is sandwiched between a horizontal guide wheel train attached to the top of the stacker crane 1, as shown in Figures 3, 16, and 17. The stacker crane l is provided with an elevating body n between two vertical frames.

This elevating body n is suspended and supported by a row of ropes as shown in Figure @16. The rope row is wound and fixed via a rope sheep 4 on the upper frame of the stacker crane 1 to a rope winding drum 31 of a winch fixedly installed on the outer surface of the vertical frame.

This drum 31 is rotated by a motor 32 of a winch (equipment), and performs rope operations such as winding the rope array onto the drum 31 and conversely letting it out. By operating this rope, the elevating body can be moved up and down. Since the elevating body n is fitted with guide wheels that sandwich a guide rail 33 vertically fixed to a vertical frame as shown in FIG. 17, there is no large wobbling of the elevating body n.

A pallet 7 handling device 35 equipped with a positioning device is installed on the elevating body n. Handling device 35
As shown in FIGS. 18 and 19, this has an outer frame 36 placed on an elevating body n. This outer frame 36 is an elevating body n
It is mounted via Hei Equalizer 37. As shown in FIG. 20, the equalizer 37 has a receiving blade whose upper surface has a gentle slope shaped like a letter is fixed to the elevating body υ, and this receiving blade 311-
It is constructed by fixing a bracket 40, which supports a roller 39 mounted on a roller F, in a freely rotatable manner to an outer frame.

The positioning device is located between the outer frames as shown in FIGS. 21 and 22. The positioning device consists of support bearings 41 fixed to the four corner sides of the outer frame, and support bearings 4
A support arm 42 is passed through 1 so as to be horizontally movable.

A support arm drive device is connected to the end of the support arm 42 . As shown in FIG. 21, this drive device consists of a rotating shaft 43 that is freely rotatably attached to the outer frame 36 so as to pass through both sides of the outer frame, levers that are fixed to the rotating shaft 43, and levers that are attached to the rotating shaft 43. The telescopic end is connected to the middle of one of the levers 44, and the upper end of the lever 44 is connected to one end of the support arm 42. Ru. As shown in FIG. 23, an inverted triangular member 46 is fixed to the other end of one of the support arms 42 protruding in the same direction.
A roller 47 is rotatably attached to the other end of the other support arm, as shown in FIG.

The outer frame has a post frame 48 pushed upward as part of the outer frame.

Figures 25 and 26 are on the outside frame.

As shown in FIG. 27 (the conveyor frame 49 is arranged).

Conveyor frame 49 is part of a chain conveyor. The chain conveyor is as shown in Figs. 28 and 29]. That is, an endless compare chain 51 is hung between chain sprockets rotatably attached to both ends of the conveyor frame 49. Compare chain 51
As shown in FIG. 29, the conveyor frame 49 is supported midway by each auxiliary chain sprocket 52 attached to the lower part of the conveyor frame 49 so as not to sag. A drive chain sprocket is fixed to the -8. side of each rotation axis of each chain sprocket connection.

The motor 55 for driving the conveyor is the conveyor frame 49
Fixed. An endless chain sprocket 57 is connected to a chain sprocket fixed to the rotating shaft of the motor 55 via a speed reducer 55a and a driving chain sprocket 54. A portion of the conveyor frame 49 has a push-up frame 58a that projects downward. A horizontal gripping shaft is attached to the lower part of the push-up frame 58a, as shown in FIGS. 26 and 27.

A chain conveyor lifting device is attached between the conveyor frame 49 and the outer frame 36. This lifting device is as follows. That is, the telescopic rond end of the electric cylinder 59 mounted horizontally on the outer frame 36 is connected to one of the levers 60. The upper ends of each lever 60 are connected by an adjustment link 61 as shown in FIG. 26. The lower end of each lever 60 is fixed to a shaft 62 rotatably installed on the outer frame.

