CN101148238B - Mounting structure of lifting platform in a transfer loading device - Google Patents
Mounting structure of lifting platform in a transfer loading device Download PDFInfo
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- CN101148238B CN101148238B CN2007101531313A CN200710153131A CN101148238B CN 101148238 B CN101148238 B CN 101148238B CN 2007101531313 A CN2007101531313 A CN 2007101531313A CN 200710153131 A CN200710153131 A CN 200710153131A CN 101148238 B CN101148238 B CN 101148238B
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- Prior art keywords
- bay
- lift
- mentioned
- pin
- bearer frame
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- 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
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- 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
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
To provide a supporting structure of a transfer loading device lifting platform, even the support device upper and lower generating span error, or the support device and the supporting frame slightly inclining, it can also swimmingly process to lift lifting platform. The transfer loading device (100) comprises: a base platform (10) moving in storage; left and right two platforms support device (20) vertically arranged on the base platform (10); lifting platform (30) up and down running corresponding to these support devices (20); a transfer loading machine (40) arranged on the lifting platform (30), and the support frame (32) freely lifting mounted corresponding to each support device (20), at the lower end of each support frame (32), connecting lifting platform (30) end by a pin (33) inserting through the support frame (32) round hole (33a), the lifting platform (30) and each support frame (32) can tilt on left and right direction by each pin (33).
Description
Technical field
The present invention relates to a kind of shifting apparatus that is used for a plurality of shelf are picked and placeed (transfer) workpiece, particularly about in this shifting apparatus, making the installation constitution of the bay-lift that the transfer machine that picks and places that carries out workpiece goes up and down.
Background technology
This shifting apparatus and the bay-lift that constitutes it are to make to carry out workpiece to the transfer machine that picks and places of the shelf device that ground moves and go up and down respectively that matches with the position of shelf, in Automatic Warehouse, are widely used.And, in this shifting apparatus, in order to suspend the both sides of bay-lift in midair, like Fig. 1～shown in Figure 4, the pillar (device) of 2 bay-lifts about need being provided with respect to the direct of travel of this shifting apparatus.In addition, the transfer machine has various ways such as articulated type arm and sliding york, can suitably select corresponding to the kind of workpiece.
And; In this shifting apparatus; Must lead up and down to above-mentioned bay-lift with respect to leg unit, but, also must carry out the up-down of this bay-lift reliably when workpiece greatly and when constant weight is arranged; Along with the maximization shelf of workpiece are also maximized, the gravity load that therefore is applied on this bay-lift via the transfer machine also becomes big.
As the guide piece of the bay-lift in this shifting apparatus, be that detailed description is also arranged in the patent documentation 1 in applicant's application.
Patent documentation 1: real flat 5-22491 communique, Fig. 2 or the Fig. 3 of opening of Japan
To relate to a kind of be " guide piece of bay-lift " of purpose with " loosening about the bay-lift that goes up and down along the vertical guide rail of pair of right and left is not understood " in the invention of record in this patent documentation 1; Shown in figure 14; The structure that in this " guide piece of bay-lift ", has is: " guide roller 18 of at least one side of bay-lift 12 can about freedom be arranged on versatilely on the bay-lift 12, and through spring 19 by to the guide rail 11 side application of forces ".
" guide piece of bay-lift " that this patent documentation 1 is put down in writing be to prior art, promptly " when pillar uprises; pillar is crooked to direction of leaving each other or each other approaching direction at the central portion of height; the interval of the pillar about this changes in short transverse; so left and right rail interval each other also changes; therefore, exist between the guide roller of guide rail and bay-lift to produce the gap, make shortcoming loosening about bay-lift " and improve, and through aforesaid structure play a role, promptly " guide roller of at least one side of bay-lift can about freedom be arranged on the bay-lift versatilely; and pass through the spring quilt, so the guide roller of guide rail and bay-lift keeps closed contact state often to the rail-sides application of force ".
But; Research according to after the inventor can be known; Carrying out under the situation of bay-lift to the binding of pillar (device) through " guide roller and guide rail "; The formation of above-mentioned that kind is enough, but under the situation that adopts the mode of connection beyond it, above-mentioned formation can not obtain enough effects.
That is, as stated, to weigh and the shifting apparatus of the transfer of big workpiece in, its whole must maximization for the pillar (device) of 2 necessity in front and back, also must become it and highly be the higher device of that kind about 10m.So, up and down " span " of these leg units because of the manufacturing errors of this leg unit itself, whether support has the weight of above-mentioned workpiece and the bearing position of this workpiece is upper end side or lower end side difference at pillar.
