JPH05134746A - Coupling device - Google Patents
Coupling deviceInfo
- Publication number
- JPH05134746A JPH05134746A JP3320991A JP32099191A JPH05134746A JP H05134746 A JPH05134746 A JP H05134746A JP 3320991 A JP3320991 A JP 3320991A JP 32099191 A JP32099191 A JP 32099191A JP H05134746 A JPH05134746 A JP H05134746A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- solenoid
- moving frame
- piece
- coupling
- 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.)
- Granted
Links
- 230000008878 coupling Effects 0.000 title claims abstract description 34
- 238000010168 coupling process Methods 0.000 title claims abstract description 34
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 34
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000006698 induction Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000020169 heat generation Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000005674 electromagnetic induction 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
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
Landscapes
- Platform Screen Doors And Railroad Systems (AREA)
- Warehouses Or Storage Devices (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
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 that is capable of coupling an unmanned transport vehicle with a moving frame provided in, for example, a transfer device.
【０００２】[0002]
【従来の技術】本出願人は、特願平２ー９８８３５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. 2-98835, the present applicant enters and exits between an unmanned carrier 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 apparatus 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 machine that manages 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。In the flow rack 3, a carry-in port I and a carry-out port O formed by front and rear surfaces thereof are respectively traversed to carry a cargo W on a shelf 7 having a predetermined height.
There are provided a moving frame 4A which is a loading machine to be loaded on the rack 7 and a moving frame 4B which is a loading machine which takes out the luggage W from the shelf 7, and the transport vehicle 2 passes through the moving frames 4A and 4B.
Put baggage 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 joined to the transport vehicle 2 by the joining device 1 so that the moving frame 4 is moved.
Power and information for raising and lowering the luggage are supplied from the transport vehicle 2 to A and 4B, and the luggage W is delivered. In addition, moving frames 4A, 4B
When coupled, the carriage 2 traverses a predetermined position along the flow rack 3 by the movement of the transport vehicle 2 and delivers the load on the shelf 7 of a 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
The conventional unmanned loading and unloading device, compared to the case where each of the unmanned transfer vehicle for transferring the load and the stacker crane for transferring the load is provided with an electric motor, a power source, a control device, etc. for movement, Since the moving frame is moved and controlled by an automated 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 proposed cargo handling apparatus C, the moving frames 4A and 4B are moved by the carrier vehicle 2, and the power and information are transferred between the carrier vehicle 2 and the moving frames 4A and 4B. Since transmission and reception are performed, it is necessary that the bonding strength be large, that there be no relative movement or deviation during movement, and that the alignment 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 purpose of connection, it is conceivable to use, for example, a locking piece such as a pin that can be retracted and retracted. In the above proposal, however, there is a positional shift after the connection due to the pin fitting, backlash, etc. In order to prevent this, a coupling device including an attracting tool having a solenoid and an attracting tool made of a magnetic piece such as a soft iron piece directly attracted 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３のものにあっては、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 the positional deviation after the coupling, the backlash, and the like, and to prevent the slip even when the rapid acceleration / deceleration such as starting and stopping is performed, it is necessary that It is necessary to use a large solenoid to increase the attraction force. As a result, a large current is required to excite the solenoid, and heat generation and temperature rise of the coil are likely to occur. In particular, as in the above-described cargo handling device C, the exciter 3 is provided by the battery mounted on the transport vehicle 2. Therefore, 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。It is an object of the present invention to provide a coupling device which can save power on the basis of using a permanent magnet for an adsorption 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。SUMMARY OF THE INVENTION The present invention is a coupling device for moving a movable frame by means of the carrier by combining the carrier with a movable frame. One of the attraction target using a solenoid provided on one side and the attraction tool using a permanent magnet disposed on the other, and the attraction target and the attraction tool can be contacted and separated from each other, and It is a coupling device characterized in that the suction tool is separated from the suction tool by energization in one direction, and the suction tool and the suction tool are suctioned 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 the attracting tool using the solenoid and the attracting tool using the permanent magnet, the coupling can be engaged and disengaged by turning on and off the power supply to the solenoid, thereby improving the 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 as the attraction tool, the magnetic force of this permanent magnet attracts the magnetic pole of the solenoid,
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, when attracting and separating the attracted tool from the attracted tool, the solenoid of the attracted tool is oriented in one direction that repels the magnetic force of the permanent magnet of the attracting tool and generates a magnetic force that separates the attractable tool. Energize.
