JP2000118624A - Cargo transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To restrain increase in overall width of a fork even when a guide member to guide wiring to supply electricity to electrical equipment installed on an upper fork from an electric power source arranged on a fixed side in a load transfer device of a side picking type. SOLUTION: An electric actuator 49 is arranged on an upper part of an upper fork 36, and a lever 53 is projectively provided on its revolving part 52. A connector of a wiring of electrical equipment installed on the upper fork 36 is fixed on the upper fork 36. Wiring 60 to connect an electric power source arranged on the fixed side and the connector to each other is arranged between a lower fork and the upper fork 36 through a chain type guide member 61 to guide so that it moves within a vertical flat surface in parallel with the reciprocally moving direction of the upper fork 36. The guide member 61 is arranged so that at least one part of it is positioned above the upper fork 36. The guide member 61 is arranged in a state to be in parallel with the lever 53 arranged at a refuging position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load transfer device which is used by being mounted on a stacker crane, an automatic guided vehicle, or the like, and more particularly, to a transfer device which moves back and forth along a side of a load portion. The present invention relates to a load transfer device that transfers a load to a load on a load storage section via a lever that is engaged at a rear end in a transfer direction of the load when the member is moved.

[0002]

2. Description of the Related Art Japanese Unexamined Patent Publications Nos. Hei 6-345214 and Hei 7-101508 disclose that a load is horizontally transferred between a load supporting portion such as a shelf configured to place a load on a support plate. A load support table to be loaded, an outgoing / retracting moving member located on the side of the load transfer path between the load supporting table and the load supporting portion, and front and rear pivotally supported at both front and rear ends of the outgoing and moving member. 2. Description of the Related Art There has been proposed a load transfer device having a pair of load pull-in / push-out arms (hereinafter, referred to as a side picking type load transfer device). In this load transfer device, the load pulling-in / out arm is engaged with the rear end in the load transfer direction, and the load is slid on the support plate and the load supporting portion to transfer the load.

In the driving configuration of the arm disclosed in Japanese Patent Application Laid-Open No. Hei 6-345214, the arm is attached to the outer ends of a pair of front and rear rotating shafts supported in the reciprocating member so as to be integrally rotatable. A bevel gear is fixed to the inner end of the. Both bevel gears are engaged with a bevel gear connected to a swing lever via a support shaft. The swing lever is connected to a transmission cable such as a chain disposed along the moving member, and the driven member connected to the transmission cable so as to be integrally movable is moved via a rack and a pinion. It is being moved. When a pair of left and right moving members are provided, a pair of the pinions are attached to a common drive shaft driven by a motor via a gear, and the left and right arms are driven in conjunction with each other. .

In an arm driving structure disclosed in Japanese Patent Application Laid-Open No. 7-101508, an arm is fixed to both ends of a pair of left and right rotation shafts so as to be integrally rotatable, and a wire rope hung between the two rotation shafts is provided. It is wound around a plurality of guide wheels supported by the retreating member and a number of guide wheels for adjusting the path length. Then, the left and right arms are rotated in conjunction with each other.

[0005]

The load transfer device of the side picking type is different from the load transfer device of the type in which a load is supported on the upper surface of a fork. It is not necessary to secure a space for lifting each load, and the storage efficiency of shelves is improved. However, the conventional side picking type load transfer device has a complicated structure for driving an arm for pulling and pressing a load, and also requires a retracting / retracting member to secure the strength of a moving member for supporting the same. The width of the moving member increases. As a result, it is necessary to secure a wide space for the reciprocating movement member to reciprocate on the side of the load, and there is a problem that it is difficult to increase the storage efficiency of the load. Also, the whole load transfer device becomes heavy,
When mounted on the carriage of the stacker crane, there is a problem that the power consumption for raising and lowering the carriage is increased.

In order to solve the above problems, the applicant of the present application has
In a side picking type load transfer device, an arm (lever) for pulling and pressing a load is pivotally disposed between an operation position and a retreat position by a motor disposed on an upper fork of an egress and retraction member. I thought. In this case, wiring (harness) for supplying electricity to the motor from a power supply disposed on the fixed side and wiring for electrically connecting a sensor and a control device mounted on the upper fork are provided.
It is necessary to guide the reciprocating movement of the moving member and the transfer of the load without any trouble. A chain-shaped guide member is known as a guide member for guiding wiring provided between a fixed side and a movable body. Because this guide member is wide,
Simply disposing them in parallel with the upper fork increases the width of the moving member so that the width required for transferring the load is increased. As a result, it becomes difficult to reduce the width of the shelf of the automatic warehouse.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to reduce the overall width of a guide rail and a retreating member as compared with a conventional device, and to dispose it on a fixed side. Provided is a side picking-type load transfer device that can suppress an increase in the overall width even when a guide member that guides a wiring for electrically connecting a power supply provided to an electric device mounted on an upper fork is provided. It is in.

