JPH0534246B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a transfer device used as an automatic loading/unloading device for storage racks in automated warehouses, etc., which can also be used in clean rooms where dust is avoided. .

Conventional technology Statzker cranes and the like have been put into practical use as conventional transfer devices to storage shelves. It consists of a main body that travels along a track, and a loading/unloading device that has a loading platform and can be moved up and down as well as in and out.

Problems to be Solved by the Invention In such a stacker crane, dust is generated due to sliding or friction in the track, running wheels, lifting guide device of the lifting device, and various drive parts.
When used in a clean room where dust is a problem, a special dust-proof device is required.

Also, it is necessary to provide a track for running.
Therefore, the structure of the accompanying equipment is complicated, and
The main body of a stacker crane also requires a mast to support the traveling device, lifting device, etc., making the structure complex, increasing the overall weight, and limiting the carrying capacity. There was a drawback that the performance decreased.

Although the present invention has a simple configuration, the weight of the entire device can be reduced, so it improves the throughput as a transfer device, and also significantly reduces and prevents the generation of dust, making it possible to use it even in clean rooms. The purpose is to provide a transfer device to a storage shelf that can be used.

Means for Solving the Problems The present invention is a storage shelf transfer device for loading and unloading items into and from the storage shelf, which comprises a transfer table, at least two sets of winding devices, a transfer table and a winding device. The transfer table is equipped with at least four ropes that connect the devices and at least four sheaves that stretch the ropes, and the transfer table has a loading/unloading device that can take in and out of the storage shelf, and a loading/unloading device that can take in and out of the storage shelf. The winding device is installed near the lower left and right corners that project outward from the left and right ends of the storage shelf, and the rope has one end. It is fixed to the left and right sides of the transfer table, and the other end is fixed to the winding device via the sheave so as to be able to be wound up, and the sheave is provided at the lower left and right corners and the upper left and right corners corresponding to the lower left and right corners. It is characterized by the fact that each of them is provided.

Embodiments Hereinafter, embodiments of the present invention will be described based on the drawings.

FIG. 1 is an explanatory diagram of a first embodiment according to the present invention. FIG. 2 is a detailed view of part A in FIG. 1, and FIG. 3 is a detailed view of the loading/unloading device.

Reference numeral 1 denotes a storage shelf having a plurality of divided storage spaces 11 in both the vertical and horizontal directions, and 2 denotes a transfer device to the storage shelf for loading and unloading items not shown in the divided storage spaces 11 of the storage shelf 1. , has a transfer table 21 equipped with a loading/unloading device 22. The transfer table 21 is supported by four sets of ropes connected to independently controlled winding devices through sheaves installed so as to protrude from the upper, lower, left and right corners of the storage shelf 1. The position, moving direction, and moving speed of the transfer table 21 are calculated by a control device such as a computer (not shown), and each winding device is controlled based on the calculation results, and the transfer table 21 is moved by a storage shelf. It is designed to move two-dimensionally in a fixed space vertically and horizontally. Reference numeral 10 denotes an operation panel for remotely and automatically operating the transfer device 2.

There are two supports 23 on the right end of the upper surface of the transfer table 21, two supports 25 on the left end of the upper surface, two supports 24 on the right end of the lower surface, and a support 26 on the left end of the lower surface. 2 places, supports 27 at 2 places on the right center edge of the bottom surface, and support tools 28 on the left side center edge of the bottom surface.
be fixed respectively.

41, 42, 43, 44, 45, 61, 62,
63, 64 and 65 are sheaves. The sheaves 41, 42, and 43 are provided at the upper right corner projecting outward from the left and right ends of the fixed space, and are supported on the storage shelf 1 by mounting brackets (not shown). Sheave 44,
45 is supported at the lower right corner corresponding to the upper right corner in the same manner as described above. Also, sheaves 61, 62,
63 is a sheave 6 in the upper left corner similar to the above.
4 and 65 are respectively supported at the lower left corner similar to the above.

31, 32, 33, 34, 51, 52 and 54
is a rope for supporting and driving the transfer table 21. 4
6, 47, 66 and 67 are respective rope winding devices. Reference numeral 35 indicates two operating ropes that drive the loading/unloading device 22 and are connected to a winding device 48 via a sheave 42.

In addition, 68 is an electric wire or cable 55 with a steel core, etc.
Each winding device can be rotated in forward and reverse directions by a drive means having a drive source such as a servo motor (not shown).

Further, in order to detect the amount of rotation of the winding devices 46, 47, 48, 66, 67, and 68, a detector such as an encoder (not shown) is connected to the drive means of each winding device.

One end of the ropes 31 and 32 is fixed to the support 23 at the right end of the upper surface of the transfer table 21, and is guided to the winding device 46 via sheaves 41 and 43 supported at the upper right corner of the storage shelf 1. Do it like this. Winding device 4
6 causes the ropes 31 and 32 to be operated synchronously.

