JP2008143696A - Conveying device for plate-like body - Google Patents

Conveying device for plate-like body Download PDF

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JP2008143696A
JP2008143696A JP2006335949A JP2006335949A JP2008143696A JP 2008143696 A JP2008143696 A JP 2008143696A JP 2006335949 A JP2006335949 A JP 2006335949A JP 2006335949 A JP2006335949 A JP 2006335949A JP 2008143696 A JP2008143696 A JP 2008143696A
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plate
supported
support arm
movable
pressing
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JP4883359B2 (en
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Akira Ariizumi
昌 有泉
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Daifuku Co Ltd
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Daifuku Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveying device for a plate-like body capable of preventing movement of the plate-like body with respect to a placing body even when an end part of the plate-like body cannot be brought into contact, capable of preventing movement of the plate-like body with respect to the placing body even when a size of the plate-like body is different, and capable of improving convenience in use. <P>SOLUTION: The placing body 9 bearing and supporting the plate-like body 3 is provided on a moving body 10 moved so as to be freely advanced or retreated, a pushing body 24 pushing the plate-like body 3 from above and preventing movement with respect to the placing body 9 is provided on the moving body 10 so as to be freely lifted or lowered. The pushing body 24 is elastically supported by a supporting arm 20 supported on the moving body 10 so as to be freely lifted or lowered in such a manner of freely movable in the vertical direction, a base end side of the supporting arm 20 is pivoted to the moving body 10 so as to be freely lifted and lowered, and the pressing body 24 is supported on a front end side thereof so as to be freely tilted. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、移動される移動体に、板状体を載置支持する載置体が出退操作自在に設けられた板状体用搬送装置に関する。   The present invention relates to a transport device for a plate-like body in which a placement body for placing and supporting a plate-like body is provided on a movable body to be moved so as to be freely retractable.

かかる板状体用搬送装置は、板状体を搬送するのに用いられるものであって、例えば、移動体が、載置体にてガラス基板等の板状体を載置支持した状態で、板状体を収納する収納棚や、板状体を加工処理する加工処理装置、板状体を検査する検査装置等の板状体処理装置に移動し、収納棚の収納部、板状体処理装置の受け取り箇所や取り出し箇所に対して載置体を出退操作することにより、板状体を収納したり、板状体処理装置に対して板状体の受け取りや取り出しを行なうようにしたものである。   Such a plate-like conveyance device is used to convey a plate-like body, and for example, in a state where the movable body places and supports a plate-like body such as a glass substrate on the placement body, Move to a plate processing unit such as a storage shelf for storing the plate, a processing device for processing the plate, an inspection device for inspecting the plate, etc. The plate body can be stored and the plate body can be received and removed from the plate body processing device by operating the mounting body to withdraw and withdraw the device from the receiving position and the taking out position. It is.

かかる板状体用搬送装置の従来例として、板状体の端縁部を係止して載置体に対する移動を阻止するクランプが、載置体に設けられているものがあった(例えば、特許文献1参照。)。つまり、クランプが載置体に載置支持された板状体の端縁部を係止することにより、板状体が載置体に対して移動することを阻止できるものとなる。   As a conventional example of such a plate-shaped conveyance device, there is one in which a clamp that locks the edge of the plate-shaped body and prevents movement with respect to the mounting body is provided on the mounting body (for example, (See Patent Document 1). That is, it is possible to prevent the plate-like body from moving with respect to the mounting body by locking the end edge portion of the plate-like body placed and supported on the mounting body.

特開2003−118834号公報JP 2003-118834 A

ところで、例えば、板状体がガラス基板である場合において、板状体処理装置にて加工処理した板状体の端縁部が接触不可である場合には、クランプにて板状体の端縁部を係止することができないために、板状体の載置体に対する移動を阻止することができないものであった。又、板状体のサイズが異なる場合には、クランプにて板状体の端縁部を係止することができないために、板状体の載置体に対する移動を阻止することができない等、使用勝手が悪いものとなっていた。   By the way, for example, in the case where the plate-like body is a glass substrate, when the edge of the plate-like body processed by the plate-like body processing apparatus cannot be contacted, the edge of the plate-like body is clamped. Since the portion cannot be locked, the movement of the plate-like body relative to the mounting body cannot be prevented. In addition, when the size of the plate-like body is different, since the edge of the plate-like body cannot be locked with the clamp, the movement of the plate-like body with respect to the mounting body cannot be prevented, etc. It was unusable.

本発明は、上記実状に鑑みて為されたものであって、その目的は、板状体の端縁部が接触不可である場合においても、板状体の載置体に対する移動を阻止することができ、加えて、板状体のサイズが異なる場合においても、板状体の載置体に対する移動を阻止して、使用勝手の向上を図ることができる板状体用搬送装置を提供する点にある。   The present invention has been made in view of the above circumstances, and its purpose is to prevent the movement of the plate-like body with respect to the mounting body even when the edge of the plate-like body cannot be contacted. In addition, even when the sizes of the plate-like bodies are different, it is possible to prevent the movement of the plate-like body with respect to the mounting body, and to provide a plate-like body conveyance device that can improve user-friendliness It is in.

本発明の板状体用搬送装置は、移動される移動体に、板状体を載置支持する載置体が出退操作自在に設けられたものであって、
その第1特徴構成は、前記板状体を上方側から押圧して前記載置体に対する移動を阻止する押圧体が、前記移動体に昇降自在に設けられている点にある。
The transport device for a plate-shaped body of the present invention is such that a mounting body for mounting and supporting the plate-shaped body is provided on a movable body to be moved so as to be freely retractable and retractable.
The 1st characteristic structure is that the press body which presses the said plate-shaped body from the upper side and blocks | prevents the movement with respect to the said mounting body is provided in the said movable body so that raising / lowering is possible.

すなわち、板状体を上方側から押圧して載置体に対する移動を阻止する押圧体が、移動体に昇降自在に設けられているものであるから、板状体の端縁部が接触不可である場合においても、押圧体が例えば板状体の中央部など板状体の端縁部以外の箇所を上方側から押圧することにより、板状体の載置体に対する移動を阻止することができる。加えて、押圧体が板状体を上方側から押圧するだけで、板状体の載置体に対する移動を阻止することができるので、板状体のサイズが異なる場合においても、板状体の載置体に対する移動を阻止して、使用勝手の向上を図ることができるものとなる。
したがって、板状体の端縁部が接触不可である場合においても、板状体の載置体に対する移動を阻止することができ、加えて、板状体のサイズが異なる場合においても、板状体の載置体に対する移動を阻止して、使用勝手の向上を図ることができる板状体用搬送装置を得るに至った。
That is, since the pressing body that presses the plate-like body from above to prevent the movement with respect to the mounting body is provided on the moving body so as to be movable up and down, the edge of the plate-like body cannot be contacted. Even in some cases, the pressing body can prevent movement of the plate-like body with respect to the mounting body by pressing a portion other than the edge portion of the plate-like body from the upper side, for example, the central portion of the plate-like body. . In addition, since the movement of the plate-like body with respect to the mounting body can be prevented only by pressing the plate-like body from above, the plate-like body can be different even when the size of the plate-like body is different. The movement with respect to the mounting body can be prevented, and the user-friendliness can be improved.
Therefore, even when the edge of the plate-like body is not contactable, the movement of the plate-like body with respect to the mounting body can be prevented, and in addition, even when the size of the plate-like body is different, the plate-like body The movement of the body with respect to the mounting body is prevented, and a plate-shaped transport apparatus that can improve user-friendliness has been obtained.