[0008]

In order to achieve the above object, according to the first aspect of the present invention, there is provided a loading portion on which a load is placed, and a loading portion provided on the loading portion and having a plurality of loading portions. A guide rail extending along the transfer direction of the load, a retractable moving member movable along the guide rail, and a reciprocating movement of the retractable member between a standby position and an advanced position. Retraction drive means, provided at both ends in the transfer direction of the reciprocating member, capable of engaging with the load on the loading portion at the rear end in the reciprocating direction when the reciprocating member moves. A loading and unloading device comprising a lever rotatably disposed between an operating position and an unengageable evacuation position, wherein the lever is rotatably mounted on an upper fork constituting the egress and retraction member. An actuator is provided and mounted on the upper fork The connector for the wiring of the pneumatic device is fixed to the upper fork, and the wiring connecting the power supply and the connector arranged on the fixed side is connected to a vertical plane parallel to the reciprocating direction of the upper fork with the reciprocating movement of the upper fork. Disposed between the guide rail and the upper fork via a chain-shaped guide member for guiding movement within the vehicle, and the guide member is disposed such that at least a part thereof is located above the upper fork. did.

According to a second aspect of the present invention, in the first aspect of the present invention, the guide member is arranged in a state in which the lever is arranged at a retracted position extending vertically.

According to a third aspect of the present invention, in the second aspect of the present invention, the electric actuator is disposed such that an axis of a rotating portion thereof extends along a longitudinal direction of the upper fork. The lever is fixed to the rotating portion of the electric actuator so as to be integrally rotatable. When the lever is arranged at the retracted position, its center in the width direction is inside the load transfer device with respect to the center of the electric actuator. It is formed so as to be located at a position deviated from the above.

According to a fourth aspect of the present invention, in the invention of any one of the first to third aspects, the guide rail and the retractable moving member are provided as a pair of right and left members, and the retractable drive means is provided. Drives a pair of left and right moving members in conjunction with each other.

According to the first aspect of the present invention, when the load on the loading section is transferred to another loading section, the retracting drive means is operated with the lever disposed at the operating position. You. When the retraction drive means is actuated, the retraction member moves along the guide rail, the lever engages the load at the rear end in the transfer direction, and the load is pushed out from the load portion. And is transferred to another mounting part. After the upper fork has moved to the predetermined advance position, the lever is located at the retracted position. next,
The retraction driving means is operated, and the retraction member returns to the standby position. When transferring a load on another loading portion to the loading portion, the retracting drive means is operated in a state where the lever is disposed at the retracted position. Then, after the moving member moves to the advanced position, the lever is arranged at the operating position. Next, the retracting drive means is operated to move the retracting member toward the standby position. During this movement, the lever moves with the load engaged,
The load is transferred onto the load receiver. The lever is rotated by an electric actuator disposed on an upper part of the upper fork. The wiring for electrically connecting the electric equipment mounted on the upper fork and the power supply disposed on the fixed side of the load transfer device is provided between the guide rail and the upper fork together with the chain-like guide member. The fork reciprocates and moves in a vertical plane parallel to the reciprocating direction of the upper fork. Since the guide member is arranged so that at least a part thereof is located above the upper fork, the entire width of the guide rail and the retreating member can be reduced.

According to the second aspect of the present invention, the first aspect is provided.
In the invention described in (1), since the guide member is arranged in a state in which the guide member is arranged alongside the lever in a retracted position extending vertically, the width of the space in which the guide member is arranged in the vertical direction is adjusted by the rotation of the lever. It can be less than the width that allows movement.

According to a third aspect of the present invention, in the first or second aspect of the present invention, a part of the guide member can be disposed above the electric actuator, and the guide member and the extension / retraction member can be disposed. The overall width can be made smaller.

According to a fourth aspect of the present invention, in the invention of any one of the first to third aspects, the guide rail and the retractable moving member are provided as a pair of left and right members, and the retractable drive means is provided. As a result, the pair of left and right moving members are driven in an interlocked state.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment in which the present invention is embodied in a load transfer device mounted on a stacker crane of an automatic warehouse will be described below with reference to FIGS.