One end of the ropes 33 and 34 is fixed to the support 24 at the right end of the lower surface of the transfer table 21, and the ropes 33 and 34 are fixed to the support 24 via sheaves 44 and 45 supported at the lower right corner of the storage shelf 1.
It is guided to a winding device 47. The rotation of the winding device 47 causes the ropes 33 and 34 to be operated synchronously. Similarly, the upper left end of the transfer table 21 is attached to the ropes 51 and 52 on the support 25.
One end is fixed and guided to the winding device 66 via sheaves 61 and 63 supported at the upper left corner of the storage shelf 1, and the left end of the lower surface of the transfer table 21 is connected to the support 26. A sheave 64 is fixed to one end of the ropes 53 and 54 and is supported at the lower left corner of the storage shelf 1.
and 65 to the winding device 67. The rotation of the winding device 66 causes the ropes 51 and 52 to be operated synchronously, and the rotation of the winding device 67 causes the ropes 53 and 54 to be operated synchronously.

Therefore, the transfer table 21 has four sets of ropes 31 and 3.
2, 33 and 34, 51 and 52, and 53 and 54, the four sets of winding devices, 46, 4
7, 66 and 67. By rotating each winding device 46, 47, 66, and 67 by a predetermined amount, four sets of ropes are operated, and the transfer table 21 can be moved vertically and horizontally in a certain space along the storage shelf 1. . In this example, 4
The four sets of ropes are operated separately by a set of winding devices, and the length of these ropes is comprehensively controlled by a control device such as a computer (not shown) so that each rope does not loosen. This is to move the transfer table 21.

Reference numeral 22 denotes a loading/unloading device that allows loading and unloading of loads. Supports 30 are fixed to both ends of the loading/unloading device 22, and a support 29 is fixed to the lower surface of the transfer table 21.
The sheave 72 is pivotally supported on the support 29. Further, the sheave 71 is pivotally supported by a support 27 fixed to the right center end of the lower surface of the transfer table 21. Support 30 shown in FIG.
One end of a pair of ropes 35 is fixed to each, and via the sheaves 72 and 71 supported on the transfer table 21 and the sheave 42 supported on the upper part of the storage shelf 1,
It is guided to a winding device 48.

The winding device 48 is composed of two winding machines (not shown) each connected to two ropes 35, and when following the movement of the transfer table 21, the two winding machines are connected to each other. Both rotate in the same direction, loading/unloading device 2
When the ropes 2 are operated, they are rotated in opposite directions so that one of the ropes 35 is tensed and the other is relaxed depending on the take-out side or the take-in side.

Therefore, when the winding device 48 is rotated, the rope 35 is operated, and the loading/unloading device 22
can be moved in the direction of the partitioned storage space 11 of the storage shelf 1, and objects to be transported can be taken in and out.

A cable 55 is a means for supplying power to the transfer table 21, such as an electric wire or cable with a steel core.
A terminal box 81 for cable connection is provided at the bottom of the transfer table 21.
is fixedly installed, and a connection means is provided in the terminal box to connect to a power supply or control cable (not shown) necessary for the transfer table 21.

One end of the cable 55 is fixed to the terminal box 81, and a support 28 is fixed to the lower left center part of the transfer table 21.
The winding device 68 is guided through the sheave 73 supported by the sheave 73 and the sheave 62 supported by the upper part of the storage shelf 1. Cable 5 led to winding device 68
The other end of 5 is connected to a terminal box (not shown) so that it can be connected to a necessary cable for power supply or control to the transfer table 21 from the outside.

Therefore, by rotating the winding device 68, the cable 55 is operated, and it becomes possible to supply necessary power or transmit a control signal to the transfer table 21 from the outside.

The operation of the transfer apparatus of this embodiment having the above configuration will be explained.

FIG. 4 is an explanatory diagram for explaining the operation of this embodiment. The transfer table 21 is located at position P ₁ ,
If the coordinate of P ₁ in the X-axis direction is x ₁ and the coordinate in the Y _1- axis direction is y ₁ , the position of P ₁ can be expressed as P ₁ (x ₁ , y ₁ ).

The fixed point between the transfer table 21 and the ropes 51 and 52 is A, the fixed point between the ropes 53 and 54 is B, the fixed point between the ropes 31 and 32 is C, and the fixed point between the ropes 33 and 3 is
Let D be the fixed point with 4. Let the contact points between each rope and each sheave be E ₁ , F ₁ , G ₁ and H ₁ .

When the transfer table 21 is at the position P ₁ (x ₁ , y ₁ ),
The length of ropes 51 and 52 from A to E ₁ is a ₁ , and the length of ropes 53 and 54 from B to F ₁ is b ₁
Let C ₁ be the length from ropes C to G ₁ of ropes 31 and 32, and d ₁ be the length from ropes D to H ₁ of ropes 33 and 34.