As shown in FIGS. 27 and 30, a lever 63 is fixed to the shaft 62, the upper end of a pulling rod is pivotally attached to the protruding end of the lever 63, and the lower end of the pulling rod 6 is connected to the support shaft.

A cart driving device is fixed to the upper part of the post frame, and a U-shaped guide rail 6 is fixed horizontally to the middle part.

Running wheels 67 of the bogie ω are mounted on the upper part of the guide rail 65, and the running wheels 67 allow the bogie 66 to move between the bollards at both ends of the guide rail 65 shown in FIG. As shown in FIGS. 34 and 37, horizontal guide rollers 69 that are in contact with the vertical surface of the guide rail 65
is supported by a bracket 70.

As shown in Figures 33 and 34, there are shafts 7 at the front and rear of the carriages.
1.72 is rotatably attached. Each axis 71.72
Grip arms 73, 74 are fixed to both ends of the.

Two electric cylinders 75 installed horizontally between the carts,
The telescopic rod of one of the power cylinders 75 is connected to one end of a lever 77, and the other end of this lever 77 is fixed to the shaft 71. The telescopic rod of the other power cylinder 76 is connected to one end of a lever 78, and the other end of this lever 78 is fixed to the shaft 72.

A push button device shown in FIGS. 31 and 32 is connected to the stand $66 as a drive device. The truck driving device is supported by a post frame 48, a part of which is connected to a truck 66, and moves the truck ω along a guide rail 65. The trolley drive device includes an installation frame 79 horizontally fixed to the upper part of the post frame 48, and an installation frame 79.
Each chain sprocket 81 is rotatably attached to each shaft 80 at both left and right ends of the shaft, a drive chain sprocket 82 is fixed in the middle of one of the shafts 80, a motor 83 is attached to the installation frame 79, and the motor 83 is The rotating shaft is connected to the reducer section, and a drive chaino sprocket 84 is fixed to the output rotation shaft of this reducer 88, a drive chaino sprocket 85 that is endlessly passed between each drive chaino sprocket 82, 84, and a left and right drive chaino sprocket 85. The chain consists of a traction chain 86 passed between each chain sprocket 81, and both ends of the traction chains are connected to the truck 6 by a chain fixture 87.

As shown in Figures 35 and 36, in the middle of the guide 65.1
1. A movable stopper pin 89 is supported via a bracket 90 so as to be freely movable in a horizontal direction perpendicular to the guide rail 65. This bracket 90 is attached to the guide rail 65
is fixed to the bottom surface of the A middle part of an L-shaped lever 92 is pivoted to a horizontal support bracket 91 fixed to a bracket 90 so as to freely rotate horizontally. One end 11- of the lever 92 is connected to one end of a stopper pin 89, and the other end of the lever 92 is connected to a telescopic rod end of an electric cylinder 93, and this electric cylinder 93 is connected to the side of the guide rail 65 via an example of a bracket. is set up.

A plurality of horizontal guide rollers are installed on the frame, and the outer frame 9 of the pallet 7 is installed as shown in Figures 18 and 19.
Each guide roller is provided with an arrangement that can sandwich the pallet 7 in the width direction of the pallet 7.

In this embodiment, the elongated material 8 is supported on a support frame 10 and handled together with the pallet 7, as shown in FIG. After placing the material 8 on the support frame 10, loosen the bolt 15, move the movable piece 14 along the support frame 10, and tighten the bolt 15 again to remove the movable stoppers 12 and -12 and the stopper 11. The material 8 in the frame 1 is sandwiched without any gaps to form the state shown in FIGS. 10 and 12. In this state, the material 8 is supported at multiple points along the way by the support frame 10 without shifting within the pallet 7. Therefore, the high quality of the material 8 can be maintained without the material 118 being damaged due to shifting during handling or being bent or bent in the middle.

This material 8 is transferred together with the pallet 7 between the stacker crane 1 and the shelf 2.

This work is as follows.

