JP2531994B2 - Transfer device for loading and unloading - Google Patents
Transfer device for loading and unloadingInfo
- Publication number
- JP2531994B2 JP2531994B2 JP1341747A JP34174789A JP2531994B2 JP 2531994 B2 JP2531994 B2 JP 2531994B2 JP 1341747 A JP1341747 A JP 1341747A JP 34174789 A JP34174789 A JP 34174789A JP 2531994 B2 JP2531994 B2 JP 2531994B2
- Authority
- JP
- Japan
- Prior art keywords
- load
- loading
- guide
- unloading
- guided
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Warehouses Or Storage Devices (AREA)
- Intermediate Stations On Conveyors (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は、たとえば棚と出し入れ装置とからなる自動
倉庫に使用される入出庫用搬送装置に関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a warehousing / transporting device used in an automatic warehouse including, for example, a shelf and a loading / unloading device.
従来の技術 従来、この種の装置としては、たとえば実開昭57−25
803号公報の構造が提供されている。すなわちスタッカ
ークレーンとの間の荷受け渡し場所と、荷捌き場所との
間の荷搬送台車移動経路に左右一対のガイドレールを敷
設するとともに、この左右一対のガイドレール間に位置
する第３レールを敷設し、そして左右一対のガイドレー
ルは前記荷捌き場所側の端部においてカーブさせてい
る。前記荷搬送台車は、左右一対のガイドレールに係合
する左右一対の車輪と荷支持部とを有する主台車と、こ
の主台車に左右揺動自在に連結されかつ前記第３レール
に係合する車輪を備えた副台車とから構成している。2. Description of the Related Art Conventionally, as an apparatus of this type, for example, a full-fledged Japanese Utility Model Laid-Open No. 57-25
The structure of the 803 publication is provided. That is, a pair of left and right guide rails are laid on the movement path of the load carrier truck between the load transfer location with the stacker crane and the load handling location, and the third rail located between the pair of left and right guide rails is laid. The pair of left and right guide rails are curved at the ends on the side of the loading / unloading place. The load carrier is a main carriage having a pair of left and right wheels that engage with a pair of left and right guide rails and a load support, and is swingably connected to the main carriage and engages with the third rail. It consists of a sub-carriage with wheels.
この従来形式によると、駆動手段により副台車を前後
進させることで主台車を一体的に前後進させ得、そして
荷搬送台車を荷捌き場所へ移動させたとき、主台車がカ
ーブ部に案内されて、副台車に対して向きを変化させる
ことになる。According to this conventional type, the main carriage can be integrally moved forward and backward by moving the auxiliary carriage forward and backward by the drive means, and when the load carrier is moved to the loading and unloading place, the main carriage is guided to the curved portion. Then, the direction is changed with respect to the sub-carriage.
発明が解決しようとする課題 上記の従来形式によると、荷搬送台車が列車状に連結
された主台車と副台車とで構成されることから、構造が
複雑でコストアップになるとともに、前後進方向で長
尺、大型化することになる。SUMMARY OF THE INVENTION According to the above-mentioned conventional type, since the load-carrying trolley is composed of the main trolley and the sub-trolley that are connected in a train shape, the structure is complicated and the cost is increased, and the forward / backward traveling direction is It will be longer and larger.
本発明の目的とするところは、構造簡単でかつコンパ
クト化した入出庫用搬送装置を提供する点にある。An object of the present invention is to provide a storage / transportation device having a simple structure and a compact size.