In other words; Only will carry the bay-lift of putting workpiece or transfer machine links with the leg unit side simply; Can not tackle above-mentioned the sort of situation changes; Described in the patent documentation 1, if the guide roller of guide rail and bay-lift bears mechanical excessive power, the possibility of the smooth and easy action of shifting apparatus can appear hindering for example.
Therefore, even the inventor etc. also can stably carry out lifting action one thing of bay-lift to how making above-mentioned shifting apparatus under the situation that its leg unit of hypothesis maximizes always, having carried out many-sided research, thereby having accomplished the present invention.
Summary of the invention
At first, the 1st purpose of the present invention does, the installation constitution of the bay-lift in a kind of shifting apparatus is provided, even the span up and down of leg unit produces error, perhaps leg unit and bearer frame slight inclination also can be carried out the up-down of bay-lift swimmingly.
And; The 2nd purpose of the present invention does; The installation constitution of the bay-lift in a kind of shifting apparatus is provided, come stably to link through straight line mobile guide spare bay-lift bearer frame, with respect to the up-down of leg unit guiding, and can fully resist the twisting resistance of giving through workpiece etc.
In order to solve above problem; At first, after having, state when employed symbol describes in the explanation of optimal way, the method that the invention of technical scheme 1 is adopted for " installation constitution of the bay-lift 30 in a kind of shifting apparatus 100; this shifting apparatus 100 moves in the warehouse that disposes a plurality of shelf 50; and carry out picking and placeing of above-mentioned relatively each shelf 50 of workpiece is characterized in that this shifting apparatus 100 comprises: the base station 10 that in above-mentioned warehouse, moves; Upright be located on this base station 10 about 2 leg units 20; The bay-lift 30 that moves up and down with respect to these each leg units 20; With the transfer machine 40 that is arranged on this bay-lift 30; And with bearer frame 32 free liftings be installed on above-mentioned each leg unit 20; Lower end at these each bearer frames 32; Lead to the end that links above-mentioned bay-lift 30 in the pin 33 of the circular hole 33a of above-mentioned bearer frame 32 through inserting, and respectively to sell 33 through above-mentioned, above-mentioned bay-lift can fascinate on left and right directions with respect to above-mentioned each bearer frame 32 ".What is called is fascinated, and is meant inclination in order to absorb pillar etc., and bay-lift rotates with respect to bearer frame.
That is, the shifting apparatus 100 of this technical scheme 1 moves in the warehouse that disposes a plurality of shelf 50, and carries out picking and placeing of above-mentioned relatively each shelf 50 of workpiece, and as shown in Figure 1, comprising: the base station 10 that in above-mentioned warehouse, moves; Stand and be located at 2 leg units 20 on this base station 10; The bay-lift 30 that moves up and down with respect to these each leg units 20; With the transfer machine 40 that is arranged on this bay-lift 30.
And; In this shifting apparatus 100; Make the bearer frame 32 supporting bay-lifts of installing with respect to leg unit 20 free lifting ground 30, but as shown in Figure 2, except that with respect to the leg unit 20 direct mount bearer frames 32; As shown in Figure 3, also have through pilot unit 31 with respect to leg unit 20 situation of mounting support framework 32 indirectly.
And; The shifting apparatus 100 of this technical scheme 1 does; 20 and free lifting ground bearer frames 32 mounted thereto of each leg unit itself, because of manufacturing errors etc. with respect under the vertical direction bevelled situation, bay-lift 30 leads in the pin 33 of each circular hole 33a and can fascinate through slotting with bearer frame 32; Keeping the horizontality of bay-lift 30, and make and produce " excessive power " based on inclination and be not applied on the each several part of this shifting apparatus 100.
Like Fig. 2 or shown in Figure 3; When moving and coming the front of the shelf 50 of waiting to pick and place workpiece on the track 21 in the shifting apparatus with above formation 100 is disposing the warehouse of a plurality of shelf 50; As shown in Figure 4, bay-lift 30 is elevated to and shelf 50 corresponding positions.Afterwards, make transfer machine 40 work on the bay-lift 30, and its articulated type arm or sliding york are stretched out to shelf 50, carry out picking and placeing of workpiece, and, accomplish picking and placeing of workpiece through making articulated type arm or sliding york turn back to original position again.