First, when storing the pallet 7 on the shelf 2, the pallet 7 is placed on the compare table 51 as shown in FIGS. 19 and 29. At this time, the telescopic rod of the electric cylinder 93 is retracted, the lever 92 is rotated, and the stopper pin 89 is rotated.
is projected inward from both guide rails 65 as shown in FIGS. 35 and 37. By doing this, the stopper pin 89 is brought into contact with the bracket 70 as shown in FIG. 37. By doing this, the bracket 70 will not hit the stopper pin 89 and the truck 6 will not run toward the end of the guide rail 65.
Accidents of the end hitting the shelf 2 can be prevented. Next, the stacker crane 1 is moved along the shelf 2 on the rail n by rotating the wheel n by the motor 21, and is stopped in front of the shelf 2 for work purpose. Next, the drum 31 is rotated by the motor 32, and the rope Z is wound around the drum 31 and let out, so that the elevating body n is adjusted to the height of the two sections of shelves for work purposes. Next, it rotates around the telescopic rod 43 of the electric cylinder 6. This rotation of the lever causes the support arm 42 to be projected toward the shelf 2 side.

Next, by letting out a row of ropes from the drum 31, the elevating body 2
Descend 7 steps. As the elevating body descends, the support arm 42 also descends, so the members and rollers 47
transfers to the inside of the V-shape of the section steel 19, and the support arm 4
2 is supported by a receiving member 17 of the arm.

In this supported state, the dimensions between the members 17 of each of the 42 support arms and each arm receiver are the same, so that the center of the outer frame recess coincides with the center between each guide rail 5. If there is a slight deviation between the support arm 42 and the member 17, the member or roller 47 will slide on the slope of the section steel 19 or roll down, so the deviation will be corrected and the gap between the guide rails 5 will be corrected. The center of the outer frame will be aligned with the center.

When correcting this deviation, it is necessary to move the outer frame concave in the horizontal direction, but this movement is free as the rollers 39 roll on the receivers.

In this way, the outer frame 36 is reassigned from the elevating body n to the shelf 2 side, and the situation where the outer frame is disturbed by the elevating body n, which is suspended by a row of ropes and tends to shift vertically and horizontally, is almost eliminated. , the outer frame soba is lined up on the shelf 2 so that it can maintain a stable position.

Next, the telescopic rod of the electric cylinder 59 is extended to rotate the lever 60 about the shaft 62. In this way, the levers ω connected by the adjustment link 61 and the shaft 62 are also rotated at the same time, causing the first collar 63 to be rotated so as to raise the rod 6. 2, the shaft frame is raised to raise the conveyor frame 49, and the height of the compare chain 51 passing above is set to be at most 15 cm higher than the guide rail 5 by the x dimension as shown in FIG.

Hold.

Next, the chain prop 57 is driven endlessly by the motor 55 to rotate the chain propeller, thereby driving the conveyor chain 51 endlessly. For this reason, since the guide rail I is lower than the conveyor chain 51, the pallet 7 on the conveyor chain 51 is smoothly fed onto the guide rail 5 on the shelf 2 side.
When the pallet 7 is fed into the shelf 2, the guide rollers guide both sides of the pallet 7 as shown in FIG.
As shown in Fig. 0, it lands securely on the thin guide rail 5, slides on the guide rail 5, and is still sent to the back of the shelf 2. Even if the pallet 7 is separated from the conveyor chain 51, the pallet 7 protrudes from the end of the guide rail 5 by at least the y dimension, as shown in FIG. 29, and tends to prevent the stacker crane 1 from traveling. Therefore, electric cylinder 6
By extending the telescopic rod and rotating the lever 92, the stopper pin 89 is pulled into a position where it does not hit the bracket 70. Next, the telescopic rod of the electric cylinder 76 is extended and the grip arm 74 is rotated so as to move downward.