課題を解決するための手段 上記目的を達成するために本発明の入出庫用搬送装置
は、出し入れ装置が対向する荷受け渡し場所と、この荷
受け渡し場所から離れた位置の荷捌き場所との間に、荷
搬送台車を案内する左右一対で直線状のガイドレール
と、これらガイドレール間に平行状で位置するガイド体
とを敷設し、このガイド体は前記荷捌き場所側の端部が
一方のガイドレール側に変位して傾斜ガイド部を形成
し、前記荷搬送台車は、前記ガイドレールに案内される
車輪を有する台車部と、この台車部上に縦軸心の周りで
回動自在に設けた荷支持部とからなり、この荷支持部の
前記縦軸心から偏位した位置に被ガイド体を設けるとと
もに、この被ガイド体を前記ガイド体に係合している。Means for Solving the Problems In order to achieve the above object, the carrying apparatus for warehousing / discharging of the present invention is provided with a loading / unloading device facing the loading / unloading place and a loading / unloading place distant from the loading / unloading place A pair of left and right linear guide rails for guiding the load carriage and a guide body positioned in parallel between the guide rails are laid, and the guide body has one end at the side of the loading and unloading place. The load carrying carriage is provided with a trolley portion having wheels guided by the guide rails, and rotatably provided on the trolley portion around a longitudinal axis to form an inclined guide portion by being displaced to the rail side. The load supporting portion is provided with a guided body at a position deviated from the vertical axis of the load supporting portion, and the guided body is engaged with the guide body.
作用 かかる本発明の構成によると、荷搬送台車を荷受け渡
し場所に移動させたとき、被ガイド体がガイド体の直線
状部に位置していることから荷支持部は台車部に対して
正姿勢にあり、したがって出し入れ装置を介しての荷の
受け渡しは何んら支障なく行える。また荷搬送台車を荷
捌き場所に移動させたときには、被ガイド体がガイド体
の変位した傾斜ガイド部に位置し、それに応じて荷支持
部のみが縦軸心の周りに回動して向きが変化することに
なる。According to such a configuration of the present invention, when the load carrier is moved to the load receiving / delivering place, the guided body is positioned in the linear portion of the guide body, so that the load support section is in the normal position with respect to the carriage section. Therefore, the delivery of the load through the loading / unloading device can be carried out without any trouble. Further, when the load carrier is moved to the loading / unloading place, the guided body is positioned on the inclined guide portion where the guide body is displaced, and accordingly, only the load supporting portion is rotated around the vertical axis and is oriented. It will change.
実施例 以下に本発明の一実施例を図面に基づいて説明する。Embodiment One embodiment of the present invention will be described below with reference to the drawings.
１は自動倉庫で、上下方向ならびに横方向に複数の収
納空間２を区画形成した棚３と、この棚３の前面に沿っ
た一定経路４上で走行自在な出し入れ装置５と、前記棚
３の端部外方に配設した入出庫搬送装置６などから構成
される。Reference numeral 1 denotes an automated warehouse, which is a shelf 3 in which a plurality of storage spaces 2 are vertically and horizontally defined, a loading / unloading device 5 that can travel on a fixed path 4 along the front surface of the shelf 3, and a shelf 3 of the shelf 3. The storage / transportation device 6 is arranged outside the end.
前記出し入れ装置５は、走行体７と、この走行体７側
に案内される昇降台８と、この昇降台８上に横方向に出
退自在に設けた出し入れ具（フォーク）９などから構成
され、走行体７の走行動と、昇降台８の昇降動と、出し
入れ具９の横方向出退動との組み合せ動作によって、目
的とする収納空間２と入出庫用搬送装置６との間で荷10
の受け渡しを行う。The loading / unloading device 5 is composed of a traveling body 7, an elevating platform 8 guided to the traveling body 7 side, and a loading / unloading tool (fork) 9 provided on the elevating platform 8 so as to be retractable in the lateral direction. By the combined operation of the traveling movement of the traveling body 7, the raising and lowering movement of the lifting platform 8, and the lateral movement of the loading / unloading tool 9, the load between the intended storage space 2 and the loading / unloading transfer device 6 is set. Ten
To deliver.