And, with respect to 2 leg units 20 that constitute this shifting apparatus 100, like Fig. 2 and Fig. 3 and shown in Figure 4; Above-mentioned bay-lift 30 free lifting ground are installed; This bay-lift 30 is installed as with respect to leg unit 20, in optimal way shown in Figure 2, can be installed on each leg unit 20 through bearer frame 32 with fascinating; In optimal way shown in Figure 3, bearer frame 32 can be installed on each leg unit 20 with fascinating through pilot unit 31.
Certainly; These bearer frames 32 through cable wire such as chain or after the straight line mobile guide spare 60 stated and by with respect to each leg unit 20 supporting; Through being arranged on not shown each cable wire of actuating device driven in synchronism in each leg unit 20, can carry out the up-down of these each bearer frames 32.
And,, can link the end of bay-lift 30 through pin 33 in the lower end of this bearer frame 32 like Fig. 2 or shown in Figure 3 with fascinating; Therefore; Like Fig. 8～shown in Figure 10, for example the upper surface at bay-lift 30 is fixed with bay-lift lateral mass 30a, on this bay-lift lateral mass 30a, is formed with circular hole 33a.On the other hand, be fixed with bearer frame lateral mass 32b in the lower end of bearer frame 32, and on this bearer frame lateral mass 32b, also be formed with circular hole 33a.So, above-mentioned pin 33 is inserted each the bay-lift lateral mass 30a and the bearer frame lateral mass 32b that as above constitute go up in formed each circular hole 33a, through this pin 33 bay-lift 30 can be attached on the bearer frame 32 with fascinating.In addition, after in the optimal way stated, this pin 33 is disposed at each bight for dimetric bay-lift 30 of overlooking shown in Figure 7 respectively, to one at every place, former and later two lower ends of 2 bearer frames 32, add up to and use 4.
Through aforesaid formation; In the installation constitution of the bay-lift 30 of the shifting apparatus 100 of this technical scheme 1; Bay-lift 30 and each corresponding 4 place of leg unit 20 side ends; Can link with the bottom of bearer frame 32 respectively through inserting to lead in the pin 33 of each circular hole 33a, therefore, bay-lift 30 can fascinate with respect to each bearer frame 32 that is positioned at both sides with fascinating.
Here; When the up-down amount of bearer frame 32 different slightly in both sides; Perhaps there is scale error slightly in each leg unit 20 on short transverse; And when the twisting resistance during transfer machine 40 holding workpieces on the bay-lift 30 affacted each leg unit 20 and bay-lift 30 self, the span between two leg units 20 was compared different with other parts, thereby the phenomenon that each leg unit 20 is the upside of bay-lift 30 to the inside topples over slightly is obvious; Excessive power is applied on track 21 grades of each leg unit 20 side, can hinder bay-lift 30 and go up and down swimmingly.This be because, be applied with on each leg unit 20 bay-lift 30 and on the weight of workpiece of transfer machine 40 even this transfer machine 40 supportings.
But; In the installation constitution of this technical scheme 1; This bay-lift 30 links with bearer frame 32 through inserting the pin 33 that leads in circular hole 33a; So change in size and heeling condition because of the span diverse between two leg units 20 produces are absorbed in each pin 33 and circular hole 33a, can not apply excessive power to each connecting part and the support of this shifting apparatus 100.
Therefore; In the supporting construction of the bay-lift 30 in the shifting apparatus 100 of this technical scheme 1; Even the span between the leg unit 20 produces error, bay-lift 30 and bearer frame 32 also lead in the pin 33 of each circular hole 33a and can fascinate through inserting, thereby can carry out the up-down of bay-lift 30 swimmingly.
