JP3409255B2 - Loading / unloading device and transport trolley using the same - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a carrying-in / carrying-out device used for carrying out a conveyed product to a storage rack and conversely carrying out a conveyed product from the storage rack, and a carrier truck using the same.
In particular, the present invention relates to a loading / unloading device which is mechanically and automatically improved, and a carrier truck using the same.

[0002]

2. Description of the Related Art Speaking of transportation of a transported object by a carrier, for example, a rail is laid in a hospital or the like, and a carrier that carries the transported object on the rail is run to carry the object. Is transported to a predetermined station, it is necessary to transfer the transported product to a predetermined position of a predetermined storage rack in the station.

[0003] At the time of transfer, at the station concerned, the transported article is manually taken out and stored in the storage rack, and conversely, the transported article is manually removed from the storage rack,
It can be transferred by loading it into a carrier truck.

However, for this purpose, at least one person must be attached to the station at all times, which means that a person is always stationed at the destination, which causes a rise in personnel costs and is realistic. I can't respond.

Therefore, conventionally, when a carrier truck reaches a station or the like, the carrier article can be automatically carried out at the station, or conversely, the carrier article can be automatically carried into the carrier truck from the station. Ingenuity is elaborated in order to do.

For this reason, when the carriage arrives at the station and is carried in and out, the goods to be conveyed are electrically caught by using electric power, for example, an electromagnetic valve, to automatically carry out these operations. It is being done.

In another form, it is performed by controlling the pressure of the spring to catch the containment vessel, and conversely, when the catch state is released, the pressure of the spring is released at a predetermined position. Is being performed by.

[0008]

However, in the case of automatically loading and unloading a conveyed object as described above, the electromagnetic valve may fail when the former electric power is used.
Further, since the solenoid valve is used, it is necessary to carry out electrical wiring, and the length of the cable expands and contracts as the arm moves, which makes the processing of the cable troublesome.

When the latter spring is used, its structure is complicated, and since the tray or the like for holding the conveyed goods is held by the pressure of the spring, when an external force is applied during the conveyance, the external force and the spring are not in contact with each other. Due to the pressure, there was a problem that the holding state was released.

In terms of the above points, the same problem exists not only in the case where the storage container in which the goods are stored by the carrier truck is transferred between the stations but also when the storage container is generally carried in and out by the carry-in / carry-out device. To do.

[0011]

The present invention provides at least a configuration of a loading / unloading device for solving the above problems.
The U-shaped telescopic fixing part and the opposite side of the telescopic fixing part
A pair of telescopic moving parts on the sides of the
Knit and the catching unit is attached to the tip.
A loading and unloading apparatus for loading and unloading the conveyed objects stored in the storage container by movable telescopic part which is Attach, each <br/> catching unit comprises a main body block, said body Bro
Key that is rotatably and vertically arranged on the rack via the main shaft.
The matching lever and control block, and the main body
And a lock pin that is arranged so as to project from the block,
The catching lever contacts the receiving container and receives it.
Kicking is biased so that the stable position in the neutral line passing through the rotatable and main spindle about said spindle by the action force
And the control block is
The lock pin rotates in tandem with the rotation of the ching lever.
To project or retreat to separate the cap from the neutral line.
The rotation of Tchingureba blocking or releasing to those configured to perform control of the opening and holding of the containment vessel.

Further, as a constitution of a carrier truck using a carry-in / carry-out device for solving the above problems, at least a U-shape
-Shaped telescopic fixing part and opposite sides of the telescopic fixing part
A pair of telescopic moving parts installed on the
And the catching unit is attached to the tip.
A transport carriage having a transfer unit for loading and unloading the conveyed objects stored in the storage container by movable telescopic part which is Attach, each catching unit of the transfer unit, the main body Bro
And the main body block rotatably via the main shaft and
Upper and lower catching levers and control knobs
The lock and the lock provided on the body block so that they can project.
And a catch pin, and the catching lever is
Is biased so as to be stable position disposed at the neutral line of the action force through the rotatable and the main shaft about said main shaft for receiving the pay container abuts, said control Bro
The lock rotates in conjunction with the rotation of the catching lever, and the lock pin is projected or retracted to move the neutral line.
The rotation of the catching lever is blocked at
To release and control the holding and opening of the storage container
It is composed .

[0013] carrying out device according to the present invention, more than provided in catching unit mounted above the movable telescopic part of the loading and unloading device has catching lever and the con <br/> Control block, housing the conveyed object It is possible to automatically hold or open the storage container by utilizing the acting force that abuts on the storage container and receives when the storage container is put in or taken out.

Further, the carrier truck using the carry-in / carry-out device according to the present invention is equipped with a catching unit attached to the end of the telescopic movable part, and the catching lever and the control block provided in this catching unit are When the storage container for storing the conveyed items is taken in and out, the storage container can be automatically held or opened by utilizing the acting force that abuts on the storage container and receives the storage container. It is possible to hold the container and automatically release this holding state when the conveyed product is carried out.

Further, in the case of a carrier truck, the main body block is
By providing a lock pin that protrudes and retracts from the rack , it does not hold with a spring etc. while the transport vehicle is running, but it projects
Since the lock pin prevents the chucking lever from rotating and holds the storage container in a form that does not depend on elasticity, it can be held safely even if an unexpected external force is applied to the storage container during traveling. it can.

In the case of a carrier truck, a power cable or the like to a catching unit when the telescopic movable portion is extended from the carrier truck to a storage shelf to store a transported object as in the conventional case is housed in the carrier truck. There is no need, and the weight of the carriage can be reduced.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a carry-in / carry-out device according to the present invention and a carrier vehicle using the carry-in / carry-out device will be described with reference to the drawings. FIG. 1 is an overall configuration diagram schematically showing one embodiment of the present invention.

