JP2849498B2 - Coupling device - Google Patents
Coupling deviceInfo
- Publication number
- JP2849498B2 JP2849498B2 JP3320991A JP32099191A JP2849498B2 JP 2849498 B2 JP2849498 B2 JP 2849498B2 JP 3320991 A JP3320991 A JP 3320991A JP 32099191 A JP32099191 A JP 32099191A JP 2849498 B2 JP2849498 B2 JP 2849498B2
- Authority
- JP
- Japan
- Prior art keywords
- coupling
- solenoid
- piece
- tool
- suction
- 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 - Lifetime
Links
- 230000008878 coupling Effects 0.000 title claims description 37
- 238000010168 coupling process Methods 0.000 title claims description 37
- 238000005859 coupling reaction Methods 0.000 title claims description 37
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000020169 heat generation Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 101100321304 Bacillus subtilis (strain 168) yxdM gene Proteins 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Warehouses Or Storage Devices (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えば無人の搬送車と
例えば移載装置などに設ける移動枠とを結合しうる結合
装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coupling device which can couple an unmanned carrier and a moving frame provided in a transfer device, for example.
【０００２】[0002]
【従来の技術】本出願人は、特願平２−２９８５８３号
明細書、図面によって、図４〜６に示すように、無人の
搬送車２と、フローラック３との間で入出庫を行う荷役
装置Ｃを提案している。 2. Description of the Related Art As shown in FIGS. 4 to 6, according to the specification and drawings of Japanese Patent Application No. 2-298584 , the applicant of the present invention carries out storage and retrieval between an unmanned transport vehicle 2 and a flow rack 3. A cargo handling device C is proposed.
【０００３】この荷役装置Ｃにおいては、前記フローラ
ック３は倉庫内等に設置され、又搬送車２には電池など
の駆動源、制御装置を搭載するとともに、搬送車２は、
システムを管理する管理機の情報を通信装置（ともに図
示せず）を介して受信する受信器６を具える。In the cargo handling device C, the flow rack 3 is installed in a warehouse or the like, and the transport vehicle 2 is equipped with a drive source such as a battery and a control device.
A receiver 6 is provided for receiving information of a management device for managing the system via a communication device (both not shown).
【０００４】フローラック３には、その前後面がなす搬
入口Ｉ、搬出口Ｏを夫々横行し荷物Ｗを所定高さの棚７
に積載する入庫機である移動枠４Ａ、棚７から荷物Ｗか
ら取り出す出庫機である移動枠４Ｂが設けられ、搬送車
２は、この移動枠４Ａ、４Ｂを介して、フローラック３
に荷物Ｗを出し入れする。[0004] The flow rack 3 traverses a carry-in entrance I and a carry-out exit O formed by the front and rear surfaces thereof, and stores the load W on a shelf 7 having a predetermined height.
A moving frame 4A, which is a loading machine, and a moving frame 4B, which is a unloading machine that takes out the luggage W from the shelves 7, are provided. The transport vehicle 2 moves the flow rack 3 through the moving frames 4A, 4B.
The luggage W in and out.
【０００５】このとき、移動枠４Ａ、４Ｂは、結合装置
１により搬送車２に結合されることによって、移動枠４
Ａ、４Ｂには、搬送車２から荷物昇降用の電力、情報が
供給され、荷物Ｗを受渡しする。又移動枠４Ａ、４Ｂ
は、結合されることにより搬送車２の移動によってフロ
ーラック３に沿い所定の位置に横行しかつ荷支持具９に
よって所定高さの棚７の荷物を受渡しする。At this time, the moving frames 4A and 4B are connected to the carrier 2 by the connecting device 1 so that the moving frames 4A and 4B are moved.
A and 4B are supplied with power and information for lifting and lowering the luggage from the carrier 2, and deliver the luggage W. Moving frames 4A, 4B
Are transported along the flow rack 3 by the movement of the transport vehicle 2 to move to the predetermined position, and transfer the load on the shelf 7 at the predetermined height by the load support 9.
【０００６】このために前記提案にかかる荷役装置Ｃ
は、従来の無人の荷役装置が、荷を搬送する無人搬送
車、荷を移載するスタッカクレーンの夫々に、移動のた
めの電動機、電源、制御装置などを設けていた場合に比
して、移動枠を無人搬送車により移動させ制御するもの
であるため、システム構成を簡易化でき、汎用性を高め
ている。For this reason, the cargo handling device C according to the above proposal is
Compared to a conventional unmanned cargo handling device, in which each of an unmanned transport vehicle for transporting loads and a stacker crane for transferring loads was provided with an electric motor for movement, a power supply, a control device, etc. Since the moving frame is moved and controlled by an automatic guided vehicle, the system configuration can be simplified and versatility is enhanced.