In order to address the above problem; The method that the invention of technical scheme 2 is adopted be similarly " installation constitution of the bay-lift 30 in a kind of shifting apparatus 100; this shifting apparatus 100 moves in the warehouse that disposes a plurality of shelf 50; and carry out picking and placeing of above-mentioned relatively each shelf 50 of workpiece is characterized in that this shifting apparatus 100 comprises: the base station 10 that in above-mentioned warehouse, moves; Upright be located on this base station 10 about 2 leg unit 20; With respect to these each leg unit 20 bay-lifts 30 moving up and down; With the transfer machine 40 that is arranged on this bay-lift 30; With above-mentioned bearer frame 32 free liftings be installed on above-mentioned each leg unit 20; One lower end at this each bearer frame 32; Through inserting the end of the above-mentioned bay-lift 30 of pin 33 bindings that leads in the circular hole 33a of above-mentioned bearer frame 32; And in another lower end of above-mentioned bearer frame 32, lead to the pin 33 in the slotted hole 33b of the above-mentioned bearer frame 32 of allowing pin 33 horizontal motions, link the other end of above-mentioned bay-lift 30 through inserting; Above-mentioned bay-lift 30 is respectively sold 33 and on left and right directions, can be fascinated through above-mentioned with respect to above-mentioned each bearer frame 32, and above-mentioned bay-lift 30 through above-mentioned pin 33 with respect to above-mentioned each bearer frame 32 on left and right directions slidably "
Promptly; In the installation constitution of the bay-lift 30 in the shifting apparatus 100 of this technical scheme 2; A lower end of the partial sum bearer frame 32 that it is basic can link an end of bay-lift 30 through inserting the pin 33 lead in circular hole 33a with fascinating, and this is identical with technique scheme 1, but difference does; Another lower end of bearer frame 32 leads in major axis to be the pin 33 among the slotted hole 33b of horizontal direction, to link the other end of bay-lift 30 slidably through inserting.
And; In this shifting apparatus 100, make the bearer frame 32 supporting bay-lifts of installing with respect to leg unit 20 free lifting ground 30, but as shown in Figure 2; Except that situation with respect to leg unit 20 direct mount bearer frames 32; As shown in Figure 3, comprise also that through pilot unit 31 with respect to leg unit 20 situation of mounting support framework 32 indirectly, this situation with aforesaid way 1 is identical.
And; The shifting apparatus 100 of this mode 2 does; The bearer frame 32 that each leg unit 20 itself and free lifting ground are above that installed, because of manufacturing errors etc. with respect to vertical direction bevelled situation under, bay-lift 30 and bearer frame 32 can be fascinated through the slotting pin 33 that leads in each circular hole 33a; And; Can access the slip of leading on the connecting part that the pin 33 of each slotted hole 33b is realized, thereby keep the horizontality of bay-lift 30, and on the each several part of this shifting apparatus 100, not produce based on sum of errors bevelled " excessively " by inserting.
In other words, in the installation constitution of this technical scheme 2, utilize and to insert the pin 33 that leads in circular hole 33a shown in Figure 9, these two kinds of holes of slotted hole 33b shown in Figure 11 respectively, carry out the binding that bay-lift 30 can fascinate with respect to the bearer frame 32 of each leg unit 20 side.
From the above, bay-lift 30 adopts circular hole 33a shown in Figure 9 to carry out with inserting to lead in the pin 33 in this hole with respect to the binding of fascinating of a bearer frame 32, thus, and about part performance and technique scheme 1 identical functions of this circular hole 33a.
Relative with it; Bay-lift 30 is with respect to the binding of fascinating of another bearer frame 32; Utilize major axis to carry out with inserting to lead in the pin 33 in this hole for the slotted hole 33b of horizontal direction, thus, be formed with slotted hole 33b a side (after be bay-lift 30 sides in the optimal way stated); With respect to binding one side (in optimal way for bearer frame 32 sides) of pin 33 is arranged, though slightly also removable in the horizontal direction.
Therefore, at the linking portion of bay-lift 30 with respect to two bearer frames 32, under the situation of the error that has produced horizontal direction, this error is absorbed with inserting to lead in the part that the pin 33 in this hole links at the slotted hole 33b that through major axis is horizontal direction.Promptly; The up-down amount of bearer frame 32 is different slightly in both sides; Perhaps in each leg unit 20, on short transverse, there is scale error slightly; Even the twisting resistance during transfer machine 40 holding workpieces on the bay-lift 30 act on each leg unit 20 and bay-lift 30 from one's body, even in each leg unit 20, produce the error of horizontal direction between the end of the lower end of bearer frame 32 and bay-lift 30, this error also can by slotted hole 33b with insert the pin 33 that leads in this slotted hole 33b and absorb.
Certainly; Bay-lift 30, lead on the part that the pin 33 of circular hole 33a and bearer frame 32 link through inserting; Identical with the situation of the installation constitution of technique scheme 1; Being tilted in of each bearer frame 32 that produces based on the change in size of the span between two leg units 20 respectively sold 33 places and is absorbed, and suchly as stated can not apply excessive power to each connecting part and support.