As shown in FIG. 2A, the automatic warehouse 1 is provided with a pair of left and right frame shelves 2a and 2b arranged to face each other. As shown in FIG. 2B, the frame shelves 2a, 2a
In b, a large number of storage portions 3 are provided at predetermined intervals in a continuous direction (left-right direction in FIG. 2B) and a step direction (up-down direction in FIG. 2B). Each storage unit 3 includes a support post 4 and a shelf plate 5 disposed therebetween, and the shelf plate 5 is formed to have a length that allows a plurality of loads W to be placed. In addition, at the front end (left end in FIG. 2A) of the frame shelves 2a and 2b, an entrance 6 and an exit 7 are provided. A belt conveyor is used as the entrance 6.

A passage 8 between the frame shelves 2a and 2b of the automatic warehouse 1
, A rail 9 is laid, and a stacker crane 10 is provided on the rail 9 so as to be able to run. The stacker crane 10 includes a pair of masts 1 erected on a traveling platform 11.
A fork device 14 is provided as a load transfer device that suspends the carriage 13 between the two so as to be able to move up and down, and is capable of moving back and forth on the carriage 13 in the left-right direction (vertical direction in FIG. A traveling motor 15 for traveling the stacker crane 10 and an elevating motor 16 for elevating the carriage 13 are arranged on the traveling platform 11. A crane controller 17 for controlling the driving of both motors 15 and 16 is provided on the lower front surface of the front mast 12. Then, the stacker crane 10 stops at a position corresponding to the end of the entrance 6 (belt conveyor), and transfers the load W onto the fork device 14 from the end of the stopped belt conveyor.

Next, the fork device 14 will be described. FIG. 3 is a partially cutaway schematic view of the fork device 14 as viewed from the frame shelf 2b side, and FIG. 4 is a partially omitted side view as viewed from the left side of FIG.
FIG. 5 is a schematic sectional view taken along line VV in FIG. The fork device 14 is fixed on the carriage 13 at a base portion 18. As shown in FIG. 5, the base portion 18 includes a pair of support members 19 arranged in a state orthogonal to the load transfer direction (the vertical direction in FIG. 5), and a loading portion fixed to both support members 19. 20. At both ends of the loading section 20, sensors S1 and S2 for detecting a load on the storage section 3, the entrance 6 or the exit 7 are attached. Both ends of the loading section 20 are formed so as to be inclined downward toward the end.

As shown in FIG. 5, lower forks 21 and 2 as a pair of left and right guide rails are provided between the two support members 19.
2 is fixed in a state orthogonal to the support member 19, that is, in a state extending along the load transfer direction. Both lower forks 21, 22 are formed of a plate material. Both lower forks 2
Support plates 23 and 24 are fixed to the inside of the first and second 22 via a spacer 25. Both lower forks 21 and 2
A rotation shaft 26 that penetrates the support plates 23 and 24 is rotatably supported between substantially the center portions of the two.

A motor M for fork retraction is fixed inside the support plate 23 so that its output shaft extends in a direction perpendicular to the load transfer direction, and a drive gear 28 (see FIGS. 3 and 4) is attached to the output shaft. (Shown) is fixed so as to be integrally rotatable. Between the lower fork 21 and the support plate 23, a pair of pinions 29a, 29b are disposed at the same height above the drive gear 28, and the intermediate gear 30 is provided on both the pinions 29a, 29b.
The rotation of the drive gear 28 is transmitted via the. One pinion 29a is supported by the rotating shaft 26 so as to be able to rotate integrally.

Between the lower fork 22 and the support plate 24, an intermediate gear 31 is rotatably supported via a support shaft at a position symmetrical to the intermediate gear 30. Above the intermediate gear 31, the intermediate gear 3 is positioned symmetrically with the pinions 29a and 29b.
A pair of pinions 32a, 32b is arranged in a state of meshing with the pinion. One of the pinions 32a is supported by the rotating shaft 26 so as to be integrally rotatable.

As shown in FIG. 3 and FIG. 6, middle forks 33, 34 constituting a reciprocating member are reciprocated inside the lower forks 21, 22 in the load transfer direction with respect to the lower forks 21, 22. It is movably supported. Inside the middle forks 33, 34, upper forks 35, 36 constituting the retreating member are provided.
Are supported so as to be able to reciprocate in the load transfer direction.
The lower forks 21 and 22, the middle forks 33 and 34, and the upper forks 35 and 36 are formed symmetrically with respect to a vertical plane passing through the center of the loading section 20 and parallel to the load transfer direction. Hereinafter, since the left and right sides have the same configuration, the configuration on the left side will be described.