本発明の第2特徴構成は、上記第1特徴構成に加えて、前記押圧体が、前記移動体に昇降自在に支持された支持アームに上下方向に移動自在に弾性支持された状態で設けられている点を特徴とする。   According to a second characteristic configuration of the present invention, in addition to the first characteristic configuration, the pressing body is provided in a state in which the pressing body is elastically supported so as to be movable in the vertical direction on a support arm supported to be movable up and down by the movable body. It is characterized by that.

すなわち、支持アームが下方側に移動すると、支持アームに支持されている押圧体もそれに伴って下方側に移動し、押圧体が板状体に接触する。そして、押圧体が板状体に接触した状態から支持アームがさらに下方側に移動すると、押圧体が支持アームに上下方向に移動自在に弾性支持されているので、弾性力により板状体を上方側から押圧することになる。   That is, when the support arm moves downward, the pressing body supported by the support arm also moves downward accordingly, and the pressing body contacts the plate-like body. When the support arm moves further downward from the state in which the pressing body is in contact with the plate-like body, the pressing body is elastically supported by the support arm so as to be movable in the vertical direction. It will be pressed from the side.

このように、押圧体が板状体に接触したのちは、弾性力により板状体を上方側から押圧することになるので、押圧体が板状体に接触したときに、板状体に急激に大きな力が掛かることを抑制できる。
しかも、例えば、アクチュエータのトルクにより板状体を上方側から押圧する形式では、例えば停電等によりアクチュエータの作動が停止すると、アクチュエータのトルクがゼロになり、板状体を上方側から押圧しなくなるために、板状体が載置体から落下して損傷する虞がある。これに対して、弾性力により板状体を上方側から押圧する形式では、例えば停電等によりアクチュエータの作動が停止したとしても、弾性力により板状体を上方側から押圧することができるので、板状体が載置体から落下して損傷することを防止することができる。
したがって、板状体に衝撃が加わることを抑制することができながらも、停電等によりアクチュエータの作動が停止した場合において、板状体が落下して損傷することを有効に防止できる板状体用搬送装置を得るに至った。
As described above, after the pressing body comes into contact with the plate-like body, the plate-like body is pressed from above by the elastic force. It can suppress that big force is applied to.
In addition, for example, in the type in which the plate-like body is pressed from the upper side by the torque of the actuator, for example, when the operation of the actuator is stopped due to a power failure or the like, the torque of the actuator becomes zero and the plate-like body is not pressed from the upper side. In addition, the plate-like body may fall from the mounting body and be damaged. On the other hand, in the form of pressing the plate-like body from the upper side by elastic force, for example, even if the operation of the actuator is stopped by a power failure or the like, the plate-like body can be pressed from the upper side by the elastic force. It can prevent that a plate-shaped body falls from a mounting body and is damaged.
Therefore, for a plate-like body that can effectively prevent the plate-like body from dropping and being damaged when the operation of the actuator is stopped due to a power failure or the like while being able to suppress the impact on the plate-like body It came to obtain the conveyance device.

本発明の第3特徴構成は、上記第2特徴構成に加えて、前記支持アームが、基端側を前記移動体に昇降自在に枢支され、先端側に前記押圧体を傾き自在に支持するように構成されている点を特徴とする。   According to a third characteristic configuration of the present invention, in addition to the second characteristic configuration, the support arm is pivotally supported by the movable body so that the base end side can be raised and lowered, and supports the pressing body on the distal end side so as to be tiltable. It is characterized by being configured as described above.

すなわち、支持アームが、基端側を移動体に昇降自在に枢支され、先端側に押圧体を傾き自在に支持するように構成されているものであるから、移動体に支持アームの基端側を枢支し、支持アームの先端側に押圧体を支持するだけの簡素な構成にて、押圧体を昇降自在に設けることができる。しかも、支持アームの先端側に押圧体を傾き自在に支持するものであるから、支持アームが下方側に移動して押圧体が板状体に接触したときに、押圧体の全面が板状体に密着していない場合においても、支持アームの先端側に傾き自在に支持されている押圧体が板状体を上方側から押圧すると、押圧体の全面が板状体に密着するように押圧体の傾きが調整されることにより、板状体を適切に押圧することができる。
したがって、構成の簡素化を図りながらも、板状体を適切に押圧することができる板状体用搬送装置を得るに至った。
That is, since the support arm is pivotally supported by the movable body so that the base end side can be moved up and down, and the pressing body is tiltably supported by the distal end side, the base end of the support arm is supported on the mobile body. The pressing body can be moved up and down with a simple configuration in which the side is pivotally supported and the pressing body is supported on the distal end side of the support arm. Moreover, since the pressing body is tiltably supported on the tip side of the support arm, when the supporting arm moves downward and the pressing body contacts the plate-like body, the entire surface of the pressing body is the plate-like body. Even when the pressing body is not in close contact with the support arm, when the pressing body supported in a tiltable manner on the distal end side of the support arm presses the plate-shaped body from above, the pressing body so that the entire surface of the pressing body is in close contact with the plate-shaped body By adjusting the inclination, the plate-like body can be appropriately pressed.
Accordingly, the plate-shaped conveyance device capable of appropriately pressing the plate-shaped body while simplifying the configuration has been obtained.

本発明の第4特徴構成は、上記第2又は第3特徴構成に加えて、前記移動体に、回転軸がアクチュエータにて回転操作自在に設けられ、前記回転軸に、前記支持アームの複数が取り付けられ、前記押圧体が、前記複数の支持アームに支持されている点を特徴とする。   According to a fourth characteristic configuration of the present invention, in addition to the second or third characteristic configuration, a rotating shaft is provided on the movable body so as to be freely rotatable by an actuator, and a plurality of the support arms are provided on the rotating shaft. It is attached and the said press body is the point supported by these support arms.