【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。In this way, when the solenoid is connected, it is necessary to keep the attracted tool and the suction tool relatively separated from each other in order to avoid collision of the suction tool, and the connection is released. It suffices 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。During the coupling, it is possible to energize the solenoid in the opposite direction to increase the coupling force, that is, in the direction in which the magnetic force of the permanent magnet is strengthened. Since it is supplemented, it is possible to save electric power as compared with the case of using a conventional soft iron piece or the like.
【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 in the 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 carrier 2 with the moving frame 4A for loading and the moving frame 4B for loading and unloading provided at the carry-in port I and the carry-out port 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 horizontal guides 10 and 11 above and below the framework of the flow rack 3 whose upper end is inclined forward at the carry-in port I side. The flow rack 3 is provided with a shelf 7 using a roller conveyor that inclines the carry-in port I side upward so that the load W can be slid and the load W carried in from the moving frame 4A due to the locking claws 12 appearing and moving. 4B automatically carry 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 structure, 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 provided with a vertically long machine frame 13 that travels along the guides 10 and 11, the load supporting tool 9, a guide (not shown) for guiding the load supporting tool 9 and preventing swinging, and a load supporting tool. It comprises a vertical screw shaft 14 that is screwed into the screw shaft 9, and a drive unit 17 having a motor 15 that rotates the screw shaft 14. The load support 9 is composed of 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 supported by the rotation of the screw shaft 14 in the horizontal state. By being able to move up and down and tilting, the luggage W can be delivered to and from the shelf 7.
【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。Further, the machine frame 13 is further provided with a coupling power receiving tool 21 having the suction tool 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。This combined power receiving device 21 has a suction device 20.
However, it is coupled to the attracted tool 25 of the combined power supply tool 23 provided on the transport vehicle 2, and this attracted tool 25 constitutes the coupling device 1 according to the present invention together with the attracting tool 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 transport vehicle 2 has a guide line buried in the traveling route, an electromagnetic induction system capable of traveling by detecting the magnetic field generated by the guide line, and traveling by detecting a magnetic induction band intermittently attached to the floor surface. Various well-known induction methods such as a magnetic induction method or an optical induction method using a reflection tape can be adopted. Alternatively, an autonomous navigation system may be used in which the traveling distance of the vehicle and a gyro are combined. In this example,
Steering motors (not shown) are arranged on all the wheels 26, and each of them forms an omnidirectional mobile vehicle which is configured to be continuously rotatable by 360 degrees and movable 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, eight non-contact obstacles. A non-contact type obstacle detection device 29 capable of detecting a distance, a distance measuring device 30 provided with two pieces on each side surface of the vehicle body for measuring the distance between the vehicle body and the reference wall surface, and an upper surface of the vehicle body. A fork 31, which is provided on the
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。Further, the above-mentioned combined power supply tool 23 is provided in the central part and the upper part on the front side of the vehicle body, and a battery B and a control device CT for controlling traveling, cargo handling and moving frame 4 are arranged. The fork 31 is the gap G provided in the load support 9.
The load W can be transferred to and from the load support 9 by being inserted into 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 example, the distance measuring devices 30 ... Measure the distances between the vehicle body and the reference wall surfaces (not shown) provided in several places in the traveling route of the transport vehicle 2 in advance, and the transport vehicle 2 automatically travels. For example, an optical distance measuring sensor, an ultrasonic sensor, or the like is used that can measure reference data when performing.
【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 combined power feeder 23 includes a bottom piece 40 and a standing piece 41 that rises at its rear edge.