As shown in FIG. 6, the middle fork 33 is constituted by a support rail formed in a crank shape, and has a lower fork 2 via a linear joint 37 at an upper portion.
1 is supported so as to be relatively movable. Upper fork 3
Reference numeral 5 denotes a lower part of the middle fork 33 which is supported by the middle fork 33 via a linear joint 38 so as to be relatively movable. Rolling guides (ball sliders) are used as the linear motion joints 37 and 38. In this embodiment, a slide rail unit in which a support rail and a rail-shaped ball slider as a linear motion joint are unitized is used, and the support rail is used as a middle fork 33.

As shown in FIGS. 3 and 6, the lower fork 21 is connected to a linear motion joint 37 via a block 39 fixed to the upper end thereof. Upper fork 35
Is formed in a substantially inverted L-shaped cross section, and is connected to a linear motion joint 38 via a block 40 in a state where the hanging piece is located above the support plate 23. Middle fork 33
The rack 4 meshing with the pinions 29a and 29b
1 extends along the middle fork 33 via a bracket 42. The rack 41 is a pinion 29a, 29
b, and always moves in the rotation direction of the pinion 29a and the like by the drive of the motor M.

As shown in FIG. 4, sprockets 43 and 44 are rotatably supported at both upper ends of the middle fork 33 so as to be positioned in a vertical plane parallel to the middle fork 33. The sprocket 43 is located at the left end of the middle fork 33, that is, the lower fork 2 in FIG.
The sprocket 44 is provided at a position corresponding to the left end of the first fork 1, and at a position corresponding to the right end of the lower fork 21 in FIG. Sprockets 43 and 44 are linear motion joints 3.
7 is rotatably supported by a spindle screwed to the same.

As shown in FIG. 4, a support piece 45 is fixed to one of the blocks 39 fixed to the center of the lower fork 21 and to the left in the center of FIG. 4, and the support piece 45 is wound around a sprocket 44. One end of the chain 46 is connected. A support piece 47 is fixed to the other block 39 fixed to the center right of the lower fork 21, and one end of a chain 48 wound around the sprocket 43 is connected to the support piece 47.

One of the blocks 40 fixed to the left end of the upper fork 35 in FIG.
(Shown in FIG. 6) is fixed, and the other end of the chain 46 wound around the sprocket 44 is connected to the bracket 40a. The other block 40 fixed to the right end of the upper fork 35 in FIG.
6 (shown in FIG. 6) is fixed, and the other end of the chain 48 wound around the sprocket 43 is connected to the bracket 40b.

The motor M, drive gear 28, intermediate gear 30,
31, pinions 29a, 29b, 32a, 32b, rack 41, sprockets 43, 44 and chains 46, 4
8 constitutes a retracting drive means for reciprocating the retractable member between the standby position and the advanced position. When the middle forks 33 and 34 move to the left in FIG.
5 and 36 are moved leftward in FIG. Sprocket 4
4 are upper forks 35, 36 via a chain 46 when the middle forks 33, 34 move rightward in FIG.
Is moved rightward in FIG.

As shown in FIGS. 1, 3 and 4, above the upper fork 35, electric actuators 49, 50 are provided.
Are provided so as to extend along the longitudinal direction of the upper fork 35. Electric actuator 49,5
Reference numeral 0 denotes a state in which the base ends face each other.
1 and supported on the upper fork 35. Motors are used for the electric actuators 49 and 50. Lever 53, 54 is supported at the tip of rotating part 52 of electric actuator 49, 50 so as to be integrally rotatable. The levers 53 and 54 are pivotally disposed at an operation position where the upper fork 35 can be engaged with the load W on the load portion 20 at the rear end in the transfer direction and a retractable position where the upper fork 35 cannot be engaged. You. In this embodiment, as shown in FIG.
The position where the levers 53 and 54 extend vertically upward is the retreat position, and the position where the levers 53 and 54 extend substantially horizontally toward the loading section 20 is the action position. When the levers 53 and 54 are disposed at the retracted position, the center in the width direction of the levers 53 and 54 is aligned with the center of the electric actuators 49 and 50.
4 are formed inwardly.