The carry-in / carry-out device 10 includes a telescopic fixing unit 1.
1, the rotating shafts 12 and 13, the telescopic movable portions 14 and 15, the catching units 16 and 17, the storage container 18, the telescopic motor 19, and the like.

The telescopic fixing portion 11 has a concave portion 23 formed in a U shape with respect to the base portion 20 and surrounded by the arm portions 21 and 22, and in the concave portion 23, the base portion 2 is formed.
Rotating shaft 26 having pulleys 24 and 25 at both ends along the direction 0
Is provided.

Further, belts 27 and 28 are hung on the pulleys 24 and 25 along the arm portions 21 and 22, and are connected to the belts 27 and 28 to expand and contract in the direction of the arm portions 21 and 22 to store the containers. Well-known telescopic movable parts 14 and 15 which can transfer 18 are provided.

At the tips of the telescoping movable parts 14 and 15, there are provided holding parts 29 and 30 which are surrounded by the telescopic movable parts 14 and 15 and which hold the storage container 18 for storing the conveyed goods.

In addition, release portions 31 and 32 for releasing the state in which the storage container 18 is held by the holding portions 29 and 30 are arranged near the respective tip portions of the arm portions 21 and 22, and the holding portions are held. The catching units 16 and 17 are constituted by 29 and 30 and the releasing portions 31 and 32, respectively.

The bevel gear 3 provided on a part of the movable shaft 12 arranged along the base portion 20 is provided on the base portion 20.
A telescopic motor 1 that has a bevel gear 33 screwed to 2 fixed to one end and rotates the movable shaft 13 in a direction perpendicular to the movable shaft 12.
9 are provided.

In the above structure, the telescopic motor 19
When is rotated, this rotation rotates the movable shaft 13, and this rotation is converted into a vertical direction by the bevel gear 33 and the bevel gear 32 to rotate the movable shaft 12.

By rotating the movable shaft 12, the pulleys 24, 25 fixed to both ends of the rotating shaft 12 are rotated, and the belts 27, 28 are rotated accordingly, and then the belts 27, 28 are coupled. Telescoping movable part 14,
15 is expanded and contracted, and the storage container 18 is transferred.

Upon this transfer, the catching unit 1 automatically holds and releases the storage container 18.
6, 17 but these catching units 1
The configurations and operations of Nos. 6 and 17 will be described below.

Since the catching unit 16 and the catching unit 17 have basically the same structure except that they are symmetrical, the catching unit 16 will be described as a base in the following description.

Holding portion 29 of catching unit 16
2, the main body block 35, the catching lever 36, the turning pin 37, the catching lever pins 38 and 39, the control block 40, the control block pins 41 and 42, the lock pin 43, the setup spring 44, and the main body neutral. Spring 45,
It is composed of a main shaft 46 and a spring 47, which is inserted in the lock pin 43 (not shown).

In the main body block 35, as shown in FIGS. 2 and 3, one end of a substantially rectangular block portion 35A is integrally extended from the block portion 35A so that a central portion is a space and a horizontal portion is formed at upper and lower ends. A pair of L-shaped comb-shaped portions 35B and 35C, which are unfolded in the direction and seen from a plane, are formed.

The telescopic movable portion 1 is provided in the block portion 35A.
4, screw holes 35D to 35G for fixing at the tip end portion of 4 are provided at four corners, and in FIG.
In the vicinity of the right-hand end of C, an insertion hole 3 into which the spindle 46 is inserted
5H and 35I are drilled.

Further, a screw hole 35J for fixing the catching lever pin 39 for locking one end of the main body neutral spring 45 is screwed in the vicinity of the left end of the comb-shaped portion 35B, as shown in FIG. In the insertion hole 35H
Insertion hole 35 for inserting the lock pin 43 at a position displaced in the direction of the block portion 35A from the line connecting the screw hole 35J with the screw hole 35J.
K is drilled.

Further, one end of the control block pin 41 is fixed near the insertion hole 35I at the position of the comb-shaped portion 35C corresponding to the line connecting the insertion hole 35H of the comb-shaped portion 35B and the screw hole 35J. The screw hole 35L is screwed.

As shown in FIG. 4, the control block 40 has an insertion hole 46 into which the main shaft 46 is inserted in the central portion.
A is bored, and a linear portion 46B is formed with a predetermined length at a predetermined distance from the insertion hole 46A.

Approximately the center of the straight portion 46B and the insertion hole 46
One end of the straight line portion 46B is connected to one end of the straight line portion 46B on a virtual line G connecting the line A and on the opposite side of the straight line portion 46B from the insertion hole 46A to form a curved line. A curved portion 46C that is drawn is formed.

The other end of the curved portion 46C is located on the imaginary line G, and one end is connected to the other end so that the insertion hole 46
A straight line portion 46D having a length of a predetermined distance is formed on the virtual line G that is farther from A.

The other end of the straight line portion 46D and the other end of the straight line portion 46B are generally curved portions 4 centered on the insertion hole 46A.
6E, and a linear portion 46F is formed from the vicinity of the other end of the linear portion 46D toward the vicinity of the curved portion 46E side of the connection point between the other end of the linear portion 46B and the curved portion 46E, A region on the side opposite to the insertion hole 46A with respect to the straight line portion 46F is a cutout portion 46G.

