JPS6236205A - Device for carrying in and carrying out housed object - Google Patents

Abstract

PURPOSE:To reduce an occupying space and enable automatic control by forming multistage shelves on the inner periphery of a housing container and a transferring space in its center part and providing an axially and radially movable holding means in an eccentric position in said transferring space in the captioned device used for a space base, etc. CONSTITUTION:A block body 33 is lowered, a foldable arm 34 is extended to an opening part 3, and a work 7 is supported by a clamp 35. Then the arm 34 is folded and the block 33 is lifted up while a supporting frame 21 is rotated, and the work 7 is transferred into a transferring space 20 and supported in a desired position. Then the arm 34 is extended to house the work 7 onto a defined shelf 8 through a transferring opening 28. This construction can reduce an occupying space while enabling automatic control.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for transporting stored objects into and out of a containment container, etc., and is particularly capable of reducing occupied space and is compatible with automatic control. , relates to a device for loading and unloading stored objects suitable for use in containment vessels installed in outer space.

[Background Art] In recent years, the establishment of bases in outer space has been a concern as part of space development plans, and many proposals have been made in various fields. Especially in outer space, it is desired to devise unique equipment in consideration of the special environment.

Here, a containment vessel was devised that would be suitable for the outer space environment, as a replenishment facility for the space base, which would be transported back and forth between the ground and outer space, and as a storage facility for experiment V7 and materials. requested.

[Problems to be Solved by the Invention] The basic requirements for a containment container are that it should have a cylindrical shell shape, have good transportability, and have sufficient storage space.

Being able to respond to the diversity of the size of the stored items, etc.
In addition, it is possible to efficiently carry in and take out stored objects in outer space where there are few people.

In order to realize a containment vessel that satisfies these conditions, the relationship with the equipment that carries the stored items into and out of the containment vessel is important, and it is necessary to devise a suitable loading/unloading device. It is requested.

[Object of the Invention] The present invention was devised in view of the above-mentioned problems, and its purpose is to provide a containment vessel installed in outer space that can reduce the occupied space and is compatible with automatic control. An object of the present invention is to provide a storage object loading/unloading device suitable for use in the present invention.

[Summary of the Invention] The present invention provides an apparatus for loading and unloading stored items into a containment container in which storage shelves are stacked in multiple stages in the axial direction. and a cylindrical storage object transfer space surrounded by these storage shelves in the radial direction of the container; A support frame is provided on the periphery of the space so that it can move freely along an annular locus, and a support frame is installed on the support frame so that it can move freely in the axial direction of the containment vessel and can move forward and backward in the radial direction. The support frame and the gripping means are arranged along the boundary between the storage shelf serving as the storage space and the transfer space serving as the transfer space.

[Example] A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 3 shows a state in which the containment vessel 1 equipped with the storage object loading/unloading device according to the present invention is connected to the base 2. The axial lower end of the containment vessel 1 is joined to the joint base of the base 2, and communicated with the inside of the base 2 through an opening 3 formed at the lower end.

First, the containment vessel 1 itself will be briefly explained.
As shown in the figure, the containment vessel 1 is composed of a cylindrical shell 4 forming a main body, and frusto-conical end structures 5.6 connected to both ends of the cylindrical shell 4. The end structure 5 hermetically partitions and closes the inside of the container 1, and the other end structure 6 is formed with an opening 3 that communicates with the inside of the base 2. Further, the cylindrical shell portion 4 of the storage container 1 is provided with storage shelves 8 stacked in multiple stages in the axial direction of the container along its inner circumferential wall for accommodating objects 7 such as containers. In particular, these storage shelves 8 are divided as appropriate in the circumferential direction of the storage container and are configured to be movable up and down in the axial direction of the container by means of unloading means (not shown), and can accommodate stored items 7 having various sizes. The vertical spacing and fixing position can be adjusted according to the situation, making it possible to have a different arrangement as a whole.

Further, as shown in FIGS. 4 and 5, the storage container 1 is provided with a fixing clamp means 9 for fixing the stored object 7 stored in the storage shelf 8. This fixing clamp means 9 includes a pair of clamp pieces 11 that are provided at the tip of the feed screw body 1o so as to be able to vibrate in opposite directions and are operated to open and open.
, a pair of bendable/extendable links 13 provided between the clamp pieces 11 and the fixed frame 12, and a piece 14 screwed onto the feed screw body 10 and reciprocated in its axial direction.
and a pair of operating links 15 provided between the top 14 and the joint of the bending/extending link 13. The fixing clamp means 9 is connected to the bending/extending link 13 via the operating link 15 when the top 14 moved by the rotation of the feed screw body 10 approaches and separates from the tip of the screw body 10.
The clamp piece 11 is opened and closed by pushing and pulling the joint part of the clamp member 13 to bend and extend the bending link 13. By the closing operation of the clamp piece 11, the shaft body 17 installed in the recessed part 16 formed on the side of the stored object 7 is clamped and fixed.