【０００７】他方、このような提案の荷役装置Ｃにあっ
ては、移動枠４Ａ、４Ｂを搬送車２により移動させ、か
つ搬送車２と移動枠４Ａ、４Ｂとの間で、電力、情報の
送受を行うものであるため、その結合強度が大であっ
て、かつ移動の間にも相対移動、ズレがなく、かつ位置
合わせも高精度であることが必要となる。On the other hand, in the cargo handling device C of such a proposal, the moving frames 4A and 4B are moved by the carrier 2 and the power and information of the information are transferred between the carrier 2 and the moving frames 4A and 4B. Since transmission and reception are performed, it is necessary that the coupling strength be large, that there be no relative movement or displacement during movement, and that the positioning be highly accurate.
【０００８】[0008]
【発明が解決しようとする課題】結合のためには、例え
ば出没自在なピンなどの係止片を用いることが考えられ
るが、前記提案においては、ピン嵌合による結合後の位
置ズレ、ガタ等を防ぐべく、ソレノイドを有する被吸着
具と、このソレノイドに直に吸着される軟鉄片等の磁性
片からなる吸着具からなる結合装置を用いていた。For the connection, it is conceivable to use a locking piece such as a pin which can be retracted and retracted. However, in the above-mentioned proposal, a displacement, a play or the like after the connection by pin fitting is considered. In order to prevent this, a coupling device including a suctioned device having a solenoid and a suction device made of a magnetic piece such as a soft iron piece directly adsorbed to the solenoid is used.
【０００９】しかしながら、このような結合装置におい
て、結合後の位置ズレ、ガタ等を防ぎ、かつ発進、停止
などの急加減速を行うときにもスベリを生じないために
は、被吸着具に、大型のソレノイドを用いて吸着力を大
とする必要がある。その結果、ソレノイドの励磁のため
に大きな電流が必要となり、コイルの発熱、温度上昇を
生じやすい他、特に前記した荷役装置Ｃのように、搬送
車２に積載した電池により励磁するものにあっては、そ
の電力消費を低下することが望まれる。However, in such a coupling device, in order to prevent displacement and backlash after coupling, and to prevent slippage even when sudden acceleration or deceleration such as starting or stopping is performed, it is necessary to provide It is necessary to use a large solenoid to increase the attraction force. As a result, a large current for energizing the solenoid is required, the heat generation of the coil, other prone to temperature rise, especially as the cargo apparatus C described above, in the one that excited by battery loaded on the transport vehicle 2 It is desired to reduce the power consumption.
【００１０】本発明は、吸着具に永久磁石を用いること
を基本として省電力しうる結合装置の提供を目的として
いる。SUMMARY OF THE INVENTION It is an object of the present invention to provide a power-saving coupling device based on the use of a permanent magnet as an attraction tool.
【００１１】[0011]
【課題を解決するための手段】本発明は、搬送車と、移
動枠とを結合することにより前記搬送車によって前記移
動枠を移動可能とする結合装置であって、前記搬送車と
移動枠との一方に設けたソレノイドを用いた被吸着具
と、他方に配された永久磁石を用いた吸着具とからな
り、かつ被吸着具と吸着具とを互いに接離可能とすると
ともに、前記ソレノイドの一方向の通電により被吸着具
から前記吸着具を離間させ、かつソレノイドへの通電の
遮断によって被吸着具と吸着具とを吸着させることを特
徴とする結合装置である。According to the present invention, there is provided a coupling device for connecting a carrier and a moving frame so that the moving frame can be moved by the carrier. And a suction tool using a permanent magnet disposed on the other side, and the suction tool and the suction tool can be brought into contact with and separated from each other. A coupling device, wherein the suction device is separated from the device to be suctioned by energizing in one direction, and the device to be suctioned and the suction device are sucked by shutting off the power supply to the solenoid.
【００１２】[0012]
【作用】結合装置１は、ソレノイドを用いた被吸着具
と、永久磁石を用いた吸着具とからなるため、ソレノイ
ドへの通電のオン、オフによって結合を係脱でき、操作
性を高める。Since the coupling device 1 is composed of a suctioned tool using a solenoid and a suction tool using a permanent magnet, the coupling can be disengaged by turning on and off the energization of the solenoid, thereby improving operability.
【００１３】又吸着具に永久磁石を用いているため、こ
の永久磁石の磁力により、ソレノイドの磁極を吸着し、
電力を消費することなく結合できる。Further, since a permanent magnet is used for the attracting tool, the magnetic force of the permanent magnet attracts the magnetic pole of the solenoid,
It can be combined without consuming power.