Also, the next position to which the transfer table 21 should be moved is P ₂
(x ₂ , y ₂ ), then P ₂ (x ₂ , y ₂ ), the length of each rope is the same as above, and a ₁ is as shown in Figure 3.
Assume that a ₂ becomes, b ₁ becomes b ₂ , c ₁ becomes c ₂ , and d ₁ becomes d ₂ .

It is now assumed that the transfer table 21 is located at P ₁ (x ₁ , y ₁ ) and that an object to be transported is loaded on the transfer table 21 . Next, compartment storage space 1 where the transported objects are to be stored.
When the position P ₂ (x ₂ , y ₂ ) of the partitioned storage space 11 is designated, each winding device 46 , 47 , 66 and 67 is rotated based on the position P ₂ (x ₂ , y ₂ ) of the compartment storage space 11. The direction and amount of rotation, that is, the operating length of each rope to be operated, are determined, and each winding device 46,
Rotate 47, 66 and 67.

The position of the transfer table 21 is 4 in the case of P ₁ (x ₁ , y ₁ ).
It is determined by the lengths of the ropes a ₁ , b ₁ , c ₁ and d ₁ , and in the case of P ₂ (x ₂ , y ₂ ), the length of the four ropes a ₂ ,
Determined by b ₂ , c ₂ and d ₂ .

The direction and amount of rotation of each winding device 46, 47, 66, and 67 is detected by a detector such as an encoder connected to the driving means of each winding device.

The transfer table 21 operates four sets of ropes using four sets of winding devices to move from P ₁ (x ₁ , y ₁ ) to P ₂ (x ₂ , y ₂ ). While rotating each winding device so that the transfer table 21 can be moved stably while controlling the length of each rope to be sequentially balanced by a control device such as a computer (not shown) so that each rope does not loosen, a ₁ to a ₂ , b ₁ to b ₂ , c ₁ to c ₂ ,
Move from d ₁ to d ₂ to the specified position p ₂ (x ₂ , y ₂ ).

The compartment storage space 11 where the mounting table 21 is designated
When the movement to P ₂ (x ₂ , y ₂ ) is completed, the winding device 48
When rotated, the loading/unloading device 22 moves in the direction of the divided storage space 11 and stores the transported items in the storage shelf 1. When the storage of the transported object is completed, the winding device 48
is rotated in the opposite direction to the above, and the loading/unloading device 22 is moved to the transfer table 21. By the above-described operations, the objects to be transported can be carried into the storage shelf 1. When carrying out the transported object from the storage shelf, it can be carried out in accordance with the above-mentioned case of carrying it in. According to this embodiment, there is no need for a track for moving the transfer table, a moving device, and a mast for supporting the lifting device, and it is possible to transfer objects with a simple configuration.

FIG. 5 is an explanatory view of a second embodiment of the present invention, and FIG. 6 is a detailed view of section A in FIG.

The difference between this embodiment and the previous embodiment is that the transfer table 21
The ropes 31 and 32 on the right side are guided to a set of winding devices 46, and the ropes 51 and 52 on the left side are guided to a set of winding devices 66. By rotating, four sets of ropes on the left and right sides of the transfer table 21 are operated, and the transfer table 21 is moved. In this embodiment, two sets of winding devices operate two sets of ropes separately to move the transfer table 21.

There are two supports 23 on the right end of the upper surface of the transfer table 21, two supports 25 on the left end of the upper surface, two supports 24 on the right end of the lower surface, and a support 26 on the left end of the lower surface. 2 places, support tool 27 on the bottom right center part
A support 28 is fixed at one location at the left center end of the lower surface. A support 30 is fixed to one end of the loading/unloading device 22, and a support 29 is fixed to the lower surface of the transfer table 21.

The sheave 74 is pivotally supported on the support 24, and the support 26
The sheave 75 is pivotally supported on the support 27, and the sheave 71 is
The sheave 73 is pivotally supported on the support 28, and the sheave 72 is pivotally supported on the support 29.

41, 42, 43, 44, 45, 61, 62,
63, 64, and 65 are sheaves, which are supported on the storage shelf 1 by mounting fittings (not shown).

31, 32, 51 and 52 are ropes. 4
6, 48 and 66 are rope winding devices;
Reference numeral 68 denotes a winding device for winding wires or cables having a steel core, etc., and can be rotated in forward and reverse directions by a drive means having a drive source such as a servo motor (not shown).
Further, 55 is a cable that is a means for supplying power to the transfer table 21, such as an electric wire or cable with a steel core.