The feed screw body 10 is connected to a brake motor 19 via a gear device 18, and is configured to be driven by this. These fixed clamp means 9 are also movable by moving means (not shown), and the movement and operation of these fixed clamp means 9 and the position setting of the storage shelf 8 are controlled remotely.

In the storage container 1 configured as described above, the storage object loading/unloading device of the present invention is installed. As shown in FIGS. 1 and 2, in the containment vessel 1, a storage shelf 8 is arranged annularly on the inner circumferential wall side of the cylindrical shell 4, and is arranged along the axial direction of the axial center of the container. These annular storage shelves 8 surround the container from the radial direction to transport the cylindrical stored items 1! f20 is formed, and this transfer space 20 is continuously communicated with the opening 3. In this transfer space 20, there is a space 116 extending along the axial direction of the containment vessel and located eccentrically from the axial center of the vessel.
A support frame 21 is provided on the outer periphery of the transfer space 20 (inner periphery of the storage shelf 8), which is the boundary between the storage shelf 8 serving as the storage space and the transfer space 20 serving as the transfer space, so as to be movable along the annular trajectory thereof. .

Specifically, the support frame 21 is generally made up of pillars, which can be rotated along the inner periphery of the storage shelf 8, but in this embodiment, strength and light weight are taken into account. From this point of view, a cylindrical shell structure that is substantially similar to the containment vessel 1 is adopted as a structure that extends along the axial direction of the containment vessel and is positioned eccentrically from the axial center. The support frame 21 configured in this manner has a communication port 22 formed at one end facing the n'1 part 3 to communicate the opening 3 with the transfer space 20 surrounded by the shell structure. The peripheral edge of one end where the communication port 22 is formed is rotatably supported by a guide roller 23 disposed in the containment vessel 1, and
The other end formed in a conical shape is rotatably supported by the end structure 5 of the containment vessel 1 via a bearing 24 . Furthermore, a ring gear 25 is provided at one end of the support frame 21 where the communication port 22 is formed, and a drive motor 26 provided on the containment vessel 1 side is connected to the ring gear 25 by a pinion 27.
It is designed to be connected through a rotary drive.

On the other hand, in the support frame 21, a transfer port 28 is formed with a considerable diameter in the axial direction on the negative side in order to communicate the stored object transfer space 20 surrounded by the cylindrical shell structure with the storage shelf 8. A pair of feed screw bodies 29 are provided on the other side opposite to the transfer port 28 so as to be eccentric from the axial center of the containment vessel 1 . These feed screw bodies 29 are provided to extend in the axial direction of the container, have both ends rotatably supported by the support frame 21 via brackets 30, and are rotationally driven by a motor 31 provided at the end. It has become.

The support frame 21 configured in this manner includes a gripping means 32 which is configured to be movable along the axial direction of the container and can move forward and backward in the radial direction of the container, and which grips and moves the stored object 7.
is provided. Specifically, the gripping means 32 includes a block body 33 that is screwed onto a pair of feed screw bodies 29 and reciprocates along the axial direction of the container, and a block body 33 that is provided on this block body 33 and is provided on the transfer port 28 side in the radial direction of the container. The bending arm 34 moves back and forth to
and a clamp 35 provided at the tip of the bending/extending arm 34 to engage and support the stored object 7.

This gripping means 32 holds the stored object 7 with a clamp 35.
The block body 33 moves up and down while supporting the bending arm 34.
The stored object 7 is moved by moving forward and backward in the horizontal direction. The bending/extending arm 34 has a similar configuration to a general manipulator, and is driven by a motor (not shown) or the like. Further, the clamp 35 is constructed in the same manner as the fixing clamp means 9 described above.

Furthermore, the support frame 21 and the gripping means 32 are driven and controlled by a control device 36 installed in the storage container 1, and by specifying the storage position of the stored object 7 by address, etc., the stored object 7 can be automatically carried in and carried out. It is configured so that it can be transported. Further, 37 is a slide rail for guiding the lifting and lowering of the block body 33.

Next, we will discuss the effect.

As shown in FIGS. 1 and 2, when carrying the stored object 7 into the containment vessel 1, the block body 33 is lowered, the bending arm 34 is extended to the opening 3, and the stored object is placed in the clamp 35. Support 7. Thereafter, the bending arm 34 is bent to raise the block body 33, and the support frame 21 is rotated to transfer the stored object 7 into the transfer space [120] and support it at a desired position. Then, by advancing the bending/extending arm 34, the stored object 7 can be carried into the storage shelf 8 through the transfer port 28 opened forward in the advancing direction. If you want to take it out, just do the above operation in reverse.