The rotating portion 52 is formed in a cylindrical shape, and a fan-shaped detected portion 55 is protruded from a substantially central portion in the longitudinal direction so as to extend in the circumferential direction. As shown in FIGS. 1 and 4, the detected portion 55 is provided on the upper fork 35.
Sensors S3 to S6 are provided at positions corresponding to the brackets 56,
57 (only shown in FIG. 4).
Proximity sensors are used for the sensors S3 to S6. The sensors S3 and S5 disposed on the lower side detect the detection target 55 in a state where the levers 53 and 54 are disposed at the retracted positions, and the sensors S4 and S6 disposed on the upper side are operated by the levers 53 and 54. It is disposed at a position for detecting the detection target 55 in the state where it is disposed at the position.

Further, sensors S7 and S8 for confirming that the upper forks 35 and 36 do not interfere with obstacles when the upper fork 35 moves to the advanced position are fixed to lower ends of both ends of the upper fork 35. I have. Sensor S
In S7 and S8, a beam sensor is used. When an obstacle is present nearer than a predetermined distance, a detection signal is output, and when the detection signal is output, the driving of the motor M is stopped.

As shown in FIG. 4, the upper fork 35 is provided with electric actuators 49 and 50 as electric equipment mounted on the upper fork 35, and connectors (not shown) for the lead wires of the sensors S3 to S8. A connector 58 to be connected is attached. Power is supplied to the electric actuators 49 and 50 and the sensors S3 to S8 via lead wires connected to the connector 58.

A power supply and control device (not shown) provided on the carriage 13 as a fixed side (hereinafter, referred to as a power supply and the like) and a wiring 60 (only a part is shown) for connecting the connector 58 are chain-shaped. It is arranged between the lower fork 21 and the upper fork 35 via a guide member 61. A plurality (three in this embodiment) of brackets 62 extending above the electric actuators 49 and 50 are fixed to the upper part of the lower fork 21, and a support member 63 is supported on the upper part. As shown in FIGS. 1 and 3, the support member 63 has a substantially U-shaped cross section, and is disposed so as to extend horizontally over substantially the entire length of the lower fork 21.

A support bracket 64 is fixed to one end of the upper fork 35 so as to extend upward. As shown in FIGS. 1 and 3, the support bracket 64
Is a support portion 64 formed so as to bend and cover an upper part of the electric actuators 49 and 50.
a and a mounting portion 64b extending horizontally at the upper end thereof. The column portion 64a is formed such that the distal end extends slightly above the distal ends of the levers 53 and 54 disposed at the retracted position. The guide member 61 has a fixed end 61a fixed to the end of the support member 63, and a movable end 61b fixed to the mounting portion 64b with a bolt and a nut, respectively. The guide member 61 is arranged to move in a vertical plane parallel to the reciprocating direction of the upper fork 35 with the reciprocating movement of the upper fork 35. FIG. 1 shows a state viewed from the fixed end 61a side of the guide member 61, that is, a state viewed from the opposite side to FIG.

The guide member 61 is disposed so that at least a part thereof is located above the upper forks 35 and 36. In this embodiment, the guide member 61 is arranged in a state where the guide members 61 are aligned with the levers 53 and 54 arranged in the retracted position. The guide member 61 is disposed so that a part thereof is located above the electric actuators 49 and 50.

The fixed end 61a of the guide member 61 is supplied from a power source or the like.
The wiring 60 guided to the position is guided to a position corresponding to the mounting portion 64 b of the support bracket 64 via the guide member 61. Wiring 6 guided to a position corresponding to mounting portion 64b
Numeral 0 is guided to the upper surface of the upper fork 35 along the support portion 64a, and also to the connector 58 along the upper surface, and is connected to the connector 58. In the middle of the bracket 62 for guiding the wiring 60 and the support portion 64a, the wiring 6
A clamp 65 for fixing 0 is provided.

Next, the operation of the apparatus configured as described above will be described by taking as an example a case where the load W is stored in the storage section 3 of the right frame shelf 2b from the storage opening 6. Stacker crane 1
In the case of 0, the traveling motor 15 is driven by a command from the crane controller 17, travels along the rail 9, and then stops at a position corresponding to the entrance 6. The lifting motor 16 is driven by a command from the crane controller 17, and the carriage 13 stops at a position corresponding to the entrance 6. The carriage 13 stops at a position where the upper surface of the loading section 20 is at the same height as the upper surface of the entrance 6 (belt conveyor).

The crane controller 17 confirms from the output signal from a sensor (not shown) that there is no load W on the loading section 20 and that the load W exists at the entrance 6 based on the output signal from the sensor S2. Then, the motor M is driven. By driving the motor M, each pinion 29a, 29
b, 32a, 32b are rotated in the same direction, and both middle forks 33, 34 move rightward in FIG.