棚３を近接させた壁11側に位置する入出庫用搬送装置
６は、前記棚３の近くにおいて前記出し入れ装置５が対
向する荷受け渡し場所12と、前記棚３から離れた位置、
すなわち荷受け渡し場所12から離れた位置となる荷捌き
場所13との間に亘って、左右一対で直線状のガイドレー
ル14が敷設される。これらガイドレール14はベース枠15
上に設けられ、そしてガイドレール14間に平行状で位置
するガイド体16もベース枠15上に設けられる。このガイ
ド体16は左右一対のアングル材からなり、両アングル材
間にガイド溝17を形成している。そしてガイド体16の荷
捌き場所13側の端部を壁11側に変位させ、傾斜したカム
ガイド溝部（傾斜ガイド部）17aを形成している。The loading / unloading transfer device 6 located on the side of the wall 11 where the shelves 3 are close to each other has a cargo delivery place 12 facing the loading / unloading device 5 near the shelves 3 and a position apart from the shelves 3.
That is, a pair of left and right linear guide rails 14 are laid between the cargo handling place 13 and the cargo handling place 13 located away from the cargo delivery place 12. These guide rails 14 have a base frame 15
A guide body 16 which is provided on the upper side and is positioned in parallel between the guide rails 14 is also provided on the base frame 15. The guide body 16 is composed of a pair of right and left angle members, and a guide groove 17 is formed between the angle members. The end of the guide body 16 on the side of the loading / unloading place 13 is displaced toward the wall 11 to form an inclined cam guide groove portion (inclined guide portion) 17a.
前記ガイドレール14に案内される荷搬送台車20は、そ
の下部四隅に前記ガイドレール14に案内される車輪21を
有する台車部22と、この台車部22上に縦軸心23の周りで
回動自在に設けた荷支持部24とからなる。前記台車部22
は下部に走行駆動装置25を有し、この走行駆動装置25は
巻掛伝動装置26を介して一方の車輪軸27に連動連結して
いる。さらに台車部22の中心部分には軸受装置28が設け
られ、この軸受装置28は前記荷支持部24の中心部分から
垂設した縦軸29を回転自在に支持する。これにより荷支
持部24は縦軸心23の周りで回動自在となり、また回動を
円滑に行わせるために、荷支持部24の下面を支持する複
数個の受けローラ30が台車部22に設けられる。The load carrying carriage 20 guided by the guide rails 14 has a carriage portion 22 having wheels 21 guided by the guide rails 14 at the lower four corners thereof, and rotates on the carriage portion 22 around a longitudinal axis 23. And a load supporting portion 24 freely provided. The trolley part 22
Has a traveling drive device 25 at its lower part, and this traveling drive device 25 is linked to one wheel shaft 27 via a winding transmission device 26. Further, a bearing device 28 is provided in the central portion of the truck portion 22, and the bearing device 28 rotatably supports a vertical axis 29 vertically extending from the central portion of the load supporting portion 24. As a result, the load supporting portion 24 becomes rotatable about the longitudinal axis 23, and a plurality of receiving rollers 30 supporting the lower surface of the load supporting portion 24 are attached to the carriage portion 22 in order to smoothly rotate the load supporting portion 24. It is provided.
前記荷支持部24の棚３側の端部、すなわち前記縦軸心
23に対して偏位した位置からは被ガイド体31が垂設さ
れ、この被ガイド体31の下端となるローラ部31aは前記
ガイド溝17に係合している。なお荷支持部24の上面側に
は荷受け具32が設けられる。前記壁11とは離れた側に位
置する入出庫用搬送装置35においては、荷支持部24は台
車部22と一体化して回動せず、またガイド体16や被ガイ
ド体31は省略されている。The end of the load supporting portion 24 on the shelf 3 side, that is, the vertical axis
A guided body 31 is vertically provided from a position deviated with respect to 23, and a roller portion 31a serving as a lower end of the guided body 31 is engaged with the guide groove 17. A load receiver 32 is provided on the upper surface side of the load support portion 24. In the loading and unloading transfer device 35 located on the side away from the wall 11, the load support part 24 does not rotate integrally with the dolly part 22, and the guide body 16 and the guided body 31 are omitted. There is.