The notch portion 46G is composed of a flat portion 46H, a taper portion 46I, and a locking portion 46J formed therebetween, and is vertically separated by a separation line 46K at approximately the center of the straight portion 46F. Straight part 46B side is flat part 46H
The taper portion 46I is formed on the opposite side.

Since the tapered portion 46I is formed to have a slightly smaller radius than the flat portion 46H with respect to the insertion hole 46A, the step 4 is formed between the flat portion 46H and the tapered portion 46I.
6L is formed, and a locking portion 46J is formed between the separation line 46K and the step 46L.

The flat portion 46H forms a flat surface having a thickness t2 slightly smaller than the thickness t1 of the control block 40, and the taper portion 46I extends from the separating line 46K toward the other end of the straight portion 46D. It is inclined at an inclination angle of.

Further, inside the connection point where the straight line portion 46B and the curved line portion 46C are connected, the control block pin 42 for locking the setup spring 44 shown in FIG.
A screw hole 46M for fixing is screwed.

As shown in FIGS. 2 and 5, the catching lever 36 has a thickness t3 and is formed in a generally rectangular and flat plate shape, but the main shaft 46 is located at a position slightly deviated from the central portion to one side. It has a slightly expanded outer shape to insert
An insertion hole 36A is formed therein.

A neutral line NL passing through the catching lever pins 38 and 39 and the main shaft 46 is provided on one side of the insertion hole 36A.
A screw hole 36B for fixing the main body neutral spring 45 for returning to the main body is screwed.

Further, the other side of the insertion hole 36A is formed as a holding portion 36C for holding the storage container 18, and an ear-shaped protruding portion 36D is formed on a part of the side surface of the holding portion 36C to rotate there. A screw hole 36E for fixing the pin 37 is screwed.

The set-up spring 44 includes the catching lever pin 38 screwed into the screw hole 36B on the catching lever 36 and the screw hole 3 on the main body block 35.
The catching lever 36 is arranged between the catching lever pin 39 screwed to 5J and always returns the catching lever 36 to the neutral line NL.

Further, the main body neutral spring 45
Is disposed between the control block pin 41 screwed into the screw hole 35L on the main body block 35 and the control block pin 42 screwed into the screw hole 46M on the control block 40, as will be described later. Then, holding and opening of the storage container 18 are set.

The main shaft 46 is the comb-shaped portion 3 of the main body block 35.
The control block 40 and the catching lever 36 arranged between 5B and 35C are inserted into the insertion holes 35, respectively.
H, 35L, 36A, 46A are penetrated and bonded.

As shown in FIG. 6, the lock pin 43 is formed in a mushroom shape as a whole, and has a cylindrical portion 43A.
And a disc portion 43B having a diameter larger than that of the cylindrical portion 43A and having a rounded peripheral surface on the lower side, are integrally formed.

The columnar portion 43A is inserted into the insertion hole 35K formed in the comb-shaped portion 35B of the main body block 35, and the tip of the disc portion 43B is provided with the cutout portion 46 of the control block 40.
A spring 47 (not shown) having a diameter smaller than that of the disc portion 43B is interposed in the columnar portion 43A between the comb-shaped portion 35B and the notch portion 46G to press the lock pin 43 to the notch portion 46G. ing.

Release section 31 of catching unit 16
Is mainly the release lever block 5 as shown in FIG.
0, a release lever 51, a release lever neutral spring 52, a release lever stopper pin 53, a release lever rotation shaft 54, and the like.

An L-shaped notch 21A is formed at the tip of the arm portion 21 formed integrally with the telescopic fixing portion 11. As shown in FIG. 7, the release lever block 50 is provided at this notch 21A. It is fixed.

Although FIG. 7A shows the structure of the catching unit 16, for the sake of clarity,
The comb-shaped portion 35B of the main body block 35 is shown as a cutaway view of the inside.

The rectangular release lever 51 is provided with a rotation hole 51A for determining the rotation center thereof, and the release lever rotation shaft 54 is inserted into the rotation hole 51A. An ear-shaped protruding portion 51B protruding rightward is formed on the right end side surface away from the control block 40 side.

A pin 51 for fixing one end of the release lever neutral spring 52 is attached to the protruding portion 51B.
C is screwed, and the tip of the release lever 51 on the control block 40 side is the locking portion 46 of the control block 40.
J is engaged.

Further, a pin 50A for fixing the other end of the release lever neutral spring 52 is screwed to the release lever block 50 in a direction perpendicular to the longitudinal direction of the release lever 51.

Control block 4 for release lever 51
The arm part 2 on the left end side near the end opposite to the 0 side
As shown in FIG. 7, a release lever stopper pin 53 is planted and contacted with the release lever 51 so that the release lever 51 is located at a position perpendicular to the moving direction of the telescopic movable portion 14, as shown in FIG.
1 is prevented from rotating clockwise.

In the above structure, the release lever 51 is
Although the release lever 51 rotates about the release lever rotation shaft 54, the release lever 51 rotates only in the counterclockwise direction due to the existence of the release lever stopper pin 53. However, even if the release lever 51 rotates in the clockwise direction, the release lever neutral spring With the function of 52, the longitudinal direction of the release lever 51 is always returned to the direction perpendicular to the moving direction of the telescopic movable portion 14.

Next, the stable state of the operation will be described before entering the detailed description of the operation. Control block 4
Depending on the state of 0, two stable states occur: an open (release) position where the storage container 18 is not present and a locked position where the storage container 18 is held / fixed. First, the open position will be described.

In the open position, as shown in FIG.
The position of the control block pin 42 in the control block 40 is relative to the neutral line NL, which is on the line connecting the 6 and the body neutral spring 45.
It is located on the carry-out direction side with respect to L.