【００１４】さらに被吸着具と、吸着具との吸着、離間
に際して、吸着具の永久磁石の磁力の向きと反発し、吸
着具を離間させる磁力を生じる一方向の向きに、被吸着
具のソレノイドに通電する。Further, at the time of attraction and separation between the to-be-attached device and the attraction device, the solenoid of the to-be-attached device is repelled to the direction of the magnetic force of the permanent magnet of the attraction device and generates a magnetic force to separate the attraction device. Turn on electricity.
【００１５】このように、ソレノイドには、結合に際し
て、被吸着具と、吸着具の衝合を避けるべく吸着具との
間を相対的に離間させておく必要があるとき、および結
合を解除するときの比較的短時間に通電すればよく、電
力消費を減じうる。As described above, the solenoid needs to be relatively separated from the to-be-attached device and the attraction device in order to avoid abutment of the attraction device, and the coupling is released. It is only necessary to energize for a relatively short time, and power consumption can be reduced.
【００１６】なお結合しているとき、結合力を増すべ
く、ソレノイドに逆向きに、即ち永久磁石の磁力を強め
る向きに通電することもできるが、このときも永久磁石
による吸着力により結合力が補われているため、従来の
軟鉄片等を用いる場合に比して電力を節約しうる。When the coupling is performed, the solenoid may be energized in the opposite direction to increase the coupling force, that is, in a direction to increase the magnetic force of the permanent magnet. Since it is supplemented, power can be saved as compared with the case where a conventional soft iron piece or the like is used.
【００１７】[0017]
【実施例】以下本発明の一実施例を、本発明の結合装置
１が前記提案の荷役装置Ｃに使用される場合を例にと
り、図面に基づき説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings, taking as an example the case where the coupling device 1 of the present invention is used for the above-mentioned proposed cargo handling device C.
【００１８】本発明の結合装置１は、搬送車２とフロー
ラック３の搬入口Ｉ、搬出口Ｏに設けられた入庫用の移
動枠４Ａ、出庫用の移動枠４Ｂとを結合する。The coupling device 1 of the present invention couples the transport vehicle 2 with a moving frame 4A for entry and a moving frame 4B for exit provided at the entrance I and exit O of the flow rack 3.
【００１９】又移動枠４Ａ、４Ｂは、搬入口Ｉ側で上端
を前に傾けたフローラック３の枠組上下の水平なガイド
１０、１１を横行できる。なおフローラック３には搬入
口Ｉ側を上に傾くコロコンベヤを用いた棚７を具え、荷
物Ｗを滑動しうるとともに係止爪１２の出没により移動
枠４Ａから搬入された荷物Ｗを、移動枠４Ｂにより順次
自動的に搬出する。The movable frames 4A and 4B can traverse the upper and lower horizontal guides 10 and 11 of the frame of the flow rack 3 whose upper end is inclined forward at the entrance I side. Note that the flow rack 3 is provided with a shelf 7 using a roller conveyor that inclines the carry-in entrance I side so that the luggage W can slide and the luggage W carried in from the movable frame 4A by the appearance of the locking claw 12 is moved to the movable frame. 4B automatically carries them out sequentially.
【００２０】なお移動枠４Ａ、４Ｂは、基本的に同構成
を具えるため、移動枠４Ａを移動枠４として説明する。Since the moving frames 4A and 4B basically have the same configuration, the moving frame 4A will be described as the moving frame 4.
【００２１】移動枠４は、前記ガイド１０、１１を走行
する縦長の機枠１３に、前記荷支持具９と、この荷支持
具９を案内しかつ振れを防ぐ図示しないガイドと、荷支
持具９に螺合する縦のネジ軸１４と、前記ネジ軸１４を
回転するモータ１５を有する駆動部１７とを具える。な
お荷支持具９は、２つの間隙Ｇ、Ｇを有しかつ搬入口
Ｉ、搬出口Ｏの方向に荷物Ｗを転送しうるコロコンベヤ
からなり、水平状態において前記ネジ軸１４の回転によ
って荷物Ｗを昇降でき、傾斜することにより、棚７との
間で荷物Ｗを受渡しできる。The moving frame 4 is mounted on a vertically long machine frame 13 running on the guides 10 and 11, the load support 9, a guide (not shown) for guiding the load support 9 and preventing run-out, and a load support. And a drive unit 17 having a motor 15 for rotating the screw shaft 14. Note that the load support 9 is a roller conveyor having two gaps G, G and capable of transferring the load W in the direction of the carry-in port I and the carry-out port O. The load W is rotated by the screw shaft 14 in a horizontal state. The baggage W can be transferred to and from the shelf 7 by being able to move up and down and tilt.