When the sprocket 44 moves together with the middle forks 33 and 34, one end of the chain 46 wound around the sprocket 44
2, the sprocket 44 moves while rotating counterclockwise in FIG. As a result, the upper forks 35, 36 supported by the middle forks 33, 34 via the linear joint 38 and connected to the other end of the chain 46 move the middle forks 33, 34 in the moving direction of the sprocket 44. Move twice.

Then, as shown in FIG. 7, when the upper forks 35, 36 reach the advanced position, the driving of the motor M is stopped, and the upper forks 35, 36 stop at the predetermined advanced position. If there is an obstacle at a position that interferes with the upper forks 35, 36, a detection signal is output from the sensor S8 during the movement of the upper forks 35, 36 and the middle forks 33, 34, and the driving of the motor M is stopped. The upper forks 35 and 36 are stopped during the movement.

After the upper forks 35, 36 have stopped at the predetermined advance positions, both electric actuators 49, 50 are driven, and the levers 53, 54 are arranged at the operation positions.
The drive of the electric actuators 49 and 50 is stopped when the ON signals are output from the sensors S4 and S6. Next, the motor M is driven to rotate in the opposite direction to the above, and the pinions 29a, 29b, 32a, 32b are rotated in the counterclockwise direction in FIG. Then, the middle forks 33, 34 are moved leftward in FIG. 4 together with the rack 41, and the upper forks 35, 36 are moved in the same direction.
Move twice as long as

Since the levers 53 and 54 are located at the operation positions, the lever 54 engages with the rear end in the transfer direction of the load W during the movement of the upper forks 35 and 36, so that the upper forks 35 and 36 move. Accordingly, the load W is moved toward the loading section 20. When the upper forks 35, 36 and the middle forks 33, 34 reach the standby position and the detection signal is output from a sensor (not shown), the driving of the motor M is stopped, and the upper forks 35, 36 and the middle forks 33, 34 Stop at the standby position. Thus, the transfer operation of the load W from the entrance 6 to the loader 20 is completed.

Next, the traveling motor 15 and the elevating motor 16 are driven, the stacker crane 10 travels to a position corresponding to the storage unit 3 in which the load W is to be stored, and the carriage 13 stops at a position corresponding to the storage unit 3. . Then, the crane controller 17 confirms that there is no load W in the storage section 3 based on the output signal of the sensor S2, and then loads the load W to the storage section 3.
Start transfer work. First, the motor M is driven to move the upper forks 35 and 36 and the middle forks 33 and 34 to the predetermined advance positions in the same manner as described above. Since the levers 53 and 54 remain in the operation position, the lever 53 engages with the rear end in the transfer direction of the load W during the movement of the upper forks 35 and 36, and the load is moved with the movement of the upper forks 35 and 36. W is moved toward the storage unit 3. Then, after the upper forks 35, 36 have moved to the advanced positions, the electric actuators 49, 50 are driven and stopped when the sensors S3, S5 output an ON signal, and the levers 53, 54 are moved to the retracted positions. Be placed.
Next, the motor M is driven to return the middle forks 33 and 34 and the upper forks 35 and 36 to the standby position. Then, one cycle of the operation of transferring the load W from the load storage unit 20 to the shelf 5 of the storage unit 3 is completed.

The same operation is performed when the load W is taken out from the storage section 3 of the right frame shelf 2b and stored in the other storage section 3 on the right side. On the other hand, the load W is placed on the left frame shelf 2a.
When storing the goods W and when unloading the load W from the outlet 7,
Middle forks 33, 34 and upper forks 35, 3
When 6 moves to the advanced position, it is moved toward the left side of FIG. Therefore, when the crane controller 17
Is rotated in the opposite direction to that described above, and the same control is performed in the other cases.

This embodiment has the following effects. (1) Wiring 60 for supplying electricity from a power source or the like on the carriage 13 side to electric devices (electric actuators 49 and 50, sensors S3 to S8, etc.) mounted on the upper forks 35 and 36 reciprocates between the upper forks 35 and 36. It moves while being guided by the chain-shaped guide member 61 with the movement. Therefore, when the upper forks 35, 36 are moved, there is no danger that the wiring hangs down from the upper forks 35, 36 or protrudes inside.
6 is smoothly reciprocated.

(2) The guide member 61 moves in a vertical plane parallel to the reciprocating movement direction of the upper forks 35 and 36, and at least a part of the guide member 61 is moved upward.
It is arranged so that it may be located above 5,36. Accordingly, the guide member 61 is disposed in a dead space, and the overall width of the lower forks 21 and 22, the middle forks 33 and 34, and the upper forks 35 and 36 can be reduced. The intervals between the loads W to be stored can be narrowed, and the required storage space as a whole can be narrowed.