In this case, the control block pin 4
2 is contracted by the spring pressure of the setup spring 44 and is in one stable position, but the direction of the setup spring 44 in the control block pin 42 in this case is the release position RL.

The catching lever 36 is always kept at the neutral line NL by the function of the body neutral spring 45.
The control block pin 42 returns to the position shown in FIG.
As shown in FIG. 7, when the lock block 43 is located above the release position RL, the control block 40 rotates and the lock pin 43 is at the position where it is sunk by the taper portion 46I.

For this reason, the lock pin 43 has the comb-shaped portion 35B.
Since there is nothing to prevent the catching lever 36 from rotating, the catching lever 36 is in a released (open) state in which it can be rotated left and right around the main shaft 46 by pressing the catching lever 36. .

Next, the state of the lock position of the control block 40 will be described. In the locked position, as shown in FIG. 9, the main shaft 46 and the main body neutral spring 4 are
The position of the control block pin 42 of the control block 40 is located on the carrying-in direction side of the neutral line NL with respect to the neutral line NL on the line connecting the line 5 and the line 5.

Also in this case, the control block pin 4
2 is contracted by the spring pressure of the setup spring 44 and is in another stable position, but the direction of the setup spring 44 in the control block pin 42 in this case is the lock position LL.

In this case, the catching lever 36
Is always returned to the neutral line NL by the function of the body neutral spring 45, but the control block pin 4
2, when the lock pin 43 is positioned above the lock position LL, the lock pin 43 is moved to the control block 40.
Is located in the flat portion 46H.

For this reason, in this case, the lock pin 43 is lifted and comes out to the upper part of the comb-shaped portion 35B to prevent the catching lever 36 from rotating in the clockwise direction, so that the catching lever 36 presses it. It does not rotate in the clockwise direction around the main shaft 46, and therefore the storage container 18 is held in a locked state.

In this locked state, the control block 40 is rotated to rotate the lock pin 4 as shown in FIG.
3 is raised to the flat portion 46H and is brought out to the upper portion of the comb-shaped portion 35B, and the locking pin 43 is brought into contact with the catching lever 36 to prevent the rotation and hold the storage container 1.
8 can be firmly held.

Next, with reference to FIGS. 10 to 15 schematically shown for the purpose of explaining the operation, the operation when the storage container 18 is carried into the carry-in / carry-out device 10 will be described. Figure 1
0 is the control block 4 at the open position RL shown in FIG.
The state when there is a 0 control block pin 42 is shown.

Initially, in the state shown in FIG. 10, in the catching device 16 in which the telescopic motor 19 rotates and the telescopic movable portion 14 extends, the release lever 51 has the control block 40 regardless of the presence or absence of the storage container 18. It is kicked by the locking portion 46J of the above and is set to the open state shown in FIG.

Next, the vehicle advances in this state to approach the storage container 18, and as shown in FIG. 11, the catching lever 36 hits the storage container 18 waiting because it is in the open state and falls to the left side at this time. The rotation pin 37 of 36 crosses the neutral line NL and the control block 4
The control block pin 42 is snapped to the lock position LL shown in FIG.

When the control block pin 42 is tilted to the left and set to the lock position LL, the control block 40 moves from the tapered portion 46I to the flat portion 46.
Since it rotates like riding on H, lock pin 4
3 projects above the comb-shaped portion 35B and is set in the locked state shown in FIG.

Further, the catching lever 36 is shown in FIG.
As shown in FIG. 2, even if the control block 40 does not change even when it extends in the direction of the storage box and passes through the tip of the storage container 18, only the catching lever 36 moves in the direction of the neutral line NL. It is returned by the function of 45, but this state is the catching lever 36.
Will be the longest position to extend.

Next, the catching lever 36 is moved to the position shown in FIG.
As shown in, when you start pulling, catching lever 3
6 hits the outer side surface of the storage container 18,
However, the catching lever 36 abuts on the lock pin 43 and is prevented from rotating in the clockwise direction so that the catching lever 36 does not rotate, so that the storage container 18 can be reliably grasped and pulled in.

Further, when the catching lever 36 is pulled in and passes through the release lever 51 of the release portion 13 provided at the tip of the telescopic movable portion 14 as shown in FIG. 14, the control block 40 moves the release lever 51. Kick and be drawn.

Thereafter, as shown in FIG. 15, the storage container 1
8, the release lever neutral spring 52 returns the release lever 51 to its original position, and the lock pin 43 locks the catching lever 36 to complete the loading of the storage container 18. Even if an external force acts on the container 18, the storage container 18 can be reliably held.

Next, description will be given with reference to FIGS. 16 to 20 schematically shown for the purpose of explaining the operation when the storage container 18 stored in the carry-in / carry-out device 10 is carried out to a predetermined storage shelf. To do.

Initially, the storage container 18 in which the transported objects are stored
Is stored in the loading / unloading device 10, as shown in FIG. 16, and the catching lever 36 is in the locked state shown in FIG.

When the telescopic movable part 14 extends from this state, as shown in FIG.
The 0 locking portion 46J is kicked by the release lever 51 and starts to rotate rightward.

Further, when the telescopic movable portion 14 extends,
As shown in FIG. 18, the control block 40 rotates, whereby the lock pin 43 is lowered by the spring 47 from the flat portion 46H to the tapered portion 46I, and the lock pin 43 is submerged under the comb portion 35B to open as shown in FIG. (Cancel) status.