【００２２】又機枠１３には、さらに本発明の結合装置
１の吸着具２０を有する結合受電具２１をアーム２２を
介して設けている。The machine casing 13 is further provided with a coupling power receiving device 21 having an attraction device 20 of the coupling device 1 of the present invention via an arm 22.
【００２３】この結合受電具２１は、その吸着具２０
が、搬送車２に設ける結合給電具２３の被吸着具２５と
結合し、又この被吸着具２５は前記吸着具２０とともに
本発明に係る結合装置１を構成する。The combined power receiving device 21 is
However, it is coupled with the suctioned member 25 of the coupling power supply device 23 provided on the transport vehicle 2, and the suctioned member 25 constitutes the coupling device 1 according to the present invention together with the suction device 20.
【００２４】なお搬送車２は、走行経路に誘導線を埋設
し、該誘導線が発する磁界を検知し走行しうる電磁誘導
方式、床面に断続的に貼り付けた磁気誘導帯を検出し走
行させる磁気誘導方式、あるいは反射テープ等を用いた
光学誘導方式等、種々の周知の誘導方式のものを採用し
うる。又自らの走行距離と、ジャイロ等の組み合わせに
よる自律航行方式によるものでもよい。なお本例では、
全ての車輪２６…にステアリングモータ（図示せず）が
配されており、夫々３６０度連続回転が可能に構成され
全方向に移動しうる全方向移動搬送車を形成している。The carrier 2 embeds a guide line in the traveling route, detects the magnetic field generated by the guide line, and detects the magnetic field generated by the guide line. Various well-known guiding methods, such as a magnetic guiding method for causing the light or an optical guiding method using a reflective tape or the like, can be adopted. Further, an autonomous navigation system using a combination of the own traveling distance and a gyro may be used. In this example,
Steering motors (not shown) are arranged on all the wheels 26..., And are formed so as to be able to continuously rotate 360 degrees to form omnidirectional moving vehicles that can move in all directions.
【００２５】搬送車２の車体周囲には、図５、図６に示
すように、障害物検出用バンパ２７…と、車体の各面に
２個づつ計８個設けられた非接触により障害物を検知し
うる非接触式の障害物検出装置２９と、車体と基準壁面
との距離を測定するために、車体の各側面に２個づつ計
８個設けられた測距装置３０と、車体上面に設けられた
昇降自在かつ上面をコンベヤ面としたフオーク３１と、
前記受信器６とを具える。As shown in FIGS. 5 and 6, obstacle detection bumpers 27 are provided around the vehicle body of the transport vehicle 2 and two obstacles are provided on each surface of the vehicle body. A non-contact type obstacle detecting device 29 capable of detecting the distance, a distance measuring device 30 provided on each side surface of the vehicle body for measuring a distance between the vehicle body and the reference wall surface, and a distance measuring device 30 provided on each side surface of the vehicle body; A fork 31 having a conveyor surface with a vertically movable upper surface,
And the receiver 6.
【００２６】又車体前方側の中央部かつ上部には前記結
合給電具２３が設けられ、又電池Ｂと走行、荷役の制御
及び移動枠４の制御を行う制御装置ＣＴが配される。な
お、フオーク３１は前記荷支持具９に設けた前記間隙Ｇ
に挿入されることにより、荷物Ｗをこの荷支持具９との
間で移し換えしうる。At the center and upper part of the front side of the vehicle body, the coupling power supply 23 is provided, and a control device CT for controlling the running of the battery B, cargo handling and the moving frame 4 is arranged. The fork 31 is provided at the gap G provided on the load support 9.
, The load W can be transferred to and from the load support 9.
【００２７】前記測距装置３０…は、本例では、予め搬
送車２の走行ルート内に数カ所設けられた基準壁面（図
示せず）と車体との距離を測定し、搬送車２が自動走行
する際の基準データを測定できる、例えば光学式測距セ
ンサや、超音波センサ等を用いている。In the present embodiment, the distance measuring devices 30... Measure the distance between a reference wall (not shown) provided at several places in the traveling route of the transport vehicle 2 and the vehicle body, and the transport vehicle 2 automatically travels. For example, an optical distance measuring sensor, an ultrasonic sensor, or the like that can measure reference data when performing the measurement is used.
【００２８】前記結合給電具２３は、図１下方に示すよ
うに、底片４０と、その後縁で立ち上がる立片４１と、
その上端で前に張り出す上片４２とを有する取付金具４
３の両側に、送電装置３４の給電金具４６、４６を取付
け、かつ上片４２とともに中央を切欠いた立片４１上端
の取付板４９上に、前記結合装置１の被吸着具２５を配
するとともに、前記底片４０の上片４２からはみ出すは
み出し部に、信号送受装置３６の発信器ＯＰ１を設けて
いる。As shown in the lower part of FIG. 1, the coupling power supply 23 includes a bottom piece 40, a standing piece 41 rising at the rear edge thereof,
A mounting bracket 4 having an upper piece 42 projecting forward at its upper end.
