JPS6317722B2 - - Google Patents

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 around 10 mm and a length of around 4 m, used for shaft materials of precision machines, are delivered to users in advance in special pallets to prevent bending or other deformation during the transportation and storage process. Ru. For this reason, the user also needs to transport the materials in dedicated pallets and store them in storage shelves.

The special pallet is over 4m long, so
As is conventionally known, in order to take in and out of a shelf using a stacker crane that travels along the shelf and supports an elevating body having a telescoping fork in a vertically movable manner,
The idea is to place the pallet on the fork with its length direction perpendicular to the fork, extend the fork to the depths of the shelf, and transfer the pallet from the fork to the shelf or from the shelf to the fork. However, in this case, the pallets are stored on the shelf with their longitudinal direction 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. Furthermore, 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 members, which increases the size and weight, and the extension and retraction stroke of the fork is long, deteriorating 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 provided with an elevating body that travels along a storage shelf and is supported so as to be able to move up and down, including a frame supported on the elevating body; a conveyor installed on a 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 higher than the conveyor; and a conveyor installed on the guide rail so as to be movable. a grip arm protruding downward; a support arm protruding toward the shelf and movably installed on the frame; A device for transferring handled objects, characterized by comprising a receiving member for the support arm, wherein the support arm rests on the receiving member, aligns the shelf and the conveyor, and moves with the conveyor. Only the items to be handled are inserted into the depths of the shelves by means of the arms, and the height of the conveyor is set to an easy-to-work height according to when the items to be handled are placed in and taken out from the shelves.

[Embodiments of the invention]

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

On both sides of the stacker crane 1, storage shelves 2 are installed on the floor, as shown in FIG.

The storage shelf 2 consists of a support 3 set upright on the floor as shown in FIGS. 2 and 3, a rack 4 horizontally fixed to the support 3, and a rack 4 as shown in FIGS. 4, 5, and 6.
A guide rail 5 with a circular cross section is fixed to the upper surface of the end of the guide rail 5 via a bracket 16, and a rack 4 near one end of the guide rail 5 as shown in FIGS. 5 and 6.
It consists of a stopper 6 fixed to. The other end of the guide rail 5 is notched diagonally as shown in FIG. 5 so that the pallet 7 can easily get onto the guide rail 5.

The pallets 7 are received on the racks 4 between the supports 3 and stored on the shelves 2, as shown in FIG.

As shown in FIG. 6, this pallet 7 consists of a rectangular outer frame 9 sized to surround the material 8, a support frame 10 fixed to the outer frame 9 in a position to receive the material 8, and a support frame 10 fixed to both ends of the specific support frame 10. A fixed stopper 11 as shown in FIG. 8, a movable stopper 12 installed on another specific support frame 10, and a sliding block 13 fixed on the outer frame 9 or support frame 10 as shown in FIGS. 9 and 10. and arm receivers 95 protruding from the four corners of the outer frame 9. This sliding block 13 has an arcuate lower surface as shown in FIG. 10 so that it is stable on the guide rail 5. Moreover, the movable stopper 12 is as shown in FIGS. 11 and 12.
Two movable pieces 14 arranged to sandwich the support frame 10 from above and below are connected with a bolt 15, and the bolt 1
The movable piece 14 is attached to the support frame 10 with a fastening force of 5.

As shown in FIGS. 4, 5, and 6, 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. As shown in FIG. 13, FIG. 14, and FIG. 15, the receiving member 17 has a shaped steel 19 fixed to a base plate 18 in a V-shaped position, and a plate 2 as reinforcement at the bottom of the shaped steel 19.
It is made by fixing 0.

As shown in FIG. 16, the stacker crane 1 drives one wheel 22 with a motor 21 to move the rail 2.
It runs on 3. The other wheel is the driven wheel. The rail 23 is connected to the shelf 2 as shown in Figures 2 and 3.
Since it is fixed on the floor along the shelf, the stacker crane 1 can move along the shelf 2, that is, in a direction perpendicular to the plane of FIG. 1. To prevent the stacker crane 1 from falling down,
As shown in FIG. 17, horizontal guide wheels 24 attached to the top of the stacker crane 1 sandwich a guide rail 25 fixed to the ceiling. The stacker crane 1 includes an elevating body 27 between two vertical frames 26. This elevating body 27 is the 16th
As shown in the figure, it is suspended and supported by a rope 28. The rope 28 is connected to the vertical frame 2 via a rope sheave 29 in the upper frame of the Statzker crane 1.
The rope winding drum 31 of the winch 30 is fixedly installed on the outer surface of the rope winding drum 31 of the winch 30. This drum 31 is rotationally driven by the motor 32 of the winch 30, and performs rope operations such as winding the rope 28 onto the drum 31 and conversely letting it out. By operating this rope, the elevating body 27 can be moved up and down. As shown in FIG. 17, guide wheels 34 are attached to the elevating body 27, which sandwich a guide rail 33 vertically fixed to the vertical frame 26, so that the elevating body 27
There is no major wobbling.