After this, the telescopic movable part 14 is attached to the storage container 1.
As shown in FIG. 19, after holding 8 and extending to the longest position up to the storage rack, when the lock pin 43 is slightly retracted, the lock pin 43 is under the comb-shaped portion 35B and is in an open state. Instead, the storage container 18 can be pulled back by freely tilting the catching lever 36 to the right.

When the telescopic movable unit 14 is pulled back and leaves the storage container 18, the catching lever 36 is automatically returned to the position of the neutral line NL by the main body neutral spring 45, as shown in FIG. As shown in the open state, the container is returned to the initial position without the storage container 18.

In this way, the catching lever 36
The control block 40 and the control block 40 are for storing the goods.
When putting the storage container in and out, contact the storage container and receive
The operating force of the containment vessel
Can be automatically held or released.
Then, when the catching lever 36 returns to the carry-in / carry-out device 10 , the catching lever 36 returns to the position of the neutral line NL and is ready to move to the next action at any time.

In the above description, the loading / unloading device 10
Has been described as having a function of carrying in / out by itself, the carrying-in / carrying-out device 10 travels on a rail to carry the storage container 18 in which the goods existing at each station are stored to a predetermined station. It can be used more effectively by mounting it on the trolley as it is.

FIG. 21 schematically shows an example of a carrier truck 60 on which the carrying-in / carrying-out device 10 is mounted. However, for the sake of clarity, the release section 31 fixed to the arm section 21 is shown. Although omitted, it is actually mounted in the same manner as the loading / unloading device 10.

In the carrier truck, rails laid in a building having a plurality of floors, for example, in a hospital, are configured in a loop shape,
The loop is used for self-propelled with a battery or the like as a power source on the loop to convey a predetermined object to a predetermined station.

This loop has a curved shape in which an arbitrary curve is drawn corresponding to each place for sending and receiving a conveyed object. Specifically, the carriage is suspended by tracing these loops. It is composed of a C-shaped rail which has an open portion below and which is to be driven and has a built-in power supply line.

Next, with reference to the perspective view schematically shown in FIG. 21, regarding the configuration when the storage container is carried out from the carrier guided by the rail at one of the plurality of stations 65, FIG. explain.

The rail portion 66 is a C-shaped rail 6
7 and a power supply line 68 accommodated in the rail 67, and is inserted from the open portion 69 under the open portion 69 of the C-shape facing downward so as to be suspended on both sides thereof. Then, the carrier 70 is mounted and travels along the rail 67 in the direction indicated by the arrow F.

Feed line 68 housed in rail 67
Is, for example, the feeding point 71 provided on the rail 67.
At the station 65, the power is fed from the traveling power feeding portion 72A (not shown) in the power feeding portion 72, introduced into the rail 67 from the substantially circular introduction hole 71A, and extended rightward along the rail 67, A folding hole 73A provided at the folding point 73 while being held by a holding mechanism (not shown)
Then, it is once folded back onto the upper portion of the rail 67 and is led out.

After that, it is folded back at the folding hole 73B and led out to the inside of the rail 67, then returns to the left along the rail 67, and is led out in a substantially circular shape provided on the upper surface of the rail 67 near the introduction hole 71A. It is led out through the hole 71B and is connected to the traveling power feeding unit 72A of the power feeding unit 72 in the station 65.

Thus, the C-shaped metal rail 67
If the power supply line 68 is housed inside the
The rail 8 is shielded by the rail 67, which can reduce unnecessary electromagnetic radiation to the outside.

The carrier vehicle 70 includes a traveling unit 74 and the traveling unit 7.
4 is connected to the transfer section 75, and the transfer section 75 is further composed of a drive control section 76 and a suspension section 78 suspended from the drive control section 76 and accommodating the loading / unloading device 10. ing.

The traveling section 74 is provided with a traveling motor and four traveling wheels connected to the traveling motor.
These traveling wheels are arranged on the frames on both sides of the opening portion 69 of the C-shaped downward facing downward of 7 to travel.

Further, in the traveling section 74, since electric power is taken in from the feeder line 68 into the carriage 70 by electromagnetic coupling, the feeder line 68 is housed inside and an E-shaped magnetic core around which a secondary coil is wound, A cylinder or the like is mounted that electromagnetically couples the magnetic core by moving the power supply line 68 closer to or farther from the magnetic core as necessary to make a coarse and fine coupling.

The transfer section 75 can be rotated by 90 degrees with respect to the rail 67 by the rotating section disposed between the traveling section 74 and the transfer section 75 so that the transferred article can be transferred. The rotation is carried out by the rotary motor housed in the drive control unit 76.

The drive control unit 76 controls the above-described rotary motor, controls the telescopic motor mounted on the carry-in / carry-out device 10 described later, controls the raising and lowering of the carry-in / carry-out device 10, controls the traveling motor described above, and travels. Control of the battery necessary for driving, control by the control unit for traveling management, and the like, and further drive control unit 7
The battery 6 and the like are mounted on the battery 6, which takes in electric power from the secondary coil of the magnetic core described above.

Further, the drive control unit 76 has the station 6
5 is connected to the operation unit 77 of FIG. 5 by a control line. For example, the operation of the operation unit 77 controls the power supply unit 72 and the drive control unit 76 executes the above-described various controls as necessary. These operations can also be executed by a wireless command from an operation command unit (not shown).

The suspended portion 78 is the fixed plate 7 disposed on the upper portion.
9 is fixed by four belts 80A to 80D (80C and 80D are not shown in FIG. 21) suspended from the drive controller 76 in the vicinity of the four corners, and is formed by a rod-shaped member having a U-shaped cross section and a duct shape. It has a basket 81 and this basket 8
The carry-in / carry-out device 10 is housed in 1.