The power supply fittings 46 of the power transmitting device 34 are attached to both sides of the power transmitting device 3, and the to-be-adsorbed tool 25 of the coupling device 1 is arranged on a mounting plate 49 at the upper end of a vertical piece 41 which is notched in the center together with the upper piece 42. The transmitter OP1 of the signal transmitting / receiving device 36 is provided at the protruding portion protruding from the upper piece 42 of the bottom piece 40.
【００２９】前記被吸着具２５は、中心に中央磁極５３
を立ち上げかつ周囲に中央磁極５３と同高の側磁極５４
を有する角形椀状の磁性容器の円筒内部にコイル５５を
巻装したソレノイドＳを用いており、コイル５５は、前
記制御装置ＣＴを介して、電池Ｂに接続される。又制御
装置ＣＴは、結合、解除が必要となるとき、適宜、正負
の極性を入れ換え、電池ＢによってソレノイドＳを励磁
しかつ励磁をオフできる。The device 25 to be attracted has a central magnetic pole 53 at the center.
And the side magnetic poles 54 around the same height as the central magnetic pole 53
A solenoid S in which a coil 55 is wound inside a cylinder of a rectangular bowl-shaped magnetic container having the following is used. The coil 55 is connected to the battery B via the control device CT. Further, when it is necessary to combine and release the control device CT, the polarity of the positive and negative polarities can be switched appropriately, and the solenoid B can be excited by the battery B and the excitation can be turned off.
【００３０】又前記結合受電具２１は、図１上方に示す
ように、前記アーム２２の先端に設けた調整具３２の水
平かつ横長の垂直な取付板３３の中央に結合装置１の前
記吸着具２０を、かつ両側に送電装置３４の集電具３
５、３５を設け、さらに取付板３５から突出する突片
に、送受信装置３６の受信器ＯＰ２を設けている。As shown in the upper part of FIG. 1, the coupling power receiving device 21 is provided at the center of a horizontal and horizontally long vertical mounting plate 33 of an adjusting device 32 provided at the tip of the arm 22. 20 and the current collector 3 of the power transmission device 34 on both sides.
5 and 35, and a receiver OP2 of the transmitting / receiving device 36 is provided on a protruding piece protruding from the mounting plate 35.
【００３１】他方、前記吸着具２０は、永久磁石Ｍを用
いており、前記取付板３３に固定される軟鉄のような磁
性材からなる固定金具５６の水平な張出し片５７の下面
に固定される。永久磁石Ｍは、図２に例示するごとく、
中央の円板状の磁石片Ｍ１と、この磁石片Ｍ１を空隙ｇ
を有して囲む円環状の磁石片Ｍ２とからなる。本例で
は、磁石片Ｍ１の下面は例えばＮ極、磁石片Ｍ２の下面
はＳ極に帯磁し、磁石片Ｍ１、Ｍ２は前記張出し片５７
とともに磁路の一部を形成する。On the other hand, the attracting tool 20 uses a permanent magnet M and is fixed to the lower surface of a horizontal projecting piece 57 of a fixing metal member 56 made of a magnetic material such as soft iron fixed to the mounting plate 33. . The permanent magnet M is, as exemplified in FIG.
A center disk-shaped magnet piece M1 and a gap g
And a ring-shaped magnet piece M2 that surrounds and has. In this example, the lower surface of the magnet piece M1 is magnetized to, for example, the N pole, the lower surface of the magnet piece M2 is magnetized to the S pole, and the magnet pieces M1 and M2 are
Together, they form a part of a magnetic path.
【００３２】又前記結合受電具２１の前記調整具３２
は、前記アーム２２に固定されるＬ字板の水平片に取付
けた横方向移動用、即ち搬送車２の移動方向と直交する
向きの調整を行う直線軸受６５と、そのスライド片に固
定され前記移動方向の向きで調整する直線軸受６６と、
そのスライド片に固定するＴ字板の垂直片に設けられた
上下動用の直線軸受６７を有し、この直線軸受６７のス
ライド片に前記取付板３３を固定している。又直線軸受
６５、６６には、各スライド片を基準となる中間位置で
ある初期状態に保つ交差したバネなどの図示しない中立
位置保持用の付勢手段を設ける。又取付板３３は、補助
バネ６９によって、前記被吸着具２５と離れる初期状態
で待機している。The adjusting tool 32 of the combined power receiving tool 21
Is a linear bearing 65 for horizontal movement attached to a horizontal piece of an L-shaped plate fixed to the arm 22 for adjusting the direction orthogonal to the moving direction of the carrier 2, and the linear bearing 65 fixed to the slide piece. A linear bearing 66 that adjusts in the direction of movement,
It has a linear bearing 67 for vertical movement provided on a vertical piece of a T-shaped plate fixed to the slide piece, and the mounting plate 33 is fixed to the slide piece of the linear bearing 67. The linear bearings 65 and 66 are provided with a biasing means (not shown) for maintaining a neutral position, such as a crossed spring, which keeps each slide piece in an initial state which is an intermediate position as a reference. Further, the mounting plate 33 is in a standby state in an initial state in which the mounting plate 33 is separated from the suction target device 25 by the auxiliary spring 69.