A pallet 7 handling device 35 equipped with a positioning device is installed on the elevating body 27. The handling device 35 has an outer frame 36 placed on the elevating body 27, as shown in FIGS. 18 and 19. This outer frame 36 is placed on the elevating body 27 via an equalizer 37. equalizer 37
As shown in FIG. 20, a receiver 38 whose upper surface has a gentle V-shaped slope is fixed to the elevating body 27, and a bracket 40 that rotatably supports a roller 39 placed on the receiver 38 is attached to the outer frame 36. It is fixed and configured.

The positioning device is as shown in FIGS. 21 and 22,
It is attached to the outer frame 36. The positioning device includes support bearings 41 fixed to the four corner sides of the outer frame 36, and a support arm 42 attached to the support bearings 41.
is allowed to move freely horizontally. Support arm 42
A support arm drive device is connected to the end of the support arm drive device.
This drive device includes an outer frame 3 as shown in FIG.
The outer frame 36 is inserted so as to pass through both sides of the frame 36.
The rotating shaft 43 is freely rotatably attached to the rotating shaft 4, and the rotating shaft 4
It consists of levers 44 fixed to the outer frame 36, and an electric cylinder 45 whose telescopic end is connected to the middle of one lever 44 attached to the rotating shaft 43 and attached horizontally to the outer frame 36, and the upper end of the lever 44 is supported. It is connected to one end of the arm 42. 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, and the other end of the other support arm is
As shown in FIG. 24, a roller 47 is attached to rotate freely.

The outer frame 36 includes, as a part of the outer frame,
It has a post frame 48 pushed upward.

On the inside of the outer frame 36 are the markings shown in Figs.
A conveyor frame 49 is arranged as shown in FIG. Conveyor frame 49 is part of a chain conveyor. The chain conveyor is the 28th
As shown in Fig. 29. That is, an endless conveyor chain 51 is hung between chain sprockets 50 rotatably attached to both ends of the conveyor frame 49. The middle of the conveyor chain 51 is supported by auxiliary chain sprockets 52 attached to the lower part of the conveyor frame 49 as shown in FIG. 29 so as not to sag. A driving chain sprocket 54 is fixed to one side of each rotating shaft 53 of each chain sprocket 50. As shown in FIG. A motor 55 for driving the conveyor is fixed to the conveyor frame 49. A chain sprocket 56 fixed to the rotating shaft of the motor 55 via a speed reducer 55a and a drive chain sprocket 54 form an endless chain 5.
It is multiplied by 7. A portion of the conveyor frame 49 is a push-up frame 58 that protrudes downward.
It has a. At the bottom of this push-up frame 58a, there is a horizontal support shaft 5 as shown in FIGS. 26 and 27.
8 is installed.

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,
A telescopic rod end of an electric cylinder 59 installed horizontally on the outer frame 36 is connected to one of each lever 60. The upper ends of each lever 60 are connected by an adjustment link 61 as shown in FIG. 26. Each lever 6
0 is fixed to a shaft 62 rotatably installed on the outer frame 36. As shown in FIGS. 27 and 30, a lever 63 is fixed to the shaft 62.
The upper end of a pulling rod 64 is pivoted to the tip of the
The lower end of the pulling rod 64 is connected to the support shaft 58.

A cart driving device is horizontally fixed to the post frame 48 at the upper part, and a U-shaped guide rail 65 is fixed at the middle stage.

Traveling wheels 67 of a truck 66 are mounted on the upper part of the guide rail 65, and the traveling wheels 67 allow the truck 66 to move between bollards 68 at both ends of the guide rail 65 shown in FIG. Trolley 66
As shown in FIGS. 34 and 37, the guide rail 6
A horizontal guide roller 69 corresponding to the vertical surface of the roller 5 is supported by a bracket 70.

As shown in FIGS. 33 and 34, shafts 71 and 72 are rotatably attached to the front and rear parts of the truck 66. Grip arms 73 are provided at both ends of each shaft 71, 72,
74 is fixed. Of the two electric cylinders 75 and 76 installed horizontally on the truck 66, the telescopic rod of one power cylinder 75 is connected to one end of a lever 77, and the other end of this lever 77 is connected to the shaft 71.
Fixed. 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.

The trolley 66 has a driving device as shown in FIGS. 31 and 32.
The traction device shown in the figure is coupled. The trolley drive device is supported by the post frame 48 , a part of which is connected to the trolley 66 , and moves the trolley 66 along the guide rail 65 . The trolley drive device includes an installation frame 79 horizontally fixed to the upper part of the post frame 48, chain sprockets 81 rotatably attached to each shaft 80 at both left and right ends of the installation frame 79, and a chain sprocket 81 rotatably mounted on each shaft 80. A fixed drive chain sprocket 82, a motor 83 attached to the installation frame 79, a drive chain sprocket 84 whose rotating shaft is connected to a reducer 88 and fixed to the output rotating shaft of the reducer 88, Each drive chain sprocket 82, 8
The drive chain 85 extends endlessly between the four
and a traction chain 86 that extends between the left and right chain sprockets 81, and both ends of the traction chain 86 are connected to the trolley 6 by chain fixing devices 87.
It is connected to 6.

As shown in FIGS. 35 and 36, a movable stopper pin 89 is supported in the middle of the guide 65 via a bracket 90 so as to be movable in a horizontal direction perpendicular to the guide rail 65. This bracket 9
0 is fixed to the lower surface of the guide rail 65. Horizontal support bracket 91 fixed to bracket 90
The middle of an L-shaped lever 92 is pivoted to allow free horizontal rotation. One end of a stopper pin 89 is connected to one end of the lever 92, and the other end of the lever 92 is connected to a telescopic rod end of an electric cylinder 93, which is installed on the side of the guide rail 65 via a bracket 94. ing.

A horizontal guide roller 9 is placed on the frame 36.
A plurality of guide rollers 96 are installed, and each guide roller 96 is arranged so as to be able to sandwich the outer frame 9 of the pallet 7 in the width direction of the pallet 7, as shown in FIGS. 18 and 19.

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. Ingredient 8 is sandwiched without a gap and the 10th
The state shown in FIG. 12 is set. In this state, 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 8 being damaged due to shifting during handling or bending due to bending in the middle.

This material 8 is delivered (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 conveyor chain 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 moved as shown in FIGS. 35 and 37.
It protrudes toward the inside of both guide rails 65 as shown in the figure. By doing this, the stopper pin 8
9 hits the bracket 70 as shown in FIG. If you do this, the stopper pin 8
When the bracket 70 hits the guide rail 6
The cart 66 does not run toward the end of the shelf 2, thereby preventing the end of the cart 66 from hitting the shelf 2. Next, by rotating the wheels 22 with the motor 21, the stacker crane 1 is moved along the shelf 2 on the rail 23 and stopped in front of the shelf 2 for work purpose. Next, the drum 31 is rotated by the motor 32, and the rope 28 is wound around the drum 31 and let out, thereby moving the elevating body 27 to the shelf for work purpose.
Adjust to the height of the plot. Next, it rotates around the telescopic rod 43 of the electric cylinder 45. This lever 4
4, the support arm 42 is projected toward the shelf 2 side. Next, by letting out the rope 28 from the drum 31, the elevating body 27 is lowered. As the elevating body 27 descends, the support arm 42 also descends, so the member 46 and the roller 47 move to the inside of the V-shape of the section steel 19, and the support arm 42 moves to the receiving member 17 of the arm. Supported. In this supported state, since the dimensions L between each support arm 42 and between each arm receiving member 17 match, the center of the outer frame 36 matches the center between each guide rail 5. If there is a slight misalignment between the support arm 42 and the member 17, the member 46 and the roller 4
7 slides or rolls down the slope of the section steel 19, the deviation is corrected and the center of the outer frame 36 is aligned with the center between the guide rails 5. When correcting this deviation, the outer frame 36
, but this movement is free as the rollers 39 roll on the receivers 38.

In this way, the outer frame 36 is moved to the elevating body 27.
The lifting body 2 is placed on the shelf 2 side and is suspended by a rope 28, making it easy to shift vertically and horizontally.
7, the state of supporting the outer frame 36 is almost eliminated so that the outer frame 36 can maintain a stable position with respect to the shelf 2.

Next, the telescopic rod of the electric cylinder 59 is extended to rotate the lever 60 about the shaft 62. In this way, each lever 60 connected by the adjustment link 61 and shaft 62 also rotates at the same time, causing the lever 63 to rotate.
and rotate it so as to raise the rod 64. In this way, the shaft 58 is raised to raise the conveyor frame 49, and the height of the conveyor chain 51 passing above is set to 29th higher than the guide rail 5.
Hold it higher by the x dimension as shown.

Next, the motor 55 drives the chain 57 endlessly to rotate the chain sprocket 50, thereby driving the conveyor chain 51 endlessly. For this reason, since the guide rail 50 is lower than the conveyor chain 51, the conveyor chain 51
The upper pallet 7 is smoothly fed onto the guide rail 5 on the shelf 2 side. conveyor chain 5
When the pallet 7 is fed into the shelf 2 in step 1, the guide rollers 96 guide both sides of the pallet 7 to prevent it from shifting as shown in FIG. 19, so that the sliding piece 13 moves as shown in FIG. The device securely lands on the thin guide rail 5, slides on the guide rail 5, and is still sent to the back of the shelf 2. and,
Even if the pallet 7 separates 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, by extending the telescopic rod of the electric cylinder 45 and rotating the lever 92, the stopper pin 89
Pull it to 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 83 drives the drive chain 85 endlessly to rotate the chain sprocket 81 and drive the chain 86. In this way, the cart 66 is towed by the chain 86 and sent to the end of the guide rail 5. While the trolley 66 is being transported, the gripping arm 74 protruding downwards is attached to the arm receiver 95 of the pallet 7 protruding from the shelf 2.
Press as shown by the two-dot chain line in the figure. Thereafter, the pallet 7 is pushed to the back of the shelf by the running force of the cart 66, so that the pallet 7 no longer protrudes from the shelf 2. In this way, the pallets 7 are reliably stored in the shelves 2. If the pallet 7 is sent too far into the shelf 2 during storage, the stopper 6
I try to stop it by applying pallet 7 to it.

Once the pallet 7 is stored on the shelf 2, the cart 66
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 drum 31 is rotated by the motor 32, the rope 28 is wound around the drum 31, and the elevating body 27 is raised. As the elevating body 27 rises, the outer frame 3
6 is transferred from the shelf 2 side to the elevating body 27 side.
Due to this support change, the roller 39 naturally rolls down the V-shaped surface on the receiver 38 due to the weight received from the outer frame 36, and the roller 39 is placed in the center of the receiver 38.
moves back. Therefore, the pallet handling device 35 returns accurately to the center of the elevating body 27, and the elevating body 27 will not be tilted. Next, the telescopic 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 while traveling. After that, the stacker crane 1 is moved to another destination point.

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 receiving member 17 and the outer frame 36 is transferred from the elevating body 27 to the shelf 2. After aligning the center of the outer frame 36 with the center between the guide rails 5 through this repositioning, the stopper pin 89 is pulled out using the electric cylinder 93 to a position where it does not hit the bracket 70.
Next, the cart 66 is moved to the end of the guide rail 65 by the force of the motor 83 while the gripping arm 74 is kept horizontal by the electric cylinder 76. Next, the gripping arm 74 is rotated using the electric cylinder 76 so as to protrude 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 the electric cylinder 59.
This is accomplished by lowering the conveyor frame 49 by lowering the lifting rod 64 by retracting the telescoping rod. Next, the cart 66 is moved to the center of the guide rail 65 by the force of the motor 83.
While the trolley 66 is moving, the gripping arm 74
is caught on the arm receiver 95, and the pallet 7 is moved from the shelf 2 side to the conveyor chain 5 by the running force of the cart 66.
1 dragged out. Since the conveyor chain 51 is located at a lower position than the guide rail 5, the pallet 7 dragged out in this manner can be smoothly transferred to the conveyor chain 51. Since the conveyor chain 51 is driven by the force of the motor 55, the pallet 7 is also dragged off the shelf 2 by the conveyor chain 51.
Then, the pallet 7 that has been dragged out is guided on both sides by guide rollers 96 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 by the electric cylinder 76. Next, return the trolley 66 to the center of the guide rail 65 and move the electric cylinder 93 so that the stopper pin 89 is in contact with the bracket 70.
Push out with the force of. Thereafter, the support arm 42 is retracted by receiving the outer frame 36 with the elevating body 27.

The above has explained how to put in and take out the pallet 7 from the left shelf 2, but the pallet 7 from the right shelf 2 has been explained.
To put in and take out the grip arm 73, use the electric cylinder 7
Do this by moving 5.

〔Effect of the invention〕

As described above, according to the present invention, the handling device for handled items is transferred from the elevating body supported by the traveling body to the shelf side, and the positioning of the shelf and the handling device can be adjusted by adjusting the position of the traveling body or the elevating body with respect to the shelf. Since the handling device can transfer the handled items correctly regardless of the situation and without the need for the handling device to enter deeply into the shelf, the effect of performing the transfer work accurately and efficiently can be obtained.

[Brief explanation of the drawing]

Fig. 1 is an elevational view of the interior of a warehouse according to an embodiment of the present invention, Fig. 2 is a view taken along arrow A-A in Fig. 1, Fig. 3 is an enlarged view of the main parts of Fig. 1, and Fig. 4 is FIG. 5 is an enlarged view of the main part of FIG. 2, FIG. 5 is a top plan view of FIG. 6, FIG. 6 is an enlarged view of the main part of FIG. 3, and FIG. 7 is an overall perspective view of the pallet shown in FIG. Fig. 8 is a sectional view taken along the line B-B in Fig. 7, Fig. 9 is a sectional view taken along the line C-C in Fig. 7, and Fig. 10 is a sectional view taken along the line C-C in Fig. 7.
The figures are a cross-sectional view taken along the line D-D in Figure 7 showing the stored state of the pallet, Figure 11 is a cross-sectional view taken along the line E in Figure 7, and Figure 12 is a cross-sectional view taken along the line F-F in Figure 7. FIG. 13 is a top plan view of the receiving member of the support arm shown in FIG.
Figure 14 is a front view of Figure 13, Figure 15 is a front view of Figure 14.
The right side view of the figure, Figure 16 is a side view of the stacker crane shown in Figure 3, Figure 17 is a side view of Figure 16, and Figure 18 is a detail of the pallet handling device shown in Figure 16. Side view, Figure 19 is the 18th
20 is an enlarged view of the equalizer section shown in FIG. 19, FIG. 21 is a top plan view of the outer frame shown in FIG. 18, and FIG. A top view, FIG. 23 is a sectional view taken along the line H-H in FIG. 21, FIG. 24 is a sectional view taken along the J-J arrow in FIG. 21, and FIG. 25 is an outer frame of the handling device shown in FIG. 18. FIG. 26 is an elevational view of FIG. 25, and the second
Figure 7 is a sectional view taken along the line K--K in Figure 25, Figure 28 is a top plan view of a chain conveyor equipped with the conveyor frame shown in Figure 25 as a frame, and Figure 29 is an elevational view of Figure 28. , Figure 30 is L- in Figure 27.
31 is a top plan view of the trolley drive unit of the handling device shown in FIG. 18, FIG. 32 is an elevational view of FIG. 31, and FIG. 33 is shown in FIG. 32. A top plan view of the trolley, FIG. 34 is an elevational view showing a partial cross section of FIG. 33, FIG. 35 is a top plan view of FIG. 36, FIG. 36 is an enlarged view of the main part of FIG.
FIG. 7 is a view taken along the line MM in FIG. 35. 1...Studs car crane, 2...Shelf, 3...
Post, 4... Rack, 5... Guide rail, 7...
...Pallet, 8...Material, 13...Sliding material, 17
... Support arm receiving material, 35 ... Handling device, 42 ... Support arm, 45, 59, 75, 7
6...Electric cylinder, 44, 60, 63, 7
7, 78... Lever, 64... Pulling rod,
66...Dolly, 73,74...Gripping arm.

Claims (1)

[Claims] 1. In a device that moves objects between a crane and said storage shelf, which is equipped with an elevating body that travels along a storage shelf and is supported so as to be able to move up and down, a frame supported on said elevating body and a frame that is moved up and down to said frame. a conveyor that is movably installed; a guide rail that is installed on either the frame or the conveyor frame of the conveyor and is located higher than the conveyor; and a guide rail that is movably installed on the guide rail and projects downward. a gripping arm, a support arm protruding toward the shelf and movably installed on the frame, and the support arm installed on the shelf in a position to receive the protruding support arm and having a low slope in the center. A handling object transfer device characterized by comprising a receiving member.