One end of the ropes 31 and 32 is fixed to the support 23 on the right end of the upper surface of the transfer table 21, and the sheaves 41 and 43 supported on the upper right corner of the storage shelf 1 are attached to the lower right corner of the storage shelf 1. Supported sheaves 44 and 45
It is further guided to the winding device 46 via the sheave 74 supported by the transfer table 21. The rotation of the winding device 46 causes the ropes 31 and 32 to be operated synchronously.

One end of the ropes 51 and 52 is fixed to the support 25, and the sheaves 61 and 63 supported on the upper part of the storage shelf 1 are attached to the left end of the upper surface of the transfer table 21.
Furthermore, the sheave 75 supported on the transfer table 21 is
, to the winding device 66. The rotation of the winding device 66 causes the ropes 51 and 52 to be operated synchronously.

Therefore, the transfer table 21 has four ropes 31, 3
At points 2, 51 and 52, the windings are led to and supported by winding devices 46 and 66 via respective sheaves. By rotating each winding device 46 and 66 by a predetermined amount, each rope is operated, and the transfer table 21 can be moved up and down and left and right in a certain space along the storage shelf 1. In this embodiment, two sets of winding devices are used to
The transfer table 21 is moved by separately operating the set of ropes.

Note that the configuration and operation of the loading/unloading device 22 are the same as in the previous embodiment. Further, the structure and operation of the means for supplying power to the transfer table 21 by the electric wire or cable 55 having a steel core etc. are also the same as in the previous embodiment.

When moving the transfer table 21, as described in the previous embodiment, when the position of the compartment storage space 11 in which the object to be transported is to be stored is specified, each winding device 46 and 66 is moved based on that position. The direction and amount of rotation of each rope, that is, the operating length of each rope to be operated, are determined, and each winding device 46 and 66 is operated accordingly.
This can be done by rotating. According to this embodiment, in addition to the same effects as in the previous embodiment, there is also the advantage that two sets of winding devices can be used.

In addition, in the first and second embodiments, the configuration of the loading/unloading device was explained as a device that rotates the winding device and loads/unloads by operating the rope.
The loading/unloading device is not limited to this embodiment,
For example, it is also possible to provide an actuator or the like on the transfer table and carry out loading and unloading by operating the actuator.

Further, the number of sets of ropes and winding devices for supporting and moving the transfer table 21 is not limited to any of the above embodiments.
Ropes 31 and 32, ropes 33 and 34, ropes 51 and 52, and rope 53 supporting the upper and lower surfaces
and 54 each as one rope, transfer table 2
It is also possible to support it at one place in the center of the left and right ends of 1. Further, the number of winding devices and the number of sets of ropes can vary depending on the range in which the transfer table 21 is moved.

Furthermore, the control of movement to the designated position of the compartmented storage space 11 is not limited to that described in the above embodiment. This can also be done by detecting with a detection means and rotating the winding device of each rope based on the signal.

As described above, in any of the embodiments, there is no need for a track for moving the transfer table, a moving device, or a mast for supporting the lifting device, and the objects can be transferred with a simple configuration.

Therefore, the device is suitable for transferring lightweight and small objects.

Furthermore, since there is very little dust generation, the device is also suitable for use in clean rooms.

Effects of the Invention According to the present invention, as explained in the embodiments, even with a simple configuration, the weight of the entire device can be reduced, so the throughput of the transfer device can be improved, and the generation of dust can be greatly reduced. It has the effect of being a transfer device that can be used even in a clean room, and is suitable for lightweight and small-sized objects.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of a first embodiment according to the present invention,
FIG. 2 is a detailed view of part A in FIG. 1, FIG. 3 is a detailed view of the loading/unloading device, FIG. 4 is an explanatory diagram of the operation of the first embodiment, and FIG. FIG. 6, which is an explanatory diagram of the embodiment, is a detailed view of section A in FIG. 5. 1...Storage shelf, 11...Divided storage space, 2...
Transfer device, 21... Transfer table, 22... Loading/unloading device, 31, 32, 33, 34, 35, 51, 5
2,53,54...rope, 55...cable,
46, 47, 48, 66, 67, 68... winding device.

Claims (1)

[Claims] 1. A storage shelf transfer device for loading and unloading cargo into and from the storage shelf, which includes a transfer table, at least two sets of winding devices, and at least four ropes connecting the transfer table and the winding devices. and at least four sheaves on which ropes are stretched, and the transfer table has a loading/unloading device that can move in and out of the storage shelf, and is movable vertically and horizontally in a certain space along the storage shelf. The winding device is provided near the lower left and right corners that protrude outward from the left and right ends of the storage shelf, and the rope has one end fixed to the left and right sides of the transfer table and the other end fixed to the left and right sides of the transfer table. is fixed to the winding device via the sheave so as to be able to be wound up, and the sheave is provided at the lower left and right corners and at the upper left and right corners corresponding to the lower left and right corners. Transfer device to storage shelf.