すなわち、移動体に、回転軸がアクチュエータにて回転操作自在に設けられ、回転軸に、支持アームの複数が取り付けられ、押圧体が、複数の支持アームに支持されているものであるから、アクチュエータにて移動体に設けられた回転軸を回転操作すると、回転軸に取り付けられた複数の支持アームが下方側に移動し、それら複数の支持アームに支持されている押圧体が板状体を上方側から押圧することになるので、例えば、複数の支持アームの夫々にアクチュエータを設け、それら複数のアクチュエータにて複数の支持アームの夫々を移動させるに較べて、アクチュエータの数が一つで済むことになる等、複数の支持アームを移動させる構成の簡素化を図ることができる。
したがって、構成の簡素化を図ることができる板状体用搬送装置を得るに至った。
That is, the rotating shaft is provided on the movable body so as to be rotatable by an actuator, a plurality of support arms are attached to the rotating shaft, and the pressing body is supported by the plurality of support arms. When the rotary shaft provided on the movable body is rotated, the plurality of support arms attached to the rotary shaft moves downward, and the pressing body supported by the plurality of support arms moves the plate-like body upward. For example, an actuator is provided for each of a plurality of support arms, and the number of actuators is only one as compared to a case where each of the plurality of support arms is moved by the plurality of actuators. For example, the configuration for moving the plurality of support arms can be simplified.
Therefore, it has come to obtain a plate-like body transport device capable of simplifying the configuration.

本発明の第5特徴構成は、上記第4特徴構成に加えて、前記アクチュエータが、ネガティブブレーキを備えている点を特徴とする。   According to a fifth characteristic configuration of the present invention, in addition to the fourth characteristic configuration, the actuator includes a negative brake.

すなわち、アクチュエータが、ネガティブブレーキを備えているものであるから、アクチュエータの作動を停止したとしても、ネガティブブレーキが作動するために、常時、アクチュエータを作動させる必要が無いものとなり、しかも、例えば、押圧体が板状体を押圧する状態で移動体が移動しているときに、停電等によりアクチュエータの作動が停止した場合において、押圧体が板状体を押圧する状態を維持できるので、板状体が載置体から落下して損傷することを防止することができる。
したがって、常時、アクチュエータを作動させる必要が無く、ランニングコストの低減化を図ることができながらも、停電等によりアクチュエータの作動が停止した場合において、板状体が落下して損傷することを防止することができる板状体用搬送装置を得るに至った。
That is, since the actuator is provided with a negative brake, even if the operation of the actuator is stopped, it is not necessary to always operate the actuator in order to operate the negative brake. When the moving body is moving in a state where the body presses the plate-like body, it is possible to maintain the state in which the pressing body presses the plate-like body when the operation of the actuator is stopped due to a power failure or the like. Can be prevented from falling from the mounting body and being damaged.
Therefore, it is not necessary to operate the actuator at all times, and the running cost can be reduced, but the plate-like body is prevented from being dropped and damaged when the operation of the actuator is stopped due to a power failure or the like. It came to obtain the conveying apparatus for plate-shaped bodies which can be performed.

以下、本発明に係る物品収納設備について説明する。
図1、図2に示すように、物品収納設備は、物品収納棚A、板状体用搬送装置としてのスタッカークレーンB等を備えて構成されている。物品収納棚Aの一対を走行通路Tを形成する状態で並設し、スタッカークレーンBを走行通路Tの内部にわたって走行移動自在に設けてある。尚、図示はしないが、スタッカークレーンBの走行通路Tに沿って、板状体としての矩形状の板ガラス3を加工処理する処理装置、板ガラス3を検査する検査装置等の板状体処理装置が設置され、物品収納棚Aに板ガラス3を収納したり、スタッカークレーンBが板状体処理装置に移動して、板状体処理装置に対して板ガラス3の受け取り及び取り出しを行なうように構成されている。
Hereinafter, the article storage facility according to the present invention will be described.
As shown in FIGS. 1 and 2, the article storage facility includes an article storage shelf A, a stacker crane B as a plate-like body transfer device, and the like. A pair of article storage shelves A are juxtaposed in a state in which a travel path T is formed, and a stacker crane B is provided so as to travel and move over the interior of the travel path T. In addition, although not shown in figure, plate-like body processing apparatuses, such as a processing apparatus which processes the rectangular plate glass 3 as a plate-like body, the test | inspection apparatus which test | inspects the plate glass 3, along the traveling path T of the stacker crane B, are shown. It is installed and configured to store the plate glass 3 in the article storage shelf A, or to move the stacker crane B to the plate body processing apparatus to receive and take out the plate glass 3 from the plate body processing apparatus. Yes.

前記物品収納棚Aは、棚前後幅方向に並べて立設される一対の支柱1を棚横幅方向に複数並べて、それら一対の支柱1の夫々に物品載置部材2を棚横幅方向に突出する姿勢で上下方向に複数個並べて構成されている。物品載置部材2は、棚横幅方向に突出する姿勢で支柱1に固定された腕木2aと、長手方向が棚前後幅方向になるように配置され、その長手方向の先端部が腕木2aの先端部に固定された腕木ビーム2bとからなり、隣り合う一対の支柱1の間の腕木ビーム2b上に板ガラス3を載置することにより、物品収納棚Aに上下方向並びに横方向に並べて備えられた物品収納部4の夫々に板ガラス3を収納することができるように構成されている。   The article storage shelf A has a posture in which a plurality of a pair of support columns 1 arranged side by side in the longitudinal direction of the shelf are arranged in the horizontal direction of the shelf, and the article placement member 2 projects in the horizontal direction of the shelf. A plurality are arranged in the vertical direction. The article placement member 2 is arranged such that the arm 2a is fixed to the support column 1 in a posture protruding in the lateral width direction of the shelf, and the longitudinal direction is the front-rear width direction of the shelf, and the distal end portion in the longitudinal direction is the distal end of the arm 2a. The armor beam 2b is fixed to the unit, and is placed side by side on the article storage shelf A in the vertical and horizontal directions by placing the plate glass 3 on the arm beam 2b between a pair of adjacent struts 1. The plate glass 3 can be stored in each of the article storage units 4.

前記スタッカークレーンBは、下側の案内レール5上を走行自在な走行台車6、走行台車6に間隔を隔てた状態で立設された一対のマスト7、それら一対のマスト7の上端部同士を連結する固定部材8、それら一対のマスト7に昇降移動自在に設けられた移動体としての昇降台10、昇降台10に設置された出退操作自在な一対のフォーク装置9等を備えて構成されている。フォーク装置9は、昇降台10に設置された略直方体状の基台部9a、その基台部9aに対して棚前後幅方向に出退操作されかつ板ガラス3を載置支持する矩形板状の物品載置部9b等を備えて構成されている。したがって、物品載置部9bが板ガラス3を載置支持する載置体として機能することになり、移動される昇降台10に、板ガラス3を載置支持する物品載置部9bが出退操作自在に設けられることになる。そして、物品載置部9bの棚前後幅方向側の両側部に、板状の落下防止部9cが立設されており、板ガラス3が棚前後幅方向に移動して物品載置部9bから落下することを防止するように構成されている。   The stacker crane B includes a traveling carriage 6 that can run on the lower guide rail 5, a pair of masts 7 that are erected in a state spaced from the traveling carriage 6, and upper ends of the pair of masts 7. A fixed member 8 to be connected, a lifting platform 10 as a movable body provided on the pair of masts 7 so as to be movable up and down, a pair of fork devices 9 installed on the lifting platform 10 and freely movable in and out, and the like. ing. The fork device 9 has a substantially rectangular parallelepiped base portion 9 a installed on the lifting platform 10, a rectangular plate-like shape that is retracted in the longitudinal direction of the shelf with respect to the base portion 9 a and supports the plate glass 3. An article placement unit 9b and the like are provided. Accordingly, the article placement portion 9b functions as a placement body for placing and supporting the plate glass 3, and the article placement portion 9b for placing and supporting the plate glass 3 can be freely moved in and out of the moved lifting platform 10. Will be provided. And the plate-shaped fall prevention part 9c is standingly arranged by the both sides by the side of a shelf front-back width direction of the article mounting part 9b, and the plate glass 3 moves to a shelf front-back width direction, and falls from the article mounting part 9b It is configured to prevent this.

説明を加えると、前記走行台車6の前後側に、下側の案内レール5上を転動する駆動用輪体58及び走行用輪体59を設け、固定部材8の前後側に、上側の案内レール13に案内される一対の案内用輪体60を設けてある。走行台車6の前側に走行用モータM1を設け、走行用モータM1を駆動用輪体58に連結してある。これにより、走行用モータM1を駆動させることにより、スタッカークレーンBが下側の案内レール5に沿って走行できるように構成されている。   More specifically, a driving wheel 58 and a traveling wheel 59 that roll on the lower guide rail 5 are provided on the front and rear sides of the traveling carriage 6, and the upper guide is disposed on the front and rear sides of the fixing member 8. A pair of guide wheels 60 guided by the rail 13 is provided. A traveling motor M <b> 1 is provided on the front side of the traveling carriage 6, and the traveling motor M <b> 1 is connected to the driving wheel body 58. Accordingly, the stacker crane B is configured to travel along the lower guide rail 5 by driving the traveling motor M1.

図3、図4に示すように、前記昇降台10は、棚前後幅方向に延びる一対のビーム部材10aと、棚横幅方向に延びる一対のビーム部材10bとを備えて、平面視にて矩形枠状に構成されている。一対のマスト7の夫々に、それら一対のマスト7の内方側に向かって突出する突条部7aを形成し、一対のビーム部材10aの夫々に、略直方体状の案内部材14を設け、それら案内部材14の上部及び下部の夫々に、突条部7aに案内される一対の案内用輪体15を設けてある。走行台車6の前側に、昇降用モータM2及び一対の昇降ワイヤ16を巻取り操作及び繰り出し操作できる巻取りドラム17を設け、昇降用モータM2を巻取りドラム17に連結してある。一対の昇降ワイヤ16のうち巻取りドラムの位置から近い側のものは、大径のプーリ18に巻き掛けられて、前側の案内部材14に固定され、一対の昇降ワイヤ16のうち巻取りドラムの位置から遠い側のものは、大径のプーリ18、小径のプーリ19に巻き掛けられて、後側の案内部材14に固定されている。これにより、昇降用モータM2を駆動させることにより、昇降台10がマスト7に沿って昇降できるように構成されている。   As shown in FIGS. 3 and 4, the lifting platform 10 includes a pair of beam members 10a extending in the longitudinal direction of the shelf and a pair of beam members 10b extending in the lateral direction of the shelf. Configured. Each of the pair of masts 7 is formed with a protrusion 7a protruding toward the inner side of the pair of masts 7, and a substantially rectangular parallelepiped guide member 14 is provided on each of the pair of beam members 10a. A pair of guide wheels 15 that are guided by the protrusions 7a are provided on the upper and lower portions of the guide member 14, respectively. A winding drum 17 capable of winding and unwinding the lifting motor M2 and the pair of lifting wires 16 is provided on the front side of the traveling carriage 6, and the lifting motor M2 is connected to the winding drum 17. Of the pair of lifting wires 16, the one closer to the position of the winding drum is wound around a large-diameter pulley 18 and fixed to the front guide member 14. The one far from the position is wound around a large-diameter pulley 18 and a small-diameter pulley 19 and fixed to the rear guide member 14. Accordingly, the lifting platform 10 can be moved up and down along the mast 7 by driving the lifting motor M2.

そして、板ガラス3を上方側から押圧してフォーク装置9に対する移動を阻止する押圧体としての矩形板状のクランプ板24が、昇降台10に昇降自在に設けられ、クランプ板24が、昇降台10に昇降自在に支持された支持アーム20に上下方向に移動自在に弾性支持された状態で設けられ、支持アーム20が、基端側を昇降台10に昇降自在に枢支され、先端側にクランプ板24を傾き自在に支持するように構成され、昇降台10に、回転軸Xがアクチュエータとしてのネガティブブレーキ21a付き電動モータ21にて回転操作自在に設けられ、回転軸Xに、支持アーム20の複数が取り付けられ、クランプ板24が、複数の支持アーム20に支持されている。   Then, a rectangular plate-like clamp plate 24 as a pressing body that presses the plate glass 3 from above to prevent movement relative to the fork device 9 is provided on the lifting platform 10 so as to be movable up and down, and the clamping plate 24 is mounted on the lifting platform 10. The support arm 20 is elastically supported so as to be movable in the vertical direction. The support arm 20 is pivotally supported by the lifting platform 10 at the base end side and clamped at the distal end side. The plate 24 is configured to be tiltably supported. A rotary shaft X is provided on the lifting platform 10 so as to be rotatable by an electric motor 21 with a negative brake 21a as an actuator. A plurality of them are attached, and the clamp plate 24 is supported by the plurality of support arms 20.