The carrying-in / carrying-out device 1 is provided in the suspension portion 78.
0 is stored, but the storage container 18 is stored between the telescopic movable portions 14 and 15, and the catching unit 1 is attached to the tip of the telescopic movable portions 14 and 15.
The holding parts 29 and 32 of 6 and 17 are arranged, and the storage container 18 is held by these holding parts 29 and 32.

The carrier vehicle 70 configured as described above is
For example, when an identification number indicating a predetermined position of the station 65 is detected by an identification number (not shown) provided on the rail 67 while traveling on the rail 67 by being urged by a battery, the vehicle stops at the position. .

After this, the storage container 18 in which the conveyed items are stored
Drive controller 7 according to a predetermined procedure in order to carry out
In response to a command from 6, the rail 67 is rotated 90 degrees to rotate the transfer unit 75 in the Z direction shown by the alternate long and short dash line of the storage container 18 to prepare for carrying out the storage container 18.

Next, the drive control unit 76 responds to the set command from the power supply unit 77 or the operation command unit to set the belts 80A to 80D at the predetermined storage position. The storage rack is controlled so as to be a predetermined storage rack among a plurality of storage racks (not shown).

When the height setting is completed, the drive control section 76 extends the telescopic movable sections 14 and 15 to carry out the storage container 18 from the transport carriage 70 to a predetermined position on the storage shelf. 16 is carried out in accordance with the procedure shown in FIGS. 16 to 19, and thereafter, as shown in FIG. 20, it is returned to the carriage 70 so that the next operation can be started.

On the contrary, when the storage container 18 is carried into the empty transport carriage 70 from a predetermined position of the storage shelf on which the storage container 18 in which the transported object is stored is placed, first, as shown in FIG. 14 and 15 are extended from the contracted state toward the storage rack.

Next, the storage container 1 will be described with reference to FIGS.
8, the telescopic moving parts 14 and 15 are contracted and stored in the carriage 70 as shown in FIG.
As shown in FIG.
Hold in.

After that, the drive control section 76 causes the transfer section 75 to move.
The loading / unloading device 10 is rotated 90 degrees so that the loading / unloading device 10 is in the same traveling direction F as the rail 67, and then the belt 80A
The length of ~ 80D is shortened so that the vehicle can run.

After that, the carrier 70 holds the storage container 18 in which the goods are stored, controls the travel motor in accordance with the control command received by the drive controller 76, and travels on the rail 67 toward a predetermined station. To do.

[0107]

As described above, according to the loading / unloading device according to the present invention, at least a U-shaped telescopic fixing device is provided.
Section and a pair of TEs provided on opposite sides of the telescopic fixing section.
It has a moving movable part and a catching unit.
A catching unit for carrying in and carrying out a conveyed object stored in a storage container by a telescopic movable part having a hatching unit attached to a tip end thereof, wherein each of the catching units
Turn the main body block and the main body block through a spindle.
The catching lever and
Control block and the main body block can be projected
And a locking pin that is disposed,
-The aforesaid
It is biased into a stable position being disposed in rotatably and neutral line passing through the main shaft around the main shaft, the con
The trawl block can rotate the catching lever.
Rotate in conjunction with each other to project or retract the lock pin.
Rotation of the catching lever at the neutral line
Since it is configured to control or hold the storage container by holding or opening the storage container, when the storage container for storing the conveyed article is taken in and out, the catching lever abuts on the storage container and the action force is received. The storage container can be automatically held or opened.

Further, a carrier truck using this carry-in / carry-out device has at least a U-shaped telescopic fixing part and the telescopic fixing part.
A pair of telescopic movable parts provided on opposite sides of the fixed part,
Equipped with a catching unit,
A transport carriage having a transfer unit for loading and unloading a conveyed product stored in a storage container by a telescopic movable unit whose knit is attached to a tip portion , wherein each catching unit of the transfer unit includes a main body block, Via main shaft to body block
And the catching levers rotatably and vertically arranged
-, Control block, and protrusion on the main body block
And a catch pin that is arranged so that
The glever is caused by the acting force that abuts against the storage container.
Ri said main shaft rotatably biased so as to be stable position and in a neutral line passing through the main axis around a disposed, before
The control block is the catching lever
It rotates in conjunction with the rotation, and the lock pin is projected or
The catching lever is retracted with the neutral line as a boundary.
Rotation preventing or so released to configured to perform control of the opening and holding of the containment vessel of, into and out of a storage container for storing a conveyed object, wherein the chucking lever
The storage container can be automatically held or opened by the acting force that abuts on the storage container and receives .

In the case of a carrier truck, the main body block is
By providing a lock pin that protrudes and retracts from the rack , it does not hold with a spring etc. while the transport vehicle is running, but it projects
Since the lock pin prevents the chucking lever from rotating and holds the storage container in a form that does not depend on elasticity, it can be held safely even if an unexpected external force is applied to the storage container during traveling. In addition, this holding state can be automatically released when the transported article is carried out to a storage shelf or the like.

Further, in the case of the carrier truck, the telescopic movable part is extended from the carrier truck to the storage rack as compared with the conventional case where an electric device such as a solenoid valve requiring electric wiring is used for the catching unit. It is not necessary to store a power cable or the like to the catching unit when carrying out, and the weight of the carrier can be reduced, and the storage container can be held and opened very easily.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing an embodiment according to the present invention, FIG. 1 (A) is a partial plan view, and FIG. 1 (B) is a side view seen from the AA ′ direction.