Mounting bracket 4 having an upper piece 42 projecting forward at its upper end
3, the power supply metal fittings 46, 46 of the power transmission device 34 are attached to both sides of the power transmission device 34, and the attracted members 25 of the coupling device 1 are arranged on the attachment plate 49 at the upper end of the standing piece 41 which is cut out at 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 attracted member 25 has a central magnetic pole 53 at the center.
And a side magnetic pole 54 having the same height as the central magnetic pole 53
A solenoid S having a coil 55 wound inside a cylinder of a rectangular bowl-shaped magnetic container having is used. The coil 55 is connected to the battery B via the control device CT. Further, the control device CT can switch positive and negative polarities as appropriate to excite the solenoid S and turn off the excitation by the battery B when coupling and releasing are required.
【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。Further, as shown in the upper part of FIG. 1, the combined power receiving device 21 is provided with a suction device of the connecting device 1 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 are provided, and the receiver OP2 of the transmission / reception device 36 is provided on the projecting 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 overhanging piece 57 of a fixing member 56 made of a magnetic material such as soft iron and fixed to the mounting plate 33. .. The permanent magnet M is, as illustrated in FIG.
A central disk-shaped magnet piece M1 and a gap g between the magnet piece M1
And a ring-shaped magnet piece M2 that surrounds and surrounds. In this example, the lower surface of the magnet piece M1 is magnetized to, for example, the N pole, and the lower surface of the magnet piece M2 is magnetized to the S pole, and the magnet pieces M1 and M2 are magnetized to the overhanging piece 57.
Together, it forms part of the 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。Further, the adjusting tool 32 of the combined power receiving tool 21.
Is a linear bearing 65 mounted on a horizontal piece of an L-shaped plate fixed to the arm 22 for lateral movement, that is, for adjusting the direction orthogonal to the moving direction of the transport vehicle 2 and fixed to the slide piece. A linear bearing 66 that is adjusted in the direction of movement,
The vertical piece of the T-shaped plate fixed to the slide piece has a linear bearing 67 for vertical movement, and the mounting plate 33 is fixed to the slide piece of the linear bearing 67. Further, the linear bearings 65 and 66 are provided with urging means (not shown) for holding the neutral position, such as intersecting springs for keeping each slide piece in an initial state which is an intermediate position serving as a reference. Further, the mounting plate 33 is on standby by an auxiliary spring 69 in an initial state in which it is separated from the sucked tool 25.
【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。The transport vehicle 2 has a moving frame 4 at the reference position.
When the to-be-adsorbed tool 25 approaches the lower side of the to-be-adsorbed tool 20, the to-be-adsorbed tool 25 and the to-be-adsorbed tool 20 have a central magnetic pole when the permanent magnet M does not energize the solenoid S due to its magnetic force. 53 and the side magnetic pole 54 are adsorbed and descend, and therefore there is a risk that they will collide with each other when they are connected.
【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 attracting tool 25 of the coupling device 1 is energized in one direction which is repulsive to the magnetic force of the attracting tool 20 according to previously stored information. As a result, the suction tool 20 is separated. In such a separated state, the transport vehicle 2 stops with the to-be-adsorbed tool 25 positioned below the suction tool 20.
Thereby, when entering, the to-be-adsorbed tool 25 and the to-be-adsorbed tool 20
Prevent the aforementioned conflict with.
【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 moves the magnetic pole 5 of the solenoid S.
Adsorbs 3, 54 and binds them.
【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。During 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 adjusting tool 32, and the magnetic path energy is coupled at the minimum position.
【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 tool 20 descends to the lowermost end, and the suction tool 25 and the suction tool 20 are aligned and joined.