Therefore; In the supporting construction of the bay-lift 30 of the shifting apparatus 100 of this technical scheme 2; Even the span between the leg unit 20 produces error; Its error that causes also can through insert lead in circular hole 33a and major axis be horizontal direction slotted hole 33b respectively sell 33 and by absorption reliably, and can carry out the up-down of bay-lift 30 swimmingly.
And; In order to address the above problem; The method that the invention of technical scheme 3 is adopted is about the installation constitution of the bay-lift 30 in the technique scheme 2 described shifting apparatus 100; Be " each bearer frame 32 utilizes the straight line mobile guide spare 60 that is assembled in the track 21 on the above-below direction that is arranged on each leg unit 20 to carry out with respect to the binding of each leg unit 20 ".
Promptly; In the installation constitution of this technical scheme 3; Be conceived to this shifting apparatus 100, each bearer frame 32 is with respect to the binding of each leg unit 20, the straight line mobile guide spare 60 that this binding utilization is assembled in the track 21 of the above-below direction that is arranged at each leg unit 20 carries out.Certainly, for being utilized in the situation that the pilot unit 31 shown in the optimal way carries out, also comprise of the binding of each bearer frame 32 with respect to each leg unit 20.
Shown in figure 13, straight line mobile guide spare 60 does, between its shell main body and track 21, is separated with a plurality of balls 61, rotates in the shell main body through each ball 61, makes bearer frame 32 or pilot unit 31 stable with respect to the crank motion of track 21.That is, this straight line mobile guide spare 60 links across the shell main body and the track 21 of a plurality of balls 61 with straight line mobile guide spare 60.In addition, the weight of the workpiece of bay-lift 30, the transfer machine 40 on it and 40 supportings of this transfer machine through cable wire or the chain supporting that constitutes each leg unit 20, and can make bay-lift 30 carry out with stable status with respect to the binding of each leg unit 20 always.
Therefore, in addition performance of the installation constitution of this technical scheme 3 and technique scheme 2 identical functions, can make bay-lift 30 carry out with stable status through straight line mobile guide spare 60 with respect to the up-down of each leg unit 20 always.
As stated, in the present invention, its principal character is that " a kind of shifting apparatus 100 moves in the warehouse that disposes a plurality of shelf 50, and carries out picking and placeing of above-mentioned relatively each shelf 50 of workpiece, and this shifting apparatus 100 comprises: the base station 10 that in above-mentioned warehouse, moves; Upright be located on this base station 10 about 2 leg units 20; The bay-lift 30 that moves up and down with respect to these each leg units 20; With the transfer machine 40 that is arranged on this bay-lift 30; And bearer frame 32 is installed with respect to each leg unit 20 free lifting ground; In the lower end of these each bearer frames 32, lead to the end that links above-mentioned bay-lift 30 in the pin 33 of the circular hole 33a of above-mentioned bearer frame 32 through inserting, this bay-lift 30 can fascinate on left and right directions through each pin 33 with each bearer frame 32 "; thus; the installation constitution of the bay-lift 30 in a kind of shifting apparatus 100 can be provided,, also can carry out the up-down of bay-lift 30 swimmingly even the span between the leg unit 20 produces error.
Description of drawings
Fig. 1 is the block diagram that has adopted the shifting apparatus of installation constitution of the present invention.
Fig. 2 is from the general principal view towards this shifting apparatus of unilateral observation of shelf.
Fig. 3 is from the general principal view towards other shifting apparatus of unilateral observation of shelf.
Fig. 4 is the front view of this shifting apparatus.
Fig. 5 is a cutaway view of observing this shifting apparatus along 1-1 line shown in Figure 4.
Fig. 6 is the cutaway view that comprises leg unit of observing this shifting apparatus along 1-1 line shown in Figure 4.
Fig. 7 is the birds-eye view that carries the transfer machine on bay-lift.
Fig. 8 be bay-lift and with the enlarged front view of the pilot unit of its binding.
Fig. 9 is the partial enlarged drawing of the 2-2 line part among Fig. 8.
Figure 10 is the figure of the relation of expression bay-lift lateral mass shown in Figure 9 and bearer frame lateral mass, (a) is front view, (b) for cut the cutaway view of observation open at the center of pin.
Figure 11 is the partial enlarged drawing of the 3-3 line part among Fig. 8.
Figure 12 is the figure of the relation of expression bay-lift lateral mass shown in Figure 11 and bearer frame lateral mass, (a) is front view, (b) for cut the cutaway view of observation open at the center of pin.