FIG. 2 is a perspective view showing a configuration of a holding unit shown in FIG.

3 is a configuration diagram showing a configuration of a main body block shown in FIG. 2, FIG. 3 (A) is a plan view, and FIG. 3 (B) is a side view.

4 is a configuration diagram showing a configuration of a control block shown in FIG. 2, FIG. 4 (A) is a plan view, FIG. 4 (B) is a side view,
FIG. 4C is an oblique side view.

5A and 5B are configuration diagrams showing the configuration of the catching lever shown in FIG. 2, FIG. 5A being a plan view and FIG. 5B being a side view.

6A and 6B are configuration diagrams showing a configuration of the lock pin shown in FIG. 2, FIG. 6A being a side view and FIG. 6B being a plan view.

7A and 7B are configuration diagrams showing a configuration of a catching unit according to the present invention, FIG. 7A is a plan view when a part is cut, and FIG. 7B is a side view when a part is cut. Is.

8A and 8B are configuration diagrams showing a configuration of a holding portion of a catching unit according to the present invention in an open position, FIG. 8A is a plan view, FIG. 8B is a lower side view, and FIG. It is a left side view.

9 is a configuration diagram showing a configuration of a holding portion of a catching unit according to the present invention in a locked position, and FIG.
Is a plan view, FIG. 9B is a lower side view, and FIG. 9C is a left side view.

FIG. 10 is an operation explanatory view for explaining the operation of the catching unit when the transport cart according to the present invention starts moving the telescopic movable portion forward in an empty state, and FIG. 10 (A) is a plan view thereof and FIG. B) is a side view of the holding portion.

11A and 11B are operation explanatory views for explaining the operation of the holding unit when the transport cart according to the present invention reaches the storage container by advancing the telescopic movable unit in an empty state, and FIG. 11A is a plan view and FIG. 11 (B) is a side view.

FIG. 12 is an operation explanatory view for explaining the operation of the holding portion when the transport cart according to the present invention is moved forward and the telescopic movable portion is moved slightly past the storage container in an empty state; FIG. 12 (A) is a plan view; FIG. 12B is a side view.

FIG. 13 is an operation explanatory view for explaining the operation of the holding section when the transport cart according to the present invention is moved forward in the empty state, the telescopic movable section is moved forward, slightly past the storage container, and then returned.
13A is a plan view and FIG. 13B is a side view.

FIG. 14 is an operation explanatory view for explaining the operation of the catching unit when the transport vehicle according to the present invention stores the storage container and retracts the telescopic movable portion to return to the original state;
14A is a plan view and FIG. 14B is a side view.

FIG. 15 is an operation explanatory view explaining the operation of the catching unit when the transport vehicle according to the present invention accommodates the storage container and the transport vehicle is in a travelable state;
15A is a plan view and FIG. 15B is a side view.

FIG. 16 is an operation explanatory view for explaining the operation of the catching unit when the transport vehicle according to the present invention accommodates the storage container and is in a traveling state, and FIG. 16 (A) is a plan view when a part thereof is cut. FIG. 16 (B) is a side view of the holding portion.

FIG. 17 is an operation explanatory view for explaining the operation of the catching unit when the transport vehicle according to the present invention is in the state of accommodating the storage container and passing through the release lever, and FIG.
FIG. 17B is a plan view when a part is cut, and FIG. 17B is a side view of the holding portion.

FIG. 18 is an operation explanatory diagram for explaining the operation of the holding unit when the transport vehicle according to the present invention is in a state in which the storage container is housed and the telescopic movable unit is moved forward; FIG. FIG. 18B is a side view of the holding portion when a part is cut.

FIG. 19 is an operation explanatory view for explaining the operation of the holding portion when the transport vehicle according to the present invention is in a state where the storage container is placed at a predetermined position and the telescopic movable portion is retracted;
FIG. 19A is a plan view when a part is cut, and FIG. 19B is a side view of the holding portion.

FIG. 20 is an operation explanatory view for explaining the operation of the catching unit when the transport vehicle according to the present invention puts the storage container in a predetermined position and retracts the telescopic movable portion to return it to the original state, and FIG. 2 is a plan view of a part cut
0 (B) is a side view of the holding portion.

FIG. 21 is a perspective view showing a transporting vehicle using the loading / unloading device according to the present invention and a configuration in the vicinity thereof.

[Explanation of symbols]

10: carry-in / carry-out device, 11: telescopic fixing part, 12 to 1
3; rotating shaft, 14 to 15; telescopic moving part, 16 to 1
7; Catching unit, 18; Storage container, 19; Telescopic motor, 20; Base part, 21-22; Arm part, 23; Recessed part, 24-25, Pulley, 26; Rotating shaft,
27-28; arm part, 29-30; holding part, 31-3
2; release part, 33; bevel gear, 35; body block, 35
A: Block portion, 35B to 35C; Comb portion, 35H to 3
5I; insertion hole, 35J; screw hole, 35K; insertion hole, 35
L: screw hole, 36; catching lever, 36A; insertion hole, 36B; screw hole, 36C; holding part, 36D; protruding part, 36E; screw hole, 37; rotating pin, 38 to 39; catching lever pin, 40 Control blocks,
41-42; Control block pin, 43; Lock pin, 43A; Column part, 43B; Disc part, 44; Setup spring, 45; Main body neutral spring, 46; Main shaft, 46A; Insert hole, 46B; Straight part, 4
6C; curved portion, 46D; straight portion, 46E; curved portion, 46
F: Straight part, 46G; Cutout part, 46H; Flat part, 46
I: Tapered portion, 46J; Locking portion, 46K; Separation line, 46
L; step, 47; spring, 50; release lever block, 51; release lever, 51A; rotating hole, 51B; protrusion, 51C; pin, 52; release lever neutral spring, 53; release lever stopper pin, 54; Release lever rotating shaft, 65; Station, 66; Rail part,
67; Rail, 68; Power supply line, 69; Opening part, 70; Transporting vehicle, 71; Power feeding point, 71A; Introducing hole, 71B; Deriving hole, 72; Power feeding point, 73; Turning point, 73A to 73B; Turning hole , 74; traveling section, 75; transfer section, 76; drive control section, 77; operation section, 78; suspension section, 79; fixed plate, 80
A to 80D; belt, 81; basket, NL; neutral line, R
L: Release position, LL: Lock position