【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。Further, the solenoid S can be energized in the opposite direction to strengthen the magnetic force of the permanent magnet M to increase the coupling force. 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。Further, the power transmitting device 34 can feed power from the power feeding device 46 to the current collecting device 35 by coupling, can drive the driving unit 17 of the moving frame 4, and can move the load supporting device 19 up and down. Further, the transmitter OP1 of the signal transmission / reception device 36 can correctly transmit a signal to the receiver OP2, controls the operations of the respective parts such as the tilting movement of the load support tool 9 as well as the operation 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 tool 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. Also, the upper flange 74 of the electrode 73 and the supporting piece 7
It is urged upward by a spring 75 between the two and projects from 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
A positive electrode and a negative electrode of the battery of the transport vehicle 2 are appropriately connected to the terminals 3 and 73, and an insulating plate 7 is provided around the electrode 73 on the upper surface of the upper piece 42.
6 is 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 to the periphery of the hole on the lower surface of the horizontal projecting piece 77 projecting from the mounting plate 33, and the lower part thereof is a small cylinder part and is made of an insulating material. The support 79 used is provided with an electrode 91 provided with a flat plate-shaped pressing portion 90 at the lower end of the pin portion inserted into the support 79. Further, the pin portion is provided with a lock nut at the upper end and is urged downward by a spring 92 externally inserted in the small tubular 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, when the coupling device 1 is coupled,
As shown in FIG. 3, the electrodes 73 and 91 can press and contact 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。The signal transmission / reception device 36 is, in this example,
An optical transmitter is used, a light emitter is used as the transmitter OP1 and a light receiver is used as the receiver OP2, and a predetermined electric signal is converted into an optical signal (infrared ray or the like), and half-duplex or full-duplex is used without contact. Heavy communication is possible.
【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 firmly couple the transport vehicle 2 and the moving frame 4 without positional deviation.
【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。Further, the transport vehicle 2 and the moving frame 4 are not limited to those in the above-mentioned embodiment, but those which are manned as the transport vehicle 2,
Further, as the moving frame 4, a movable pallet-like one for placing a load can be used. Further, the to-be-adsorbed tool 25 and the to-be-adsorbed tool 20 can be mounted upside down. Further, the linear bearings 65 and 66 of the adjusting tool 32 may be omitted, and instead of the linear bearing 67 for vertical movement, for example, an elevating tool comprising a shaft not using the linear bearing and a guide tube loosely fitted to this shaft. In addition to the above, an elevating tool that is moved up and down by the bending of a spring piece, and an elevating tool that uses a well-known link mechanism can be variously modified.
【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、小型傾斜も図り
うる。As described above, since the coupling device of the present invention comprises the attracted tool using the solenoid and the attracting tool using the permanent magnet, the coupling is disengaged by turning the solenoid on and off. In addition to improving the operability and energizing the solenoid only when it is disengaged, the energization time to the solenoid can be reduced, heat generation can be suppressed, and the energization time can be reduced to allow energization of a lower current. It can be planned.
【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 suction target tool and a suction tool.
【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 device in which the coupling device of the present invention is adopted.
【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 Transport vehicles 4, 4A, 4B Moving frame 20 Adsorption tool 21 Combined power receiving tool 23 Combined power supply tool 25 Adsorption tool 32 Adjusting tool 53 Central magnetic pole M Permanent magnet S Solenoid
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 moving a moving frame by means of the carrying vehicle by connecting the carrying vehicle and the moving frame, wherein a solenoid provided on one of the carrying vehicle and the moving frame is used. The attracting tool and the attracting tool using a permanent magnet arranged on the other side, and the attracting tool and the attracting tool can be contacted and separated from each other, and the attracted tool is energized in one direction by the solenoid. The coupling device is characterized in that the suction tool is separated from the suction tool and the suction tool and the suction tool are suctioned 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 true JPH05134746A (en) | 1993-06-01 |
| JP2849498B2 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) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20190129190A (en) * | 2018-05-10 | 2019-11-20 | 세메스 주식회사 | Overhead Hoist Transport Vehicle |
-
1991
- 1991-11-08 JP JP3320991A patent/JP2849498B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20190129190A (en) * | 2018-05-10 | 2019-11-20 | 세메스 주식회사 | Overhead Hoist Transport Vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2849498B2 (en) | 1999-01-20 |
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