上記実施例において、走行駆動装置25を正逆駆動する
ことで、荷搬送台車20は両場所12,13間で直線状に往復
走行させ得る。そして荷搬送台車20を荷受け渡し場所12
に移動させたときには、第１図，第２図の仮想線で示す
ように、ローラ部31aが直線状のガイド溝17内に位置し
ていることから、荷支持部24は台車部22に対して正姿勢
にあり、したがって出し入れ具９を介しての受け渡しは
何んら支障なく行われる。In the above embodiment, by driving the traveling drive device 25 in the forward and reverse directions, the load carrier 20 can be linearly reciprocated between the places 12 and 13. Then, the carrier 20 is moved to the cargo delivery place 12
When it is moved to the position shown in FIG. 1 and FIG. 2, the roller portion 31a is positioned in the linear guide groove 17, so that the load supporting portion 24 is moved relative to the truck portion 22. Since it is in a normal posture, the delivery via the loading / unloading tool 9 can be performed without any trouble.
また荷搬送台車20を荷捌き場所13に移動させたときに
は、この荷捌き場所13に到達する少し前にローラ部31a
がカムガイド溝部17aへ入り込む。これにより被ガイド
体31が壁11側が振られることになり、荷支持部24のみが
縦軸心23の周りで回動され、以って第１図，第２図の実
線でように荷支持部24は、棚３から離れた側の端部が壁
11から遠ざかるように傾斜することになる。したがって
第３図に示すように、フォークリフト車36による荷10の
受け渡し作業（荷捌き作業）は壁11に邪魔されることな
く行える。Further, when the load carrier 20 is moved to the loading / unloading place 13, the roller portion 31a is slightly before reaching the loading / unloading place 13.
Goes into the cam guide groove 17a. As a result, the guided body 31 is swung on the side of the wall 11, and only the load supporting portion 24 is rotated around the vertical axis 23, so that the load supporting portion 24 is supported by the solid lines in FIGS. 1 and 2. The end of the part 24 on the side away from the shelf 3 is a wall
It will be tilted away from 11. Therefore, as shown in FIG. 3, the work (delivery work) of the load 10 by the forklift truck 36 can be performed without being disturbed by the wall 11.
発明の効果 上記構成の本発明によると、荷搬送台車を荷受け渡し
場所に移動させたとき、被ガイド体がガイド体の直線状
部に位置していることから荷支持部は台車部に対して正
姿勢にでき、したがって出し入れ装置を介しての荷の受
け渡しは何んら支障なく行うことができる。また荷搬送
台車を荷捌き場所に移動させたときには、被ガイド体が
ガイド体の変位した傾斜ガイド部に位置し、それに応じ
て荷支持部のみを縦軸心の周りに回動して傾斜姿勢にで
き、受け渡し作業（荷捌き作業）をし易くできるととも
に、常に安定して行うことができる。しかも、台車部と
荷支持部との間に回動構造を設けるとともに、カムレー
ル式のガイド構造を設けるだけで、全体を構造簡単でか
つコンパクトにして提供できる。EFFECTS OF THE INVENTION According to the present invention having the above-described configuration, when the load carrier is moved to the load transfer place, the guided object is located in the linear portion of the guide body, so that the load supporting portion is provided with respect to the carriage portion. It is possible to take a normal position, and therefore, it is possible to transfer the load through the loading / unloading device without any trouble. Further, when the load carrier is moved to the loading / unloading place, the guided body is positioned on the tilted guide part where the guide body is displaced, and accordingly, only the load support part is rotated around the vertical axis to be tilted. Therefore, the transfer work (loading work) can be facilitated, and the operation can always be performed stably. Moreover, the entire structure can be provided in a simple and compact structure only by providing the rotating structure between the trolley part and the load supporting part and providing the cam rail type guide structure.
図面は本発明の一実施例を示し、第１図は平面図、第２
図は側面図、第３図は自動倉庫の概略平面図である。 １……自動倉庫、３……棚、５……出し入れ装置、６…
…入出庫用搬送装置、９……出し入れ具、11……壁、12
……荷受け渡し場所、13……荷捌き場所、14……ガイド
レール、16……ガイド体、17……ガイド溝、17a……カ
ムガイド溝部（傾斜ガイド部）、20……荷搬送台車、21
……車輪、22……台車部、23……縦軸心、24……荷支持
部、25……走行駆動装置、28……軸受装置、29……縦
軸、31……被ガイド体、31a……ローラ部。The drawings show an embodiment of the present invention. FIG. 1 is a plan view and FIG.