Figure 13 is the figure of expression straight line mobile guide spare, (a) is the partly cut-away block diagram of expression with the position relation of track, (b) is the partial, longitudinal cross-sectional along the longitudinal 2 observation of track.
Figure 14 is the front view of expression prior art.
The specific embodiment
Below, to invention, be that shifting apparatus 100 describes based on graphic optimal way like above-mentioned each technical scheme that constitutes, the shifting apparatus 100 of this optimal way comprises all inventions of above-mentioned each technical scheme in fact.
The block diagram of the shifting apparatus 100 of this optimal way of expression among Fig. 1, like Fig. 2 and shown in Figure 3, this shifting apparatus 100 moves in the warehouse that disposes a plurality of shelf 50, and carries out picking and placeing of above-mentioned relatively each frame 50 of workpiece.And this shifting apparatus 100 comprises: the base station 10 that in above-mentioned warehouse, moves; Stand and be located at 2 leg units 20 on this base station 10; The bay-lift 30 that moves up and down with respect to these each leg units 20; With the transfer machine 40 that is arranged on this bay-lift 30.
In addition; In this optimal way, shown in solid line or the imaginary line among Fig. 4 among Fig. 1, base station 10 is provided with wheel 12; Through rotating on the track 21 of this wheel 12 in being layed in the warehouse, can this shifting apparatus 100 be moved to the assigned position in the warehouse.These wheels 12 come rotating drive by being assembled in base station 10 each leg unit 20 interior not shown electrical motor interior or upright provided thereon, and the detail assembly that driving is perhaps controlled this electrical motor and various machines is in each leg unit 20.
And like Fig. 2 and Fig. 3～shown in Figure 8, in this shifting apparatus 100, bearer frame 32 can be installed in respect on each leg unit 20 liftable pilot units 31 with fascinating.And like Fig. 2 and Fig. 3 and shown in Figure 8, (diagram left side) lower end at these bearer frames 32 leads to an end that can link bay-lift 30 in the pin 33 of circular hole 33a through inserting with fascinating.
Promptly; Like Fig. 9 and shown in Figure 10; Lower end on the left of the diagram of bearer frame 32, upper surface links in the end of bay-lift 30 has the bay-lift lateral mass 30a with circular hole 33a, and the lower end of the bearer frame 32 of side links above that has the bearer frame lateral mass 32b with circular hole 33a.Shown in figure 10, these bay-lift lateral mass 30a and bearer frame lateral mass 32b are chimeric with the state of mutual butt joint, in the circular hole 33a that its each center is provided with, shown in Figure 10 (a), insert and are connected with a pin 33.In addition; In this optimal way; Shown in Figure 10 (a), barrel-contoured lining 33c arranged in that the periphery of pin 33 is chimeric, between bearer frame lateral mass 32b and bay-lift lateral mass 30a, discoideus lining 33d is installed; Reduce the friction between bearer frame lateral mass 32b and the bay-lift lateral mass 30a through these linings 33c, 33d, thus can be along contact slidingly.
Certainly, shown in Figure 12 (a), 30a is fixed with not shown set pin to this bay-lift lateral mass, and this set pin is inserted the center of logical pin 33 and inserted bearer frame lateral mass 32b side, thus, can make bay-lift lateral mass 30a and bearer frame lateral mass 32b anti-avulsion.
On the other hand, between another (the diagram right side of Fig. 8) lower end of bearer frame 32 and the other end of bay-lift 30 (diagram right part), to lead in major axis be the pin 33 of the slotted hole 33b of horizontal direction through inserting, and can link with fascinating.Promptly; Like Fig. 8, Figure 11 and shown in Figure 12; Lower end on the diagram right side of bearer frame 32; The upper surface binding has and has the bay-lift lateral mass 30a that major axis is the slotted hole 33b of horizontal direction in the end of bay-lift 30, and the lower end of the bearer frame 32 of side links above that has the bearer frame lateral mass 32b with circular hole 33a.
Shown in Figure 12 (a), these bay-lift lateral mass 30a and bearer frame lateral mass 32b, chimeric with the state of mutual butt joint, in circular hole 33a and slotted hole 33b that its each center is provided with, insert and be connected with a pin 33.Therefore; Bay-lift lateral mass 30a through pin 33 with respect to bearer frame lateral mass 32b freely fascinate (rotation); And this bay-lift lateral mass 30a with respect to form in bearer frame lateral mass 32b side, major axis be the slotted hole 33b of horizontal direction long axis direction, be horizontal direction, can in the scope of this slotted hole 33b, move.