【００３３】なお搬送車２が、基準位置にある移動枠４
に接近し、被吸着具２５が吸着具２０の下方に近づいた
ときには、被吸着具２５と吸着具２０とは、前記永久磁
石Ｍは、その磁力によって、ソレノイドＳに通電しない
とき、その中央磁極５３、側磁極５４を吸着して下降
し、従って結合に際して両者が衝合する危険がある。It should be noted that the transport vehicle 2 is moved from the moving frame 4 at the reference position.
When the to-be-adsorbed device 25 approaches the lower side of the attraction device 20, the at least one of the to-be-attached device 25 and the attraction device 20 causes the permanent magnet M to have its central magnetic pole when the solenoid S is not energized by its magnetic force. 53, the side magnetic pole 54 is attracted and descends, so that there is a danger that both will abut upon joining.
【００３４】従って搬送車２が移動枠４に近づくときに
は、予め記憶した情報などにより結合装置１の被吸着具
２５のソレノイドＳに、前記吸着具２０の磁力と反発す
る一方向の向きに通電することにより吸着具２０を離間
させる。このような離間させた状態で搬送車２は、その
被吸着具２５を吸着具２０下方に位置させて停車する。
これにより、進入に際して、被吸着具２５と吸着具２０
との前記した衝合を防ぐ。Therefore, when the transport vehicle 2 approaches the moving frame 4, the solenoid S of the to-be-adsorbed tool 25 of the coupling device 1 is energized in one direction repelled by the magnetic force of the attraction tool 20 based on information stored in advance. Thus, the suction device 20 is separated. In such a separated state, the transport vehicle 2 stops with the to-be-adsorbed device 25 positioned below the attraction device 20.
Thereby, when entering, the suction target 25 and the suction
To prevent the aforementioned conflict.
【００３５】又停止後にソレノイドＳへの通電をオフす
る。これにより吸着具２０は、ソレノイドＳの磁極５
３、５４を吸着し、両者は結合する。After stopping, the power supply to the solenoid S is turned off. As a result, the suction tool 20 is moved to the magnetic pole 5 of the solenoid S.
3, 54 are adsorbed and both are bonded.
【００３６】なお吸着に際して、吸着具２０、被吸着具
２５間に存在する位置ズレは、前記調整具３２の前記直
線軸受６５、６６によって吸収し、磁路エネルギーを最
小とする位置で結合する。At the time of the suction, the positional deviation existing between the suction tool 20 and the suction tool 25 is absorbed by the linear bearings 65 and 66 of the adjustment tool 32, and is coupled at a position where the magnetic path energy is minimized.
【００３７】これにより、吸着具２０は最下端まで下降
し、被吸着具２５と吸着具２０とは芯合わせされ、結合
される。As a result, the suction device 20 descends to the lowermost end, and the device 25 and the suction device 20 are aligned and connected.
【００３８】又ソレノイドＳには、永久磁石Ｍの磁力を
強める逆向きに通電し、結合力を増大できる。又結合を
解除するときには、前記のごとく一方向の向きにソレノ
イドＳに通電する。The solenoid S is energized in the opposite direction to increase the magnetic force of the permanent magnet M, so that the coupling force can be increased. When the connection is released, the solenoid S is energized in one direction as described above.
【００３９】又送電装置３４は、結合によって、その給
電具４６から集電具３５に給電でき、移動枠４の前記駆
動部１７を駆動でき荷支持具１９を昇降させうる。さら
に信号送受装置３６の送信器ＯＰ１が受信器ＯＰ２に正
しく信号を送信でき、荷支持具９の昇降とともにその傾
き動作など各部の動作を制御し、所定の棚７との間で荷
物Ｗを受け渡しできる。The power transmitting device 34 can supply power to the current collecting device 35 from the power feeding device 46 by coupling, and can drive the driving unit 17 of the moving frame 4 to move the load supporting device 19 up and down. Further, the transmitter OP1 of the signal transmitting / receiving device 36 can correctly transmit the signal to the receiver OP2, and controls the operation of each part such as the tilting operation of the load support 9 as well as the lifting and lowering thereof, and transfers the package W to and from the predetermined shelf 7. it can.