説明を加えると、図5〜図9に示すように、昇降台10の棚横幅方向の両側の夫々に、長尺状の支持部22を架設してある。支持部22は、一対のビーム部材10bの一方に立設される固定板22bと、長方形の板を略L字状に折り曲げ形成し、その一端が固定板22bの中央部付近に接続され、かつ、その他端が一対のビーム部材10bの他方にボルトナット31にて取付けられる支持板22cとを備えて構成されている。固定板22bにおける支持板22cよりも上方に位置する箇所に、ボルトナット32にて電動モータ21を固定してある。電動モータ21に回転軸Xを設け、支持板22cに回転軸Xを回動自在に支持する回転軸支持具25を2つ設けてある。これにより、昇降台10に、回転軸Xが電動モータ21にて回転操作自在に設けられることになる。そして、基端側を回転軸Xに昇降自在に枢支され、先端側に矩形板状のクランプ板24を傾き自在に支持する断面形状が矩形状の長尺状の2本の支持アーム20を2つ設けてある。ちなみに、クランプ板24は、上層が金属板で下層がウレタンゴムの2層構造にて構成されている。   If it demonstrates, as shown in FIGS. 5-9, the elongate support part 22 is constructed on each of the both sides of the shelf width direction of the lifting platform 10 as shown in FIG. The support portion 22 is formed by bending a fixed plate 22b erected on one of the pair of beam members 10b and a rectangular plate into a substantially L shape, one end of which is connected to the vicinity of the center portion of the fixed plate 22b, and The other end includes a support plate 22c attached to the other of the pair of beam members 10b by a bolt nut 31. The electric motor 21 is fixed by bolts and nuts 32 at positions above the support plate 22c in the fixed plate 22b. The electric motor 21 is provided with a rotating shaft X, and the supporting plate 22c is provided with two rotating shaft supports 25 that rotatably support the rotating shaft X. As a result, the rotary shaft X is provided on the lifting platform 10 so as to be freely rotatable by the electric motor 21. Then, two long supporting arms 20 having a rectangular cross section for supporting the rectangular clamp plate 24 in a tiltable manner on the distal end side thereof are pivotally supported by the rotation axis X so that the base end side can freely move up and down. Two are provided. Incidentally, the clamp plate 24 has a two-layer structure in which an upper layer is a metal plate and a lower layer is urethane rubber.

前記支持アーム20の基端側に支持アーム固定部34を取付け、回転軸Xに平行キー33を介して支持アーム固定部34を取付けてある。これにより、支持アーム20が、基端側を回転軸Xに昇降自在に枢支されることになる。支持アーム固定部34の下部に回転軸Xを挟んで支持アーム20と反対側に延びる板状の規制部材29を取付け、規制部材29にボルト30を貫通状態で設けてある。ボルト30の先端と支持部22との間に間隔を設けてあり、水平状態の支持アーム20を回転軸X周りに設定角度上方に揺動すると、ボルト30が支持部22と接当して、設定角度上方に揺動した傾斜状態の支持アーム20をそれ以上上方に揺動することを規制するように構成されている。又、支持アーム20の基端側の下部に規制部材37を取付け、支持アーム20及び規制部材37にボルト35を貫通状態で設けてある。ボルト35の先端が支持部22に接当しており、水平状態の支持アーム20をそれ以上下方に揺動することを規制するように構成されている。   A support arm fixing portion 34 is attached to the proximal end side of the support arm 20, and the support arm fixing portion 34 is attached to the rotation axis X via a parallel key 33. Thereby, the support arm 20 is pivotally supported by the rotation axis X so that the base end side can be raised and lowered. A plate-like restricting member 29 extending on the opposite side of the support arm 20 with the rotation axis X interposed therebetween is attached to the lower portion of the support arm fixing portion 34, and a bolt 30 is provided in the restricting member 29 in a penetrating state. A space is provided between the tip of the bolt 30 and the support portion 22, and when the horizontal support arm 20 is swung upward about the rotation axis X by a set angle, the bolt 30 contacts the support portion 22, The tilted support arm 20 that swings upward by a set angle is configured to be restricted from swinging further upward. In addition, a regulating member 37 is attached to the lower part of the support arm 20 on the base end side, and bolts 35 are provided in the supporting arm 20 and the regulating member 37 in a penetrating state. The front end of the bolt 35 is in contact with the support portion 22 and is configured to restrict further swinging of the horizontal support arm 20 downward.

図9に示すように、前記回転軸Xの端部に、上側の検出板26、下側の検出板27を設け、支持部22における回転軸Xの端部に相当する箇所に、上側の検出板26を検出する光電スイッチ38、下側の検出板27を検出する光電スイッチ39を、支持アーム20の長手方向に間隔を隔てた状態で設けてある。上側の検出板26を、略半円状の板状に構成し、上側の検出板26の光電スイッチ存在側の直線部分26aに、光電スイッチ39が上側の検出板26を検出しないように切り欠き26bを形成してある。又、下側の検出板27を、上側の検出板26よりも小径の略半円状の板状に構成してある。上側の検出板26の直線部分26aと下側の検出板27の直線部分27aとは、位相をわずかに異ならせてあり、水平状態の支持アーム20を下方に揺動すると、光電スイッチ38がオフ状態からオン状態となり、支持アーム20を設定角度から上方に揺動すると、光電スイッチ39がオフ状態からオン状態となるように構成されている。そして、電動モータ21、回転軸X等に、その外部を覆う覆い部36を設けてある。   As shown in FIG. 9, an upper detection plate 26 and a lower detection plate 27 are provided at the end of the rotation axis X, and the upper detection is provided at a position corresponding to the end of the rotation axis X in the support portion 22. A photoelectric switch 38 for detecting the plate 26 and a photoelectric switch 39 for detecting the lower detection plate 27 are provided in a state of being spaced apart in the longitudinal direction of the support arm 20. The upper detection plate 26 is formed in a substantially semicircular plate shape, and the photoelectric switch 39 is notched so as not to detect the upper detection plate 26 in the linear portion 26a on the photoelectric switch existence side of the upper detection plate 26. 26b is formed. Further, the lower detection plate 27 is formed in a substantially semicircular plate shape having a smaller diameter than the upper detection plate 26. The phase of the linear portion 26a of the upper detection plate 26 and the linear portion 27a of the lower detection plate 27 are slightly different from each other. When the horizontal support arm 20 is swung downward, the photoelectric switch 38 is turned off. When the support arm 20 is swung upward from the set angle from the state to the on state, the photoelectric switch 39 is configured to be turned on from the off state. And the cover part 36 which covers the exterior in the electric motor 21, the rotating shaft X, etc. is provided.

前記支持アーム20の先端側の両側面に、夫々一対の略L字状の板状の保持部材46を対向する状態で設け、支持アーム20の長手方向に間隔を隔てて設けられた一対のピン44にて支持アーム20と一対の保持部材46とを固定してある。一対の保持部材46の内方側に断面形状が矩形状の筒状体47を設け、一対のピン45にて保持部材46と筒状体47とを回転自在に連結してある。支持アーム20の先端側に切り欠き20aを形成して、その切り欠き20aにおける支持アーム20の長手方向に交差する部分に板状片48を設け、板状片48に、ボルト49を貫通状態で設けてある。保持部材46が筒状体47の下部側面に接当し、ボルト49が筒状体47の上部側面に接当しており、ボルト49の位置を調整することにより、支持アーム20と筒状体47との相対位置を調整するように構成されている。   A pair of substantially L-shaped plate-shaped holding members 46 are provided on both side surfaces on the distal end side of the support arm 20 so as to face each other, and a pair of pins provided at intervals in the longitudinal direction of the support arm 20. 44, the support arm 20 and the pair of holding members 46 are fixed. A cylindrical body 47 having a rectangular cross section is provided on the inner side of the pair of holding members 46, and the holding member 46 and the cylindrical body 47 are rotatably connected by a pair of pins 45. A notch 20a is formed on the front end side of the support arm 20, and a plate-like piece 48 is provided at a portion of the notch 20a that intersects the longitudinal direction of the support arm 20, and a bolt 49 is passed through the plate-like piece 48. It is provided. The holding member 46 is in contact with the lower side surface of the cylindrical body 47, and the bolt 49 is in contact with the upper side surface of the cylindrical body 47. By adjusting the position of the bolt 49, the support arm 20 and the cylindrical body 47 is configured to adjust the relative position with respect to 47.