(3) The guide member 61 is arranged side by side with the levers 53 and 54 which are arranged at the retracted position extending vertically. Therefore, the vertical width of the space in which the guide member 61 is arranged can be reduced.

(4) The electric actuators 49 and 50 are disposed so that the axis of the rotating portion 52 extends along the longitudinal direction of the upper forks 35 and 36, and the levers 53 and 5 are provided.
4 is formed such that its center in the width direction is deviated to the inside of the fork device 14 with respect to the centers of the electric actuators 49 and 50 in the state where it is disposed at the retracted position. Therefore, the overall width of the lower forks 21 and 22, the middle forks 33 and 34, and the upper forks 35 and 36 can be further reduced.

(5) The levers 53, 54 are directly rotated by electric actuators 49, 50 disposed above the upper forks 35, 36 so as to extend along the longitudinal direction thereof. The mechanism for rotating and disposing the pivot between the retracted position and the operation position is simplified. As a result, the number of parts of the rotating mechanism of the levers 53 and 54 is reduced, so that the number of assembling steps is reduced, the space required for disposing the rotating mechanism can be reduced, and the dead space in the storage section 3 can be reduced. it can. Further, the weight is reduced, and the power consumption of the motor M and the like can be reduced.

(6) A pair of left and right middle forks 33 and 34 and upper forks 35 and 36 are provided, and the upper forks 35 and 36 are moved in an interlocked state.
The load W is moved while being engaged with the pair of left and right levers 53 and 54. Therefore, the load W can be reliably transferred even if the lengths of the levers 53 and 54 are shorter than the configuration in which the lever is provided on one side.

(7) Electric actuators 49, 50 mounted on the upper forks 35, 36 and the sensors S3 to S3
S8 is connected to the connector 58 attached to the upper forks 35, 36 via a lead wire (wiring). Therefore, those lead wires are not affected by the movement of the upper forks 35 and 36, and the wiring work is facilitated.

The embodiment is not limited to the above, and may be embodied as follows, for example. A motor having a general rod-shaped drive shaft or a rotary solenoid or the like is used as the electric actuators 49 and 50. Also in these cases, levers 53 and 5
4 is directly rotated by the rotation actuator,
The structure becomes simple.

The control device may also serve as a power supply. The moving member, that is, the middle forks 33 and 34 and the upper forks 35 and 36 may be provided only in one of them. In this case, the load W is transferred even if the lever is on only one side by lengthening the lever.

Instead of a structure in which the lever located on the rear side in the transfer direction of the load W and the lever located on the front side are simultaneously rotated, only the lever located on the rear side in the transfer direction of the load W is replaced with a lever. It is configured to rotate to the operating position. In this case, compared to a configuration in which all levers are driven at the same time, the levers 53, 53
The power consumption for driving 54 is reduced.

The operation position of the levers 53 and 54 is not limited to the position extending to the horizontal position, but may be a position extending obliquely downward or obliquely upward toward the load portion 20. The present invention may be applied to a type of stacker crane in which a plurality of (for example, two) fork devices 14 are provided on the carriage 13.

A block-shaped slider is used as the linear motion joints 37 and 38 instead of the rail-shaped slider. ○ Lower forks 21 and 22, middle forks 33 and 3
4 and a structure in which the distance between the upper forks 35 and 36 can be changed, that is, the lower forks 21 and 22 are disposed so as to be movable in a direction orthogonal to the support member 19, and are supported by a driving mechanism such as a ball screw mechanism or a chain. The position on the member 19 can be changed.

The structure for supporting the middle forks 33, 34 and the upper forks 35, 36 movably along the longitudinal direction with respect to the lower forks 21, 22 and the drive mechanism thereof may be appropriately changed. For example, the mechanism for driving the upper forks 35, 36 so that the amount of movement of the middle forks 33, 34 is greater than the amount of movement of the middle forks 33, 34 may be a combination of a rack and a pinion instead of a combination of a chain and a sprocket.

A loading table for loading the load of a self-propelled trolley equipped with a forklift or a load transfer device may be used instead of the belt conveyor as the entrance 6. Instead of mounting the fork device 14 on the stacker crane 10, the fork device 14 may be mounted on a self-propelled bogie traveling on a passage other than the passage of the automatic warehouse. For example, a self-propelled trolley that carries in the load W to the entrance 6 or a self-propelled trolley that carries out the load W from the exit 7 is provided.