【００４０】なお前記給電具４６は、図１に示すよう
に、前記取付金具４３の上片４２に設ける孔部に遊挿さ
れかつ上片４２下面の支持具７１と、立片４１から突出
する支持片７２とで絶縁支持されたピン状の電極７３を
具える。又電極７３の上部フランジ７４と前記支持片７
２との間のバネ７５によって上向きに付勢され、前記上
片４２から突出している。As shown in FIG. 1, the power supply tool 46 is loosely inserted into a hole provided in the upper piece 42 of the mounting bracket 43 and protrudes from the support 71 on the lower surface of the upper piece 42 and the standing piece 41. A pin-shaped electrode 73 insulated and supported by the support piece 72 is provided. The upper flange 74 of the electrode 73 and the support piece 7
2 and is urged upward by a spring 75 between the upper piece 42 and the upper piece 42.
【００４１】なお２つの給電具４６、４６の各電極７
３、７３には、搬送車２の電池の正極、負極が適宜接続
され、又上片４２の上面には電極７３の周囲に絶縁板７
６を設けている。Each electrode 7 of the two power supply tools 46, 46
The positive electrode and the negative electrode of the battery of the transport vehicle 2 are appropriately connected to 3 and 73, and the insulating plate 7 is provided around the electrode 73 on the upper surface of the upper piece 42.
6 are provided.
【００４２】他方、集電具３５は、前記取付板３３から
突出する水平な張出し片７７の下面に、その孔部周囲で
固定されるフランジを有しかつ下方を小筒部とししかも
絶縁材を用いたサポート７９と、このサポート７９に挿
着されるピン部分の下端に平板状の押部９０を設けた電
極９１を具える。又ピン部は上端にロックナットを設け
かつ前記サポート７９の小筒部に外挿したバネ９２によ
って下向きに付勢している。On the other hand, the current collector 35 has a flange fixed around the hole on the lower surface of the horizontal projecting piece 77 projecting from the mounting plate 33, and has a small cylindrical portion at the lower part, and an insulating material. It has a support 79 used and an electrode 91 provided with a flat pressing portion 90 at the lower end of a pin portion inserted into the support 79. The pin portion is provided with a lock nut at the upper end and is urged downward by a spring 92 externally inserted into the small cylinder portion of the support 79.
【００４３】従って、前記結合装置１の結合とともに、
図３に示すごとく、電極７３、９１が押圧、接触し、送
電しうる。Therefore, together with the coupling of the coupling device 1,
As shown in FIG. 3, the electrodes 73 and 91 can be pressed and contacted to transmit power.
【００４４】なお前記信号送受装置３６は、本例では、
光電送装置を用いており、前記送信器ＯＰ１として発光
器、受信器ＯＰ２として受光器を用い、所定の電気信号
を光信号（赤外線等）に変換し、非接触にて半二重若し
くは全二重での通信が可能である。In the present embodiment, the signal transmitting / receiving device 36
A photoelectric transmission device is used. A light emitting device is used as the transmitter OP1 and a light receiving device is used as the receiver OP2. It is possible to perform heavy communication.
【００４５】このように本発明の結合装置１は、強固に
位置ズレなく搬送車２と移動枠４とを結合できる。As described above, the coupling device 1 of the present invention can couple the transport vehicle 2 and the moving frame 4 firmly without any displacement.
【００４６】又搬送車２、移動枠４は、前記実施例のも
のに限定されることなく、搬送車２として有人のもの、
又移動枠４として自在に移動可能な荷置き用のパレット
状としたものなどのものも利用できる。さらに被吸着具
２５、吸着具２０を上下逆に取付けることもできる。又
前記調整具３２の直線軸受６５、６６を省略することも
でき、又上下動用の直線軸受６７にかえて、例えば直線
軸受を用いない軸とこの軸に遊嵌する案内筒とからなる
昇降具の他、バネ片のたわみによって昇降させる昇降
具、さらには周知のリンク機構などを用いる昇降具な
ど、種々変形しうる。The carrier 2 and the moving frame 4 are not limited to those of the above-described embodiment, but may be manned as the carrier 2,
Further, the movable frame 4 may be a pallet for loading which can be freely moved. Furthermore, the to-be-sucked device 25 and the attraction device 20 can be mounted upside down. In addition, the linear bearings 65 and 66 of the adjusting tool 32 can be omitted, and instead of the linear bearing 67 for vertical movement, for example, a lifting / lowering tool including a shaft not using a linear bearing and a guide cylinder loosely fitted on the shaft. In addition to the above, various modifications can be made, such as an elevating device that moves up and down by bending of a spring piece, and an elevating device that uses a well-known link mechanism.