By the way, in the present invention, the support frame 212 and the gripping means 32 are installed along the boundary between the storage shelf 8 which is the storage space required for the storage container 1 and the transfer space 20 which is the transfer space.
The space occupied by the equipment can be reduced.
Enough storage space can be secured. Moreover, by providing the support frame 21 constituting the transfer means with a rotational traveling function so that the stored objects 7 can be easily arranged in an annular shape, it can be adapted to the storage container 1 having a cylindrical shell shape or the like. In addition, since the stored object 7 can be rotated, raised and lowered, and moved horizontally,
It can be moved and stored at a desired position that matches the size of the item to be stored. Furthermore, since the operations of the support frame 21 and the gripping means 32 are automatically controlled, stored objects can be carried in and out efficiently in outer space where there are few people.

What is shown in FIGS. 6 to 8 is an embodiment in which the storage object loading/unloading device according to the present invention is applied to a tower parking for automobiles, which is a ground facility. Parts having the same function are given the same reference numerals.

In this case, the automobile 7, which is the object to be stored, is placed on a trolley 38 disposed on the block body 33. The automobile 7 is constructed by rotating a cylindrical shell-shaped support frame 21 and a block body 33 screwed onto two feed screw bodies provided on the side of the support frame 21 at the axial center of the building 1, which is a containment vessel. The claw body 35, which is a clamp, is placed at a predetermined height and oriented in a predetermined direction by lifting and lowering, and then engages with the pin 39 of the trolley 38.
By advancing and retracting a bending and extending arm 34 having a flexure arm 34, it is horizontally transferred to the storage shelf 8 and stored therein. In addition, 3 is an opening for a vehicle entrance, 20 is a space for transferring stored items, and 4
Reference numeral 1 designates an expandable auxiliary floor which is connected to the block body 33 by a pin hinge, and a hook is passed between it and the storage shelf 8 to guide the traveling of the trolley 38.

Incidentally, the space 40 between the storage shelves 8 formed in the building 1 can be used as a living room or a storage for other goods.

Moreover, the building 1 is not limited to a rectangular parallelepiped shape, but may also be a polygonal columnar shape or a cylindrical shape.

[Effects of the Invention] To summarize, according to the present invention, the following excellent effects are achieved.

(1) Since the support frame and gripping means are provided at the boundary between the storage shelf as the storage space and the transfer space as the transfer space, the space occupied by the device can be reduced and a sufficient storage space can be secured. Therefore, the storage space for the stored items can be expanded relative to the volume of the storage container, and the transportation efficiency can be improved.

By providing the support frame constituting the transfer means with a rotational traveling function, it is possible to facilitate the annular arrangement of the stored objects, and it can be adapted to a storage container such as a cylindrical shell.

(3) Since the stored object can be rotated, raised and lowered, and moved horizontally, it can be stored at a desired position that matches the size of the stored object.

(4) The operation of the support frame, gripping means, etc. is simple.

Therefore, automatic control can be easily introduced, and loading and unloading work can be carried out efficiently in outer space where there are few people.

[Brief explanation of drawings]

Fig. 1 is a side sectional view showing a preferred embodiment of the present invention, Fig. 2 is a sectional view taken along the IF-I line in Fig. 1, and Fig. 3 is a perspective view showing the state of connection of the containment vessel to the space base. 4 is a side view showing one embodiment of the fixing clamp means, FIG. 5 is a side view showing the released state, FIG. 6 is a side sectional view showing an example of the present invention applied to ground equipment, and FIG. Figure 7 shows ■ in Figure 6.
FIG. 8 is a sectional view taken along the line -■ in FIG. 7. In the figure, 1 is a storage container, 7 is an object to be stored, 8 is a storage shelf, and 20
21 is a support frame, and 32 is a gripping means. Applicant: Ishikawajima Harima Heavy Industries Co., Ltd. Literary Patent Attorney Nobuo Kinuya Figure 4 Figure 5

Claims (1)

[Claims] In a device for loading and unloading stored items into a storage container in which storage shelves are stacked in multiple stages in the axial direction, the storage container is provided with a storage container along the axial center of the storage container, and along the storage shelves. A storage object transfer space formed in a cylindrical shape and surrounding the container in a radial direction; a support frame provided on the periphery of the space so as to be movable along an annular locus; and a support frame provided on the support frame so as to be movable in the axial direction of the storage container and movable in the radial direction to grasp the stored object. A device for loading and unloading stored objects, characterized in that it is equipped with a gripping means for holding objects.