The inventions (technical ideas) other than those described in the claims that can be grasped from the above embodiments will be described below together with their effects. (1) Claim 1 to Claim 4 on a vertically movable carriage.
A stacker crane provided with the load transfer device according to any one of the above. In this case, the width of the moving member of the load transfer device mounted on the stacker crane can be reduced, and the storage efficiency of the automatic warehouse can be increased.

(2) An automatic warehouse equipped with the stacker crane according to (1). In this case, the storage efficiency of the automatic warehouse can be improved.

[0062]

As described in detail above, claims 1 to 4 are provided.
According to the invention described in (1), the entire width of the guide rail and the retractable moving member can be made smaller than that of the conventional device, and the power supply disposed on the fixed side and the electric equipment mounted on the upper fork are electrically connected. Even if a guide member that guides the wiring to be electrically connected is provided, it is possible to suppress the overall width from expanding.

According to the second aspect of the present invention, it is possible to reduce the vertical interval between shelves on which loads are placed. Claim 3
According to the invention described in (1), the entire widths of the guide rail and the retractable moving member can be further reduced.

According to the fourth aspect of the present invention, the load is moved while being engaged with the pair of left and right levers, and the load is reduced even if the length of the lever is shorter than the configuration in which the lever is provided on one side. Can be transferred reliably.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a support state of a guide member according to an embodiment.

2A is a schematic plan view of an automatic warehouse, and FIG. 2B is a schematic side view.

FIG. 3 is a partially cutaway schematic front view of the load transfer device.

FIG. 4 is a schematic side view of the load transfer device.

FIG. 5 is a partially omitted cross-sectional view taken along line VV of FIG. 3;

FIG. 6 is a sectional view showing a support state of a middle fork and an upper fork.

FIG. 7 is a schematic side view showing a state where a fork is extended.

[Explanation of symbols]

Reference numeral 13: a carriage as a fixed side; 14, a fork device as a load transfer device; 20, a loading portion; 21, 22, a lower fork as a guide rail; 29a, 29b, 3
2a, 32b... Pinions constituting the drive mechanism
3, 34 ... middle fork as a moving member
5, 36: upper fork, 41: rack constituting the drive means, 43, 44: sprocket,
46, 48: the same chain, 49, 50: the electric actuator, 52: rotating part, 53, 54: the lever, 60:
Wiring, 61: guide member, M: motor constituting the retracting drive means, W: load.

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Mitsutaka Shibaki 2-1-1 Toyota-cho, Kariya-shi, Aichi F-term in Toyota Industries Corporation (reference) 3F022 FF01 JJ09 KK01 KK14 KK15 LL07 MM01 MM17

Claims (4)

[Claims] 1. A loading section on which a load is placed, a guide rail provided on the loading section and extending along a direction in which the load is transferred to the loading section, and a guide rail extending along the guide rail. Moving members movable in and out, moving means for reciprocating the moving members between a standby position and a moving position, and both ends in the transfer direction of the moving members. A lever rotatably arranged between an operating position at which the load on the loading portion can be engaged with the load on the loading portion at the rear end in the loading direction and a retractable position at which the load-unloading member is not engageable. An electric actuator for rotating the lever is disposed on an upper part of an upper fork constituting the moving member,
A connector for wiring of electric equipment mounted on the upper fork is fixed to the upper fork, and a wire connecting the power supply provided on the fixed side and the connector is reciprocated with the reciprocation of the upper fork. The guide member is disposed between the guide rail and the upper fork via a chain-like guide member for guiding the movable member in a vertical plane parallel to the moving direction, and the guide member is at least partially disposed above the upper fork. A load transfer device arranged to be located at. 2. The load transfer device according to claim 1, wherein the guide member is arranged in a state in which the guide member is arranged at a retracted position extending vertically and is aligned with the lever. 3. The electric actuator is disposed such that the axis of the rotating portion extends along the longitudinal direction of the upper fork, and the lever is fixed to the rotating portion of the electric actuator so as to be integrally rotatable. 3. The lever according to claim 2, wherein the lever is formed such that a center in a width direction thereof is biased inward of the load transfer device with respect to a center of the electric actuator when the lever is disposed at the retracted position. A load transfer device as described. 4. The device according to claim 1, wherein the guide rail and the retreating member are provided as a pair of left and right members, and the retraction driving means drives the pair of left and right retraction members in conjunction with each other. A load transfer device according to the item.