Next, the motor 8 endlessly drives the drive chain portion to rotate the chain sprocket 81 and drive the chain portion. In this way, the cart 6 is towed by the chain section and sent to the end of the guide rail 5. While the truck is being transported, the gripping arm 74 protruding downward is pressed against the arm receiver 95 of the pallet 7 protruding from the shelf 2, as shown by the two-dot chain line in FIG. After that, the pallet 7 is pushed to the back of the shelf by the running force of the cart θ, and the pallet 7 is pushed from the shelf 2 to the pallet 7.
In this way, the pallet 7 is reliably stored in the shelf 2. If the pallet 7 is sent too far into the shelf 2 during storage, the pallet 7 will not stick out from the stopper 6. I try to hit it and stop it.

After the pallet 7 is stored on the shelf 2, the cart 6 is moved toward the center of the guide rail 5 by the reverse rotation of the motor 83, and then the stopper pin 89 is pushed out to a position where it contacts the bracket 7.

Next, the motor 32 rotates the drum 31 so that the drum 31
The rope train is wound around the rope to raise the elevating body n.

As the elevating body n rises, the support of the outer frame is changed from the shelf 2 side to the elevating body n side. Due to this support change, the roller 39 receives the weight from the outer frame, and the V
It rolls naturally on the letter-shaped surface and the roller time returns to the center of the catch. Therefore, the pallet handling device returns accurately to the center of the lifting body I, and the lifting body N will not be tilted.

Next, the telescoping rod of the electric cylinder 45 is retracted to pull the support arm 42 toward the outer frame 36 to prevent the support arm 42 from hitting the shelf 2. After that, the stacker crane 1 is moved to another destination point. let

Next, the operation of taking out the pallet 7 from the shelf 2 to the stacker crane 1 will be explained.

This removal operation is the same as the storage operation until the support arm 42 is transferred to the arm support member 17 and the outer frame is transferred from the elevating body n to the shelf 2. By this repositioning, the center of the outer frame can be moved to the guide rail 5.
After aligning the center between the two, pull out the stopper pin 89 using the electric cylinder 93 to a position where it does not touch the bracket 70.
Next, with the electric cylinder 76 holding the arm 74 horizontally, the guide rail 65 is moved between the carts by the force of the motor 83.
move it to the end of the Next, the electric cylinder 76 rotates the gripping arm 74 so that it protrudes downward. At this time, the conveyor chain 51 is held at a lower height than the guide rail 5 in advance. This holding is done by retracting the telescopic rod of the electric cylinder 59 and pulling up the rod □□□
This is accomplished by lowering the conveyor frame 49 by lowering the conveyor frame 49. Next, the cart 6 is moved to the center of the guide rail 65 by the force of the motor.

While the cart 66 is moving, the gripping arm 74 is caught by the arm receiver 95, and the pallet 7 is dragged from the shelf 2 side onto the conveyor chain 51 by the running force between the carts. Since the conveyor chain 51 is at a lower position than the guide rail 5, the knot 7 dragged out in this way can be smoothly transferred to the conveyor chain 51. Since the conveyor chain 51 is driven by the force of the motor 55, the pallets 19 and 7 are dragged off the shelf 2 by the conveyor chain 51 as well. Then, the pallet 7 that has been dragged out is guided on both sides by guide rollers so as not to shift laterally from the center of the conveyor frame 49. Therefore, the pallet 7 is transferred between the shelf 2 and the stacker crane while maintaining an accurate position. When the pallet 7 is transferred to the center of the conveyor frame 49, the drive of the conveyor chain 51 is stopped, and then the gripping arm 74 is rotated to a horizontal position using the electric cylinder 76. Next, return the cart 6 to the center of the guide rail 65 and place the stopper pin 89
is pushed out into contact with the bracket 70 by the force of the electric cylinder 93. Thereafter, the support arm 42 is retracted by receiving the outer frame 36 with the elevating body n.

The above describes how the pallet 7 is taken in and out of the left shelf 2, but the pallet 7 is taken in and out of the right shelf 2 by moving the gripping arm 73 and the electric cylinder 75.