図7、図8に示すように、前記筒状体47は、その上面に小径の孔47aを形成し、その下面に大径の孔47bを形成してあり、棒状部材50をそれら孔47a、47bを貫通する状態で設けてある。棒状部材50は、その一端部に孔47bを貫通する状態でナット51を取付け、ナット51の上部に筒状体47の下部に接当する接当部材52を設け、接当部材52と筒状体47の上部との間に圧縮バネ53を設けてある。これにより、棒状部材50に力が加わっていないときは、圧縮バネ53の押圧作用により接当部材52が筒状体47の下部に接当して、棒状部材50がその位置を維持し、棒状部材50にある一定以上の上向きの力が加わったときには、圧縮バネ53の押圧作用に抗して接当部材52が筒状体47の下部から離れて、棒状部材50が上方に移動するように構成されている。又、孔47aの前後方向の幅は、棒状部材50の幅よりも大きく、孔47bの前後方向の幅は、ナット51の幅よりも大きく構成されており、棒状部材50が前後方向に傾動できるように構成されている。棒状部材50の下部に門形のクランプ板取付け部56を設け、クランプ板取付け部56を、ボルト57にてクランプ板24に取付けてある。これにより、筒状体47、棒状部材50、圧縮バネ53等が付勢手段54を構成し、支持アーム20の先端側に設けられた付勢手段54が、クランプ板24を水平軸心周りに傾き自在に弾性支持するように構成されている。   As shown in FIGS. 7 and 8, the cylindrical body 47 has a small-diameter hole 47a formed on the upper surface thereof, and a large-diameter hole 47b formed on the lower surface thereof. 47b is provided in a state of penetrating through 47b. The rod-like member 50 has a nut 51 attached to one end of the rod-like member 50 so as to pass through the hole 47b, and a contact member 52 that contacts the lower portion of the tubular body 47 is provided on the upper portion of the nut 51. A compression spring 53 is provided between the upper portion of the body 47. Thereby, when no force is applied to the rod-like member 50, the contact member 52 comes into contact with the lower part of the cylindrical body 47 by the pressing action of the compression spring 53, and the rod-like member 50 maintains its position. When a certain upward force is applied to the member 50, the contact member 52 moves away from the lower portion of the cylindrical body 47 against the pressing action of the compression spring 53, and the rod-like member 50 moves upward. It is configured. Further, the width of the hole 47a in the front-rear direction is larger than the width of the rod-shaped member 50, and the width of the hole 47b in the front-rear direction is larger than the width of the nut 51, so that the bar-shaped member 50 can tilt in the front-rear direction. It is configured as follows. A gate-shaped clamp plate mounting portion 56 is provided below the rod-shaped member 50, and the clamp plate mounting portion 56 is mounted to the clamp plate 24 with bolts 57. Thereby, the cylindrical body 47, the rod-shaped member 50, the compression spring 53, etc. constitute the urging means 54, and the urging means 54 provided on the distal end side of the support arm 20 moves the clamp plate 24 around the horizontal axis. It is configured to elastically support in a tiltable manner.

前記昇降台10の棚横幅方向の中央部から端部寄りの箇所の夫々に、フォーク装置9を設置してある。昇降台10の棚横幅方向の両側に設けられた2つの回転軸Xの夫々に、2つの支持アーム20を棚前後幅方向に間隔を隔てた状態で取付け、棚前後幅方向一方側の支持アーム20の先端側に取付けたクランプ板取付け部56に、クランプ板24の中央部から棚前後幅方向一方側の取付け箇所を支持し、棚前後幅方向他方側の支持アーム20の先端側に取付けたクランプ板取付け部56に、クランプ板24の中央部から棚前後幅方向他方側の取付け箇所を支持してある。これにより、回転軸Xに、2つの支持アーム20が取り付けられ、クランプ板24が、2つの支持アーム20に支持されることになる。矩形板状のクランプ板24が、平面視にて矩形板状の物品載置部9bの内方側に位置するように設けられている。これにより、電動モータ21の駆動により、設定角度上方に揺動した傾斜状態の支持アーム20を回転軸X周りに下方に揺動すると、クランプ板24が下降して、クランプ板24がフォーク装置9上に載置支持された板ガラス3に接触し、支持アーム20を回転軸X周りにさらに下方に揺動して水平状態に位置させると、付勢手段54の弾性力により、クランプ板24がフォーク装置9上に載置支持された板ガラス3を上方側から挟み込むように押圧して、板ガラス3のフォーク装置9に対する水平移動を阻止するように構成してある。したがって、支持アーム20が、クランプ板24が板ガラス3を上方側から押圧する水平状態の押さえ位置と、クランプ板24の押圧を解除する設定角度上方に揺動した傾斜状態の非押さえ位置とに切り換え自在に構成されている。   A fork device 9 is installed at each position near the end from the central portion of the elevator platform 10 in the lateral width direction of the shelf. Two support arms 20 are attached to each of the two rotating shafts X provided on both sides of the lifting platform 10 in the width direction of the shelf in a state of being spaced apart in the width direction of the shelf. The clamp plate mounting portion 56 mounted on the front end side of the 20 supports the mounting portion on the one side in the shelf front-rear width direction from the center portion of the clamp plate 24, and is mounted on the front end side of the support arm 20 on the other side in the shelf front-rear width direction. The clamp plate attachment portion 56 supports the attachment portion on the other side in the shelf front-rear width direction from the center portion of the clamp plate 24. Thus, the two support arms 20 are attached to the rotation axis X, and the clamp plate 24 is supported by the two support arms 20. The rectangular plate-shaped clamp plate 24 is provided so as to be positioned on the inner side of the rectangular plate-shaped article mounting portion 9b in plan view. As a result, when the electric motor 21 is driven to swing the tilted support arm 20 swinging upward by a set angle downward about the rotation axis X, the clamp plate 24 is lowered and the clamp plate 24 is moved to the fork device 9. When the plate 20 is placed on and supported by the plate glass 3 and is supported in a horizontal state by swinging the support arm 20 further downward about the rotation axis X, the clamp plate 24 is moved to the fork by the elastic force of the biasing means 54. The plate glass 3 placed and supported on the device 9 is pressed so as to be sandwiched from above, and the horizontal movement of the plate glass 3 with respect to the fork device 9 is prevented. Therefore, the support arm 20 switches between a horizontal pressing position where the clamp plate 24 presses the glass plate 3 from above and a non-pressing position where the clamp plate 24 swings upward for a set angle to release the pressing of the clamp plate 24. It is configured freely.

次に、スタッカークレーンBの制御動作について説明を加える。
図10に示すように、制御手段Hは、操作内容を指令する操作部55の指令情報、光電スイッチ38、39の検出情報に基づいて、スタッカークレーンBに設けられた走行用モータM1、昇降用モータM2、フォーク装置9、電動モータ21の動作を制御するように構成されている。
Next, the control operation of the stacker crane B will be described.
As shown in FIG. 10, the control means H is based on the command information of the operation unit 55 that commands the operation content and the detection information of the photoelectric switches 38 and 39, the traveling motor M1 provided in the stacker crane B, The operation of the motor M2, the fork device 9, and the electric motor 21 is controlled.

物品収納棚Aの物品収納部4に対して板ガラス5を収納する動作を例に挙げて説明すると、操作部55にて物品収納部4が指定されると、制御手段Hは、物品収納部4の前方箇所までスタッカークレーンBを走行移動させ、物品収納部4と同じ高さまで昇降台10を昇降移動させるべく、走行モータ用M1、昇降用モータM2の駆動を制御する。このとき、支持アーム20は押さえ位置に位置しており、付勢手段54の弾性力によりクランプ板24がフォーク装置9上に載置支持された板ガラス3の中央部を上方側から押圧して、板ガラス3のフォーク装置9に対する移動を阻止する。これにより、クランプ板24が板ガラス3の周縁部に接触不可である場合であっても、クランプ板24が板ガラス3の中央部を上方側から押圧することにより、板ガラス3のフォーク装置9に対する移動を阻止することができる。加えて、クランプ板24が板ガラス3の中央部を上方側から押圧するだけで、板ガラス3のフォーク装置9に対する移動を阻止することができるので、板ガラス3のサイズが異なる場合においても、1つのクランプ板24にて対応できる等、使用勝手が良いものとなる。   The operation of storing the glass sheet 5 in the article storage section 4 of the article storage shelf A will be described as an example. When the article storage section 4 is designated by the operation section 55, the control means H In order to move the stacker crane B to the front of the vehicle and move the elevator 10 up and down to the same height as the article storage unit 4, the driving of the traveling motor M1 and the lifting motor M2 is controlled. At this time, the support arm 20 is located at the pressing position, and the clamp plate 24 presses the central portion of the plate glass 3 placed and supported on the fork device 9 by the elastic force of the biasing means 54 from above, The movement of the plate glass 3 relative to the fork device 9 is prevented. Thereby, even if the clamp plate 24 is a case where it cannot contact the peripheral part of the plate glass 3, the clamp plate 24 presses the center part of the plate glass 3 from the upper side, whereby the movement of the plate glass 3 with respect to the fork device 9 is performed. Can be blocked. In addition, since the clamp plate 24 can prevent the movement of the plate glass 3 relative to the fork device 9 only by pressing the central portion of the plate glass 3 from above, even if the size of the plate glass 3 is different, one clamp It can be handled by the plate 24, so that it is easy to use.

前記制御手段Hは、スタッカークレーンB及び昇降台10の移動が停止されると、光電スイッチ39の検出情報に基づいて、支持アーム20を押さえ位置から非押さえ位置に切り換えるべく、電動モータ21を駆動させる。すなわち、電動モータ21を駆動させ、光電スイッチ39がオフ状態からオン状態になると、電動モータ21の駆動を停止する。そして、物品収納部4に板ガラス5を収納すべく、フォーク装置9を作動させる。そして、スタッカークレーンBを走行移動する途中で、停電等により電動モータ21の作動が停止したとしても、ネガティブブレーキ21aの作動により支持アーム20は押さえ位置を維持し、圧縮バネ53の弾性力により板ガラス5を上方側から押圧することになる。これにより、板ガラス5がフォーク装置9から落下して損傷することを防止することができる。   When the movement of the stacker crane B and the lifting platform 10 is stopped, the control means H drives the electric motor 21 to switch the support arm 20 from the pressed position to the non-pressed position based on the detection information of the photoelectric switch 39. Let That is, when the electric motor 21 is driven and the photoelectric switch 39 is turned on from the off state, the driving of the electric motor 21 is stopped. Then, the fork device 9 is operated to store the glass sheet 5 in the article storage unit 4. Even if the operation of the electric motor 21 is stopped due to a power failure or the like during the traveling movement of the stacker crane B, the support arm 20 maintains the pressing position by the operation of the negative brake 21 a and the plate glass is pressed by the elastic force of the compression spring 53. 5 is pressed from the upper side. Thereby, it can prevent that the plate glass 5 falls from the fork apparatus 9, and is damaged.

〔別実施の形態〕
(1)上記実施の形態では、支持アーム20の先端側に設けられた付勢手段53が、クランプ板24を水平軸心周りに傾き自在に弾性支持し、付勢手段54の弾性力により、クランプ板24がフォーク装置9上に載置支持された板ガラス3を上方側から挟み込むように押圧する構成を例示したが、支持アーム20がクランプ板24を直接支持しても良い。このとき、電動モータ21のトルクにより、クランプ板24がフォーク装置9上に載置支持された板ガラス3を上方側から挟み込むように押圧することができる。
[Another embodiment]
(1) In the above embodiment, the urging means 53 provided on the distal end side of the support arm 20 elastically supports the clamp plate 24 so as to be tiltable around the horizontal axis, and by the elastic force of the urging means 54, The configuration in which the clamp plate 24 presses the plate glass 3 placed and supported on the fork device 9 so as to be sandwiched from above is illustrated, but the support arm 20 may directly support the clamp plate 24. At this time, the clamp plate 24 can be pressed by the torque of the electric motor 21 so as to sandwich the plate glass 3 placed and supported on the fork device 9 from above.

(2)上記実施の形態では、支持アーム20が、基端側を昇降台10に昇降自在に枢支される構成を例示したが、このような構成に代えて、支持アーム20が、昇降台10に立設された案内部に昇降自在に案内される構成としてもよい。 (2) In the above-described embodiment, the support arm 20 is illustrated as having a configuration in which the base end side is pivotally supported by the lifting platform 10 so as to be movable up and down. However, instead of such a configuration, the support arm 20 is mounted on the lifting platform. It is good also as a structure guided so that raising / lowering is possible to the guide part standingly arranged in 10.

(3)上記実施の形態では、回転軸Xに、2つの支持アーム20が取り付けられ、クランプ板24が、2つの支持アーム20に支持される構成を例示したが、このような構成に限られるものではなく、例えば、回転軸Xに、1つの支持アーム20が取り付けられ、クランプ板24が、1つの支持アーム20に支持される構成や、回転軸Xに、複数の支持アーム20が間隔を隔てて取り付けられ、クランプ板24が、複数の支持アーム20に支持される構成でもよい。 (3) In the above-described embodiment, the configuration in which the two support arms 20 are attached to the rotation axis X and the clamp plate 24 is supported by the two support arms 20 is illustrated. However, the configuration is limited to this configuration. For example, a configuration in which one support arm 20 is attached to the rotation axis X and the clamp plate 24 is supported by one support arm 20, or a plurality of support arms 20 are spaced from the rotation axis X. The clamp plate 24 may be mounted separately and supported by the plurality of support arms 20.