【００４７】[0047]
【発明の効果】このように、本発明の結合装置は、ソレ
ノイドを用いた被吸着具と、永久磁石を用いた吸着具と
からなるため、ソレノイドへの通電のオン、オフによっ
て結合を係脱でき、操作性を高めるとともに、離脱時の
みソレノイドに通電するため、ソレノイドへの通電時間
を減じ、発熱を抑制しうるとともに、通電時間を減じて
下電流の通電も可能となることにより、小型化も図りう
る。As described above, since the coupling device of the present invention is composed of the attracting device using the solenoid and the attracting device using the permanent magnet, the coupling is disengaged by turning on and off the energization of the solenoid. Power supply to the solenoid only when it is disengaged.This reduces the time required to energize the solenoid, thereby reducing heat generation . You can also plan.
【図１】本発明の一実施例を示す斜視図である。FIG. 1 is a perspective view showing an embodiment of the present invention.
【図２】被吸着具、吸着具を例示する断面図である。FIG. 2 is a cross-sectional view illustrating a device to be suctioned and a suction device.
【図３】結合した状態を例示する断面図である。FIG. 3 is a cross-sectional view illustrating a combined state.
【図４】本発明の結合装置が採用される荷役装置を例示
する正面図である。FIG. 4 is a front view illustrating a cargo handling apparatus to which the coupling device of the present invention is applied;
【図５】搬送車を例示する正面図である。FIG. 5 is a front view illustrating a transport vehicle.
【図６】搬送車を例示する側面図である。FIG. 6 is a side view illustrating a transport vehicle.
２ 搬送車 ４、４Ａ、４Ｂ 移動枠 ２０ 吸着具 ２１ 結合受電具 ２３ 結合給電具 ２５ 吸着具 ３２ 調整具 ５３ 中央磁極 Ｍ 永久磁石 Ｓ ソレノイド 2 Carrier 4, 4A, 4B Moving frame 20 Suction tool 21 Coupling receiving tool 23 Coupling feeding tool 25 Suction tool 32 Adjustment tool 53 Central magnetic pole M Permanent magnet S Solenoid
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 ＦＩ Ｈ０１Ｒ 13/639 Ｈ０１Ｒ 13/639 Ａ (58)調査した分野(Int.Cl.6，ＤＢ名) B65G 1/04 531 B61B 13/00 B61D 47/00 G05D 1/02 H01R 13/629 H01R 13/639──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 6 identification symbol FI H01R 13/639 H01R 13/639 A (58) Field surveyed (Int.Cl. 6 , DB name) B65G 1/04 531 B61B 13 / 00 B61D 47/00 G05D 1/02 H01R 13/629 H01R 13/639
Claims (1)
前記搬送車によって前記移動枠を移動可能とする結合装
置であって、前記搬送車と移動枠との一方に設けたソレ
ノイドを用いた被吸着具と、他方に配された永久磁石を
用いた吸着具とからなり、かつ被吸着具と吸着具とを互
いに接離可能とするとともに、前記ソレノイドの一方向
の通電により被吸着具から前記吸着具を離間させ、かつ
ソレノイドへの通電の遮断によって被吸着具と吸着具と
を吸着させることを特徴とする結合装置。1. A coupling device for connecting a carrier and a moving frame to move the moving frame by the carrier, wherein a solenoid provided on one of the carrier and the moving frame is used. And a suction tool using a permanent magnet disposed on the other side. The suction tool and the suction tool can be separated from and separated from each other, and the suction tool is energized in one direction by the solenoid. A coupling device, wherein the suction device is separated from the suction device, and the device to be suctioned and the suction device are sucked by shutting off the power supply to the solenoid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3320991A JP2849498B2 (en) | 1991-11-08 | 1991-11-08 | Coupling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3320991A JP2849498B2 (en) | 1991-11-08 | 1991-11-08 | Coupling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05134746A JPH05134746A (en) | 1993-06-01 |
| JP2849498B2 true JP2849498B2 (en) | 1999-01-20 |
Family
ID=18127566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3320991A Expired - Lifetime JP2849498B2 (en) | 1991-11-08 | 1991-11-08 | Coupling device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2849498B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102486580B1 (en) * | 2018-05-10 | 2023-01-10 | 세메스 주식회사 | Overhead Hoist Transport Vehicle |
-
1991
- 1991-11-08 JP JP3320991A patent/JP2849498B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05134746A (en) | 1993-06-01 |
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