In addition, in this optimal way, shown in Figure 12 (b), as being the circular-arc circular arc top 36 at center with pin 33, this circular arc top 36 can shaking in the 32a of space in being arranged at bearer frame lateral mass 32b freely be shaken with the head of bay-lift lateral mass 30a side.Certainly, shown in Figure 12 (b), 30a is fixed with pin 37 to this bay-lift lateral mass, and this set pin 37 is inserted the center of logical pin 33 and inserted bearer frame lateral mass 32b side, thus, makes bay-lift lateral mass 30a and bearer frame lateral mass 32b anti-avulsion.
(other embodiment) is like Fig. 1, Fig. 5 and shown in Figure 6; The scaffold 32 that in structure of the present invention, adopts forms; The roughly isosceles triangle that the base is identical with the width of lifting platform 30, and be positioned at center directly over part on sloping shaft (チ Le ト axle) 34 is set.Like Fig. 2 and shown in Figure 3; This tilting axis 34 be installed in pilot unit 31 the bottom, with the part of the transfer face equal height of transfer machine 40 on, with these bearer frame 32 integral body can with this tilting axis 34 be the center forwards, backwards the rotating mode of direction bearer frame 32 is supported.
To this, like Fig. 2 and Fig. 3～shown in Figure 6, axis of rocking 35 is installed in the upper side of pilot unit 31, this axis of rocking 35 engages with the slotted hole 35a on the top that is formed on bearer frame 32.That is, each bearer frame 32 rotates on tilting axis 34 with respect to pilot unit 31 slightly, and the slotted hole 35a that withdraws from through being arranged on top of this bearer frame 32 of this moment carries out.
According to as stated, bay-lift 30 can also be the inclination that fore-and-aft direction is carried out at the center with each tilting axis 34 except that carrying out above-mentioned rotation of respectively selling 33 left and right directions.
Claims (3)
1. the installation constitution of the bay-lift in the shifting apparatus, this shifting apparatus moves in disposing the warehouse of a plurality of shelf, and carries out picking and placeing of above-mentioned relatively each shelf of workpiece, it is characterized in that,
This shifting apparatus comprises:
The base station that in above-mentioned warehouse, moves;
Upright be located on this base station about 2 leg units;
The bay-lift that moves up and down with respect to these each leg units; With
Be arranged on the transfer machine on this bay-lift, and
Difference free lifting ground mounting support framework on above-mentioned each leg unit; And respectively in the lower end of these each bearer frames; Link the end of above-mentioned bay-lift through inserting the pin lead in the circular hole of above-mentioned each bearer frame, above-mentioned bay-lift can fascinate on left and right directions with respect to above-mentioned each bearer frame through above-mentioned each pin.
2. the installation constitution of the bay-lift in the shifting apparatus, this shifting apparatus moves in disposing the warehouse of a plurality of shelf, and carries out picking and placeing of above-mentioned relatively each shelf of workpiece, it is characterized in that,
This shifting apparatus comprises:
The base station that in above-mentioned warehouse, moves;
Upright be located on this base station about 2 leg units;
The bay-lift that moves up and down with respect to these each leg units; With
Be arranged on the transfer machine on this bay-lift, and
Difference free lifting ground mounting support framework on above-mentioned each leg unit; And the lower end of a bearer frame in these bearer frames; The end that links above-mentioned bay-lift through the slotting pin that leads in the circular hole of this bearer frame; And the lower end of another bearer frame in above-mentioned these bearer frames; The other end that links above-mentioned bay-lift through the slotting pin that leads in the slotted hole of this bearer frame of allowing the pin horizontal motion; Above-mentioned bay-lift is inserted the pin lead in the circular hole of above-mentioned bearer frame and is inserted the pin that leads in the slotted hole of above-mentioned bearer frame and can on left and right directions, fascinate with respect to above-mentioned these bearer frames through above-mentioned, and above-mentioned bay-lift can slide on left and right directions with respect to above-mentioned another bearer frame through the above-mentioned pin that leads in the slotted hole of above-mentioned civilian support frame frame inserted.
3. the installation constitution of the bay-lift in the shifting apparatus as claimed in claim 2 is characterized in that,
Above-mentioned each bearer frame is with respect to the binding of each leg unit, and the straight line mobile guide spare of the track through being assembled in the above-below direction that is arranged at above-mentioned each leg unit carries out.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006255198A JP4333720B2 (en) | 2006-09-21 | 2006-09-21 | Mounting structure of lifting platform in transfer equipment |
| JP255198/2006 | 2006-09-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101148238A CN101148238A (en) | 2008-03-26 |
| CN101148238B true CN101148238B (en) | 2012-08-22 |
Family
ID=39248955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101531313A Expired - Fee Related CN101148238B (en) | 2006-09-21 | 2007-09-21 | Mounting structure of lifting platform in a transfer loading device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP4333720B2 (en) |
| KR (1) | KR101057629B1 (en) |
| CN (1) | CN101148238B (en) |
| TW (1) | TW200821255A (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5422908B2 (en) * | 2008-04-15 | 2014-02-19 | 株式会社Ｉｈｉ | Lifting cart |
| JP5471261B2 (en) * | 2009-10-05 | 2014-04-16 | 株式会社ダイフク | Lifting type article transport device |
| JP5152171B2 (en) * | 2009-12-21 | 2013-02-27 | 村田機械株式会社 | Stacker crane and control method of stacker crane |
| KR101368430B1 (en) * | 2012-04-18 | 2014-03-03 | 주식회사 포스코 | Device and method for lifting ladle |
| JP5920475B2 (en) * | 2012-09-04 | 2016-05-18 | 村田機械株式会社 | Stacker crane |
| CN104603031B (en) * | 2012-09-05 | 2016-08-24 | 村田机械株式会社 | Stack crane |
| CN104261233B (en) * | 2014-08-28 | 2017-01-18 | 苏州美罗升降机械有限公司 | Lifter |
| KR101687560B1 (en) * | 2014-12-31 | 2016-12-19 | 한국항공우주산업 주식회사 | Up-down moving and rotation apparatus of tool |
| CN105035985B (en) * | 2015-07-23 | 2017-05-17 | 中南林业科技大学 | Synchronous-belt type sheet material conveying mechanism |
| CN105947931B (en) * | 2016-06-16 | 2018-09-07 | 徐玉中 | A kind of haulage vehicle promotion platform |
| CN106144971A (en) * | 2016-07-28 | 2016-11-23 | 成都驿都果业有限责任公司 | A kind of fruit case stacking hoisting mechanism |
| KR101854044B1 (en) * | 2016-10-31 | 2018-05-02 | 세메스 주식회사 | Tower lift having a tension roller |
| CN106429982A (en) * | 2016-12-06 | 2017-02-22 | 无锡市创恒机械有限公司 | Caging device of lumber elevator loading platform |
| CN110356455B (en) * | 2019-07-31 | 2021-10-12 | 重庆长安汽车股份有限公司 | Automatic bent axle transfer car (buggy) of going up and down |
| KR102367429B1 (en) * | 2020-06-25 | 2022-02-25 | 현대무벡스 주식회사 | Lift for maintenance of shuttle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2353720Y (en) * | 1998-11-02 | 1999-12-15 | 茹国斌 | Lifting table |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS521838A (en) | 1975-06-24 | 1977-01-08 | Kito Corp | Load carrying table guide for rack lift |
| JP2005255265A (en) | 2004-03-09 | 2005-09-22 | Hitachi Kiden Kogyo Ltd | Moving body supporting device |
| JP2006036522A (en) * | 2004-07-30 | 2006-02-09 | Hitachi Kiden Kogyo Ltd | Stacker crane |
-
2006
- 2006-09-21 JP JP2006255198A patent/JP4333720B2/en not_active Expired - Fee Related
-
2007
- 2007-09-13 TW TW096134288A patent/TW200821255A/en not_active IP Right Cessation
- 2007-09-19 KR KR1020070095559A patent/KR101057629B1/en not_active IP Right Cessation
- 2007-09-21 CN CN2007101531313A patent/CN101148238B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2353720Y (en) * | 1998-11-02 | 1999-12-15 | 茹国斌 | Lifting table |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2008074543A (en) | 2008-04-03 |
| JP4333720B2 (en) | 2009-09-16 |
| CN101148238A (en) | 2008-03-26 |
| KR20080027155A (en) | 2008-03-26 |
| KR101057629B1 (en) | 2011-08-18 |
| TWI362360B (en) | 2012-04-21 |
| TW200821255A (en) | 2008-05-16 |
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