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ identification code FI B66C 1/10 B66C 1/10 Z (58) Fields investigated (Int.Cl. ⁷ , DB name) B65G 1/04 B61B 3 / 02 B61B 13/06 B61D 47/00 B65G 1/00 B66C 1/10

Claims (17)

(57) [Claims] 1. At least a U-shaped telescopic fixing portion,
A pair of telescopic units provided on opposite sides of the telescopic fixing unit.
It has a movable part and a catching unit.
A carrying-in / carrying-out device for carrying in / carrying out a conveyed product stored in a storage container by a telescopic movable part having a distal end attached to the catching unit, wherein each of the catching units includes a main body block and the book.
It is rotatably and vertically arranged on the body block via the main shaft.
The catching lever and control block
The lock pin that is arranged so that it can project on the main body block
The catching lever is in contact with the storage container to receive the catching lever.
Kicking is biased so that the stable position in the neutral line passing through the rotatable and main spindle about said spindle by the action force
The control block is provided with the catching lever.
The lock pin protrudes or
The catching lever is retracted with the neutral line as a boundary.
A carrying-in / carrying-out device configured to prevent or release rotation of the container to control holding and opening of the storage container. 2. The carry-in according to claim 1, wherein the catching lever is always returned to the neutral line by a main body neutral spring arranged between the catching lever and a main body block on one side of the main shaft of the catching lever. Unloading device. 3. The control of the holding is performed by a control block that rotates in conjunction with the catching lever,
The loading / unloading device according to claim 1, wherein a setup spring provided on a bottom surface side of the main body block is set to a lock position and a lock pin is projected from the main body block to prevent rotation of the catching lever. . 4. The setup spring is arranged between a main body block on one side of the main shaft and the control block across the main shaft.
The carry-in / carry-out device described in. Wherein said interlock is carried out device according to claim 1 or 3 and is configured to perform the engagement between the pivot pin and the control block provided in the catching lever. 6. The protrusion and retreat of the lock pin are caused by a flat portion and a taper of a cutout portion formed in the control block.
Configuration carried out by the lock pin in the tapered surface abuts
The carry-in / carry-out device according to claim 1 or 3. 7. The carry-in / carry-out device according to claim 6, wherein a peripheral portion of the cutout portion is formed with a locking portion that prevents the control block from rotating in one direction. 8. The lock pin is biased in a backward direction by a spring arranged between the lock pin and the main body block.
The carry-in / carry-out device according to claim 1, 3, or 6. 9. The opening control is performed by engaging a release lever arranged in a telescopic fixing portion with the control block.
The loading / unloading device according to claim 1 , wherein the lock pin is moved backward . 10. The release lever is always in the neutral line.
The loading / unloading device according to claim 9 , wherein the release lever is arranged to be biased by a release lever neutral spring provided in the telescopic fixing portion. 11. The telescopic movable portion is a structure that can be expanded and contracted by a telescopic motor so that the storage container can be moved.
The carry-in / carry-out device according to claim 1. 12. A telescopic fixing portion having at least a U-shape.
And a pair of telephotos provided on opposite sides of the telescopic fixing portion.
Equipped with a flexible moving part and a catching unit,
A transporting vehicle having a transfer unit for loading and unloading a conveyed product stored in a storage container by a telescopic movable unit having a catching unit attached to a tip end thereof, wherein each catching unit of the transfer unit is , Body block
And rotatably and vertically via the main shaft to the main body block
Catching lever and control block
And a lock provided on the main body block so as to project therefrom.
A pin, and the catching lever abuts against the storage container to receive it.
Kicking is biased so that the stable position in the neutral line passing through the rotatable and main spindle about said spindle by the action force
The control block is provided with the catching lever.
The lock pin protrudes or
Said as a boundary the neutral line is retracted catch Ngureba
A carrier truck configured to prevent or release rotation of the container to control holding and opening of the storage container. 13. The transport according to claim 12, wherein the catching lever is always returned to the neutral line by a main body neutral spring arranged between the catching lever and the main body block on one side of the main shaft of the catching lever. Dolly. 14. The holding control is performed by setting a setup spring provided on a bottom surface side of the main body block to a lock position and projecting a lock pin from the main body block by a control block that rotates in association with the catching lever. 13. The carrier truck according to claim 12, wherein the carriage is configured to prevent rotation of the catching lever. 15. The carrier according to claim 14, wherein the setup spring is arranged between a main body block on one side of the main shaft and the control block across the main shaft. 16. The release control is performed by a release lever arranged in a telescopic fixing portion and the control block.
The carriage according to claim 12 , wherein the lock pin is moved backward to perform the locking . 17. The release lever is always in the neutral line.
The carrier vehicle according to claim 16 , wherein a release lever neutral spring disposed in the telescopic fixing portion is biased so as to move .