(4)上記実施の形態では、昇降台10の棚横幅方向の両側に設けられた2つの回転軸Xの夫々に、2つの支持アーム20を棚前後幅方向に間隔を隔てた状態で取付ける構成を例示したが、昇降台10の棚横幅方向の一方側に設けられた1つの回転軸Xの夫々に、2つの支持アーム20を棚前後幅方向に間隔を隔てた状態で取付ける構成としてもよく、あるいは、昇降台10の棚横幅方向の両側、及び、その間に間隔を隔てて設けられた複数の回転軸Xの夫々に、2つの支持アーム20を棚前後幅方向に間隔を隔てた状態で取付ける構成でもよい。
(5)上記実施の形態では、昇降台10に、回転軸Xが電動モータ21にて回転操作自在に設けられ、回転軸Xに、支持アーム20が取り付けられ、電動モータ21にて回転軸Xを回転操作すると、回転軸Xに取り付けられた複数の支持アーム20が昇降移動する構成を例示したが、これに代えて、上端を昇降台10に連結しかつ下端を支持アーム20に連結するシリンダを設け、シリンダを伸縮操作すると、回転軸Xに取り付けられた複数の支持アーム20が昇降移動する構成でもよい。
(6)上記実施の形態では、移動体が昇降台10である構成を例示したが、移動体が搬送台車である構成であってもよく、種々の移動体に適用可能である。
(4) In the above embodiment, the two support arms 20 are attached to the two rotating shafts X provided on both sides in the shelf width direction of the lifting platform 10 in a state of being spaced apart in the shelf front-rear width direction. However, a configuration may be adopted in which two support arms 20 are attached to each of the one rotation axis X provided on one side in the shelf width direction of the lifting platform 10 in a state of being spaced apart in the shelf front-rear width direction. Alternatively, in the state where the two support arms 20 are spaced apart in the longitudinal direction of the shelf, on both sides of the lifting platform 10 in the lateral direction of the shelf and on each of the plurality of rotating shafts X spaced apart therebetween. The structure to attach may be sufficient.
(5) In the embodiment described above, the rotary shaft X is provided on the lifting platform 10 so as to be freely rotatable by the electric motor 21, the support arm 20 is attached to the rotary shaft X, and the electric motor 21 rotates the rotary shaft X. However, instead of this, a cylinder in which the upper end is connected to the lifting platform 10 and the lower end is connected to the support arm 20 is illustrated. When the cylinder is extended and retracted, the plurality of support arms 20 attached to the rotation axis X may move up and down.
(6) In the above-described embodiment, the configuration in which the moving body is the lifting platform 10 has been illustrated. However, the moving body may be a transport cart, and can be applied to various moving bodies.

板状体用搬送装置の全体平面図Overall plan view of the plate-like body transport device 移動体の側面図Side view of moving body 移動体の平面図Plan view of moving body 移動体の側面図Side view of moving body 板状体を上方側から押圧する構成を示す図The figure which shows the structure which presses a plate-shaped object from the upper side. 板状体を上方側から押圧する構成を示す図The figure which shows the structure which presses a plate-shaped object from the upper side. 押圧体が支持アームに弾性支持される構成を示す図The figure which shows the structure by which a press body is elastically supported by a support arm 押圧体が支持アームに弾性支持される構成を示す図The figure which shows the structure by which a press body is elastically supported by a support arm 光電スイッチ及び検出板を示す図The figure which shows a photoelectric switch and a detection board 制御動作の制御ブロック図Control block diagram of control operation

符号の説明Explanation of symbols

3 板状体
9b 載置体
10 移動体
20 支持アーム
21 アクチュエータ
21a ネガティブブレーキ
24 押圧体
X 回転軸
3 Plate-like body 9b Placement body 10 Moving body 20 Support arm 21 Actuator 21a Negative brake 24 Press body X Rotating shaft

Claims (5)

移動される移動体に、板状体を載置支持する載置体が出退操作自在に設けられた板状体用搬送装置であって、
前記板状体を上方側から押圧して前記載置体に対する移動を阻止する押圧体が、前記移動体に昇降自在に設けられている板状体用搬送装置。
A plate-shaped transport device in which a moving body to be moved is provided with a mounting body that mounts and supports the plate-shaped body so that it can be freely moved in and out.
A plate-shaped conveyance device, wherein a pressing body that presses the plate-shaped body from above to prevent movement relative to the mounting body is provided on the movable body so as to be movable up and down.
前記押圧体が、前記移動体に昇降自在に支持された支持アームに上下方向に移動自在に弾性支持された状態で設けられている請求項1記載の板状体用搬送装置。   2. The plate-like conveyance device according to claim 1, wherein the pressing body is provided in a state of being elastically supported so as to be movable in the vertical direction on a support arm supported so as to be movable up and down by the movable body. 前記支持アームが、基端側を前記移動体に昇降自在に枢支され、先端側に前記押圧体を傾き自在に支持するように構成されている請求項2記載の板状体用搬送装置。   The plate-like body conveyance device according to claim 2, wherein the support arm is pivotally supported by the movable body so that the base end side can be raised and lowered, and the pressing body is tiltably supported by the distal end side. 前記移動体に、回転軸がアクチュエータにて回転操作自在に設けられ、
前記回転軸に、前記支持アームの複数が取り付けられ、
前記押圧体が、前記複数の支持アームに支持されている請求項2又は3記載の板状体用搬送装置。
The moving body is provided with a rotation shaft that can be rotated by an actuator.
A plurality of the support arms are attached to the rotating shaft,
The plate-shaped conveyance apparatus according to claim 2 or 3, wherein the pressing body is supported by the plurality of support arms.
前記アクチュエータが、ネガティブブレーキを備えている請求項4記載の板状体用搬送装置。   The plate-shaped conveyance apparatus according to claim 4, wherein the actuator includes a negative brake.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112678485A (en) * 2021-03-12 2021-04-20 山东科技职业学院 Communication circuit board upset conveyor

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JPH06156628A (en) * 1992-11-17 1994-06-03 Toyota Autom Loom Works Ltd Stacker crane
JP2005145713A (en) * 2003-08-29 2005-06-09 Hitachi Kiden Kogyo Ltd Conveying device of substrate

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112678485A (en) * 2021-03-12 2021-04-20 山东科技职业学院 Communication circuit board upset conveyor
CN112678485B (en) * 2021-03-12 2021-06-29 山东科技职业学院 Communication circuit board upset conveyor

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