[Effect of revelation]

As described above, according to the present invention, support from the traveling body is provided.
・Reassign the handling device of the handled items from the lifting body to the shelf side, and adjust the positioning of the shelf and handling device to avoid misalignment of the traveling body or the lifting body with respect to the shelf. Since the items to be handled can be transferred without having to go deep into the area, it is possible to achieve the effect that the transfer work can be carried out accurately and efficiently.

[Brief Description of the Drawings] Fig. 1 is an elevational view of the inside of a warehouse according to an embodiment of the present invention;
The figure is an A-A arrow view of Figure 1, Figure 3 is an enlarged view of the main part of Figure 1, Figure 4 is an enlarged view of the main part of Figure 2, and Figure 5 is a top plan view of Figure 6. , Fig. 6 is an enlarged view of the main part of Fig. 3, Fig. 7 is an overall perspective view of the pallet shown in Fig. 2, and Fig. 8 is an enlarged view of the main part of Fig. 7.
9 is a sectional view taken along the line C-C of FIG. 7, FIG. 10 is a sectional view taken along the line D-D of FIG. 12 is a sectional view taken along the line F-F in FIG. 7, FIG. 13 is a top plan view of the receiving member of the support arm shown in FIG. 2, and FIG.
Figure 15 is a right side view of Figure 14, Figure 16 is a side view of the stacker crane shown in Figure 3, and Figure 17 is a front view of the stacker crane shown in Figure 3.
The figure is a side view of Fig. 16, Fig. 18 is a detailed side view of the pallet handling device shown in Fig. 16, Fig. 19 is a schematic view taken along the line G-G in Fig. 18, and Fig. 20 is a Figure @21 is a top plan view of the outer frame shown in Figure 18, Figure 22 is an elevational view of Figure 21, and
Figure 3 is a sectional view taken along the line H-H in Figure 21, and Figure 24 is a cross-sectional view of Figure 21.
25 is a top plan view showing the combination of the outer frame of the handling device shown in FIG. 18 and the conveyor frame, FIG. 26 is an elevational view of FIG. 25, Fig. 27 is a sectional view taken in the direction of the - arrow in Fig. 25, Fig. 28 is a top plan view of a chain conveyor equipped with the conveyor frame shown in Fig. 25 as a frame, and Fig. 29 is an elevational view of Fig. 28. Figure 30 is a sectional view taken along the line L-L in Figure 27,
Figure 1 is a top plan view of the trolley I movement device part of the handling device shown in Figure 18, Figure 32 is an elevation view of Figure @31, and Figure 3
3 is a top plan view of the cart shown in FIG. 32, FIG. 34 is an elevational view showing a partial cross section of FIG. 33, FIG. 35 is a plan view of the truck shown in FIG. Enlarged view of the main part of Figure 18, No. 37
The figure is a view taken along the line MM in FIG. 35. ■・・・Stacker crane, 2...Shelf, 3...Prop, 4...Rack, 5...
...Guide rail, 7...Pallet, 8...
...Material, 13...Sliding material, 17...
The support arm holder is used for materials, handling equipment,
42...Support arm, 45.59. 75. 76・
Hit/Electric cylinder, 44, 60.63.77, 78.
...Lever, 6...Pull-up rod, 6
6...Dolly, 73.74...Gripping arm 2 Hif 3 Figure 18 Single 14 Figure 9 Spear 31 Figure f33 Figure

Claims (1)

[Claims] 1. In a device for transferring handled goods between the storage shelf and a crane equipped with an elevating body that travels along a storage shelf and is supported for free loading and unloading, a frame supported on the elevating body;
A conveyor installed on the T-frame so as to be movable up and down; a guide rail installed on either the frame or the conveyor frame of the conveyor and placed at a higher location than the conveyor; a gripping arm protruding downward from the frame; a support arm movably installed on the frame and protruding toward the shelf;
A receiving member for the support arm, which is installed on the shelf in a position that can receive the protruding support arm, and has a low slope in the center.