The figure is a side view, and FIG. 3 is a schematic plan view of an automated warehouse. 1 ... Automatic warehouse, 3 ... shelves, 5 ... taking in / out device, 6 ...
… Transporting device for loading and unloading, 9 …… In / out tool, 11 …… Wall, 12
...... Loading and receiving place, 13 ...... Loading place, 14 ...... Guide rail, 16 …… Guide body, 17 …… Guide groove, 17a …… Cam guide groove part (tilted guide part), 20 …… Load carrier truck, twenty one
…… Wheels, 22 …… Bogie part, 23 …… Vertical axis, 24 …… Load support part, 25 …… Traveling drive device, 28 …… Bearing device, 29 …… Vertical axis, 31 …… Guided body, 31a …… Roller part.
Claims (1)
と、この荷受け渡し場所から離れた位置の荷捌き場所と
の間に、荷搬送台車を案内する左右一対で直線状のガイ
ドレールと、これらガイドレール間に平行状で位置する
ガイド体とを敷設し、このガイド体は前記荷捌き場所側
の端部が一方のガイドレール側に変位して傾斜ガイド部
を形成し、前記荷搬送台車は、前記ガイドレールに案内
される車輪を有する台車部と、この台車部上に縦軸心の
周りで回動自在に設けた荷支持部とからなり、この荷支
持部の前記縦軸心から偏位した位置に被ガイド体を設け
るとともに、この被ガイド体を前記ガイド体に係合した
ことを特徴とする入出庫用搬送装置。1. A pair of left and right linear guide rails for guiding a load carriage between a load receiving place where a loading / unloading device faces and a load handling place located away from the load receiving place, and these guides. A guide body positioned in parallel between the rails is laid, and this guide body forms an inclined guide portion by displacing the end portion on the side of the handling location to one guide rail side, and the load carrying carriage, It is composed of a trolley part having wheels guided by the guide rails, and a load support part rotatably provided on the trolley part around a vertical axis, and the load support part is deviated from the vertical axis. A guided object is provided at the above position, and the guided object is engaged with the guided object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1341747A JP2531994B2 (en) | 1989-12-28 | 1989-12-28 | Transfer device for loading and unloading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1341747A JP2531994B2 (en) | 1989-12-28 | 1989-12-28 | Transfer device for loading and unloading |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03200605A JPH03200605A (en) | 1991-09-02 |
| JP2531994B2 true JP2531994B2 (en) | 1996-09-04 |
Family
ID=18348452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1341747A Expired - Fee Related JP2531994B2 (en) | 1989-12-28 | 1989-12-28 | Transfer device for loading and unloading |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2531994B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438801A (en) * | 2015-11-29 | 2016-03-30 | 无锡市鑫茂锻造有限公司 | Vertical turning conveying device of casting production line |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6155766A (en) * | 1999-09-07 | 2000-12-05 | Storage Technology Corporation | Small library robotics guidance mechanism |
| JP2022181623A (en) * | 2021-05-26 | 2022-12-08 | 株式会社東芝 | Pick-up device, pick-up system, and conveyance shelf |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6040483Y2 (en) * | 1980-05-28 | 1985-12-06 | 三菱重工業株式会社 | Traverser with turntable |
| JPH0712842B2 (en) * | 1988-02-08 | 1995-02-15 | 株式会社キトー | Conveyor device by trolley |
-
1989
- 1989-12-28 JP JP1341747A patent/JP2531994B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438801A (en) * | 2015-11-29 | 2016-03-30 | 无锡市鑫茂锻造有限公司 | Vertical turning conveying device of casting production line |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03200605A (en) | 1991-09-02 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |