JPH0635209U - Fork device - Google Patents

Abstract

(57) [Abstract] [Purpose] For example, a fork device used for storing and taking out a work in a three-dimensional automated warehouse is made slim so that it can be easily inserted into a narrow space. [Structure] Cam followers 6 and 8 provided on a fixed frame 1 are protruded from an intermediate frame 11 and a groove-shaped protrusion 1 is formed.
The fixed frame 1 and the intermediate frame 11 are slidably connected by being fitted in the groove portions 13a and 15a of the screws 3 and 15. By fitting the cam followers 26 and 28 provided on the work frame 21 into the groove portions 13a and 15a of the groove-shaped protrusions 13 and 15 protruding from the intermediate frame 11, the intermediate frame 11 and the work frame 21 are slidably connected. . The intermediate frame 11 slidably supported by the fixed frame 1 is driven by the drive pinion mechanism 45, and when the intermediate frame 11 is driven, the double stroke transmission pinion mechanism 48 drives the work frame 21.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a fork device. More specifically, the present invention relates to a slim type fork device for placing and moving a work in an automated warehouse or the like.

[0002]

[Prior art]

 Recently, a three-dimensional automated warehouse has been developed to automate the work of storing products in the warehouse and taking out necessary inventory items from the warehouse, and computerizing inventory management. In this automated warehouse, stacker cranes are used to automate the loading and unloading of workpieces (products). Forks mounted on this stacker crane allow workpieces to be stored in or removed from shelves. is doing.

FIG. 5 shows a sectional view of a fork device D of this type which has been conventionally used. In the conventional fork device D, a pair of left and right work frames 92 are provided on the lower surface of the table portion 91 for supporting the work, and the fixed frames 94 are erected on both end portions of the fixed portion 93. An intermediate frame 96 having an I-shaped cross section fixed to both ends of 95 is sandwiched between a work frame 92 and a fixed frame 94, and a cam follower 97a provided on the work frame 92 and a cam follower 97b provided on the fixed frame 94. , 97c slidably support the intermediate frame 96. However, the expansion and contraction drive mechanism 98 including the fixed frame 94, the intermediate frame 96, the work frame 92, etc. is configured on the left and right of the table portion 91, and the expansion and contraction drive mechanism 98 is driven by the drive mechanism (not shown). Then, the intermediate frame 96 is slid with respect to the fixed frame 94, and the work frame 92 is slid with respect to the intermediate frame 96, so that the table portion 91 is projected or retracted. Is being carried in and out.

[0004]

However, in the conventional fork device D, since the table portion 91 is supported by the pair of left and right extension drive mechanisms 98, the width of the table portion 91 can be narrowed. Therefore, the table portion 91 of the fork device D could not be inserted into a narrow space or the like.

On the other hand, in the fork device D as shown in FIG. 5, the adjacent frames, that is, the fixed frame 94 and the intermediate frame 96, and the intermediate frame 96 and the work frame 92 are all connected. Instead, the left and right extension drive mechanisms 98 are integrally assembled. Therefore, in the conventional fork device D, it is not possible to configure the fork device with only one of the expansion / contraction drive mechanisms 98 (the work frame 92 and the intermediate frame 96 cannot be detached with the one expansion / contraction mechanism 98 alone. It was difficult to manufacture a slim type fork device.

The present invention has been made in view of the above-mentioned drawbacks of the conventional example, and an object thereof is to provide a slim type compact fork device that can be easily inserted into a narrow space. It is in.

[0007]

[Means for Solving the Problems]

 The fork device of the present invention is a fork device in which a plurality of frames are slidably coupled in sequence and adjacent frames are slid to each other by a drive mechanism so that the leading end frames are projected and retracted. An engaged portion is provided on a side surface of one of the pair of frames that are fitted together, an engaging portion is provided on a side surface of the other frame, and the engaging portion and the engaged portion are slidably engaged with each other. Therefore, the feature is that adjacent frames are slidably connected.

For example, by providing a rollable roller on the side surface of one frame of a pair of adjacent frames and providing a groove portion on the side surface of the other frame over substantially the entire length, the roller is housed in the groove portion. Both frames can be slidably connected.

[0009]

[Action]

 In the present invention, the frame parts are slidably and directly coupled by engaging the engaging part and the engaged part, so that the structure of the fork device is simplified and the fork device is simplified. The external dimensions of can be made slim. In particular, by using the roller and the groove as the engaging portion and the engaged portion, it is possible to smoothly connect the frames while connecting the frames.

[0010]

【Example】

 1 and 2 are a partially broken perspective view and a sectional view showing a slim type fork device A according to an embodiment of the present invention. This embodiment is a three-stage fork device A including a fixed frame 1, an intermediate frame 11, and a work frame (arm) 21, and is configured such that the intermediate frame 11 and the work frame 21 extend in both front and rear directions. ing.

The fixed frame 1 is mainly composed of an E-shaped frame material 2 which is an aluminum extruded product having a substantially E-shaped cross section, and projects over the inner side surface of the E-shaped frame material 2 over the entire length. A plurality of cam followers (rollers) 6, 7 and 8 are rotatably supported on the lower surface of the upper flange portion 3, the side surface of the intermediate flange portion 4 and the upper surface of the lower flange portion 5, respectively.

The intermediate frame 11 is mainly composed of a deformed frame material 12 which is a deformed pultruded product, and a horizontal protruding portion 14 protrudes over the entire length in the center of both left and right side surfaces, and an L-shaped groove shape is formed above and below the protruding portion 14. The protruding portions 13 and 15 are protruding. The cam followers 6, 8 of the fixed frame 1 are fitted in the groove 13a on the upper surface of the groove-shaped protrusion 13 protruding on one side surface of the intermediate frame 11 and the groove 15a on the lower surface of the groove-shaped protrusion 15. As a result, the intermediate frame 11 and the fixed frame 1 are integrally connected so as not to separate from each other. Further, the horizontal protrusion 14 is placed on the cam follower 7 of the fixed frame 1, and the weight of the intermediate frame 11 is supported by the cam follower 7. Therefore, by rolling the cam followers 6, 7, and 8, the intermediate frame 11 can slide smoothly.

The work frame 21 has a structure that is substantially plane-symmetrical to the fixed frame 1, and is mainly composed of an E-shaped frame material 22 which is an aluminum extrusion molded product having a substantially E-shaped cross section. Cam followers (rollers) 26, 27, 28 are rotatably provided on the lower surface of the upper flange portion 23 protruding on the inner side surface of the E-shaped frame member 22, the side surface of the intermediate flange portion 24, and the upper surface of the lower flange portion 25, respectively. It is pivotally supported. Thus, the cam followers 26, 28 are fitted in the groove portion 13a on the upper surface of the groove-shaped protrusion 13 protruding on the other side surface of the intermediate frame 11 and the groove portion 15a on the lower surface of the groove-shaped protrusion 15, whereby the intermediate frame 11 is formed. 11 and the work frame 21 are integrally connected so as not to separate. Further, the cam follower 27 is mounted on the upper surface of the groove-shaped protrusion 15, and the weight of the work frame 21 is supported by the groove-shaped protrusion 15. Therefore, the work frame 21 can slide smoothly by rolling the cam followers 26, 27, 28.

Thus, in the fork device A, the intermediate frame 11 is slidably supported by the fixed frame 1, the work frame 21 is slidably supported by the intermediate frame 11, and the work frame 21 is centered on the fixed frame 1. It is designed to extend in both directions. Moreover, the diameters of the cam followers 6 and 8 of the fixed frame 1 and the cam followers 26 and 28 of the working frame 21 are substantially equal to the inner dimensions of the groove-shaped protrusions 13 and 15 of the intermediate frame 11 (that is, the cam followers). 6,8,26,28 do not rattle in the groove-shaped protrusions 13,15, and do not become a hard fitting state in the groove-shaped protrusions 13,15). Therefore, the intermediate frame 11 and the work It is possible to prevent the frame 21 from swinging laterally. The diameters of the cam followers 7 of the fixed frame 1 and the cam followers 27 of the work frame 21 are also substantially equal to the height between the horizontal protrusion 14 and the groove-shaped protrusion 15 of the intermediate frame 11 (that is, the cam followers 7). , 27 do not rattle in the horizontal projecting portion 14 and do not become a hard fit state in the horizontal projecting portion 14), so that the intermediate frame 11 and the work frame 21 are prevented from swinging in the vertical direction. it can.

Next, the drive mechanism of the fork device A will be described. The fixed frame 1 is fixed to the motor block 41. The motor block 41 includes a drive motor 42, a speed reducer 43, a front plate 44 and a drive pinion mechanism 45, and the central portion of the fixed frame 1 is fixed to the front plate 44. The drive pinion mechanism 45 is composed of three pinions 45a, 45b, 45c, the central driving pinion 45a is directly connected to the output shaft 43a of the speed reducer 43, and the two driven pinions 45b, 45c are connected to the front plate 44. It is rotatably supported and meshes with the driving pinion 45a on both sides of the driving pinion 45a. A rack 46 is provided on the lower surface of the intermediate frame 11 over the entire length, and driven pinions 45b and 45c on both sides are meshed with the rack 46. Therefore, when the drive pinion 45a is driven by the drive motor 42, the intermediate frame 11 is driven by the engagement of the driven pinions 45b and 45c with the rack 46 of the intermediate frame 11, and the intermediate frame 11 is projected. At this time, as shown in FIG. 3, the intermediate frame 11 can be projected until just before the rack 46 is disengaged from the drive pinion 45c (or 45b), so that the three pinions 45a, 45b, 45c can be removed. According to the drive pinion mechanism 45, the protrusion distance of the intermediate frame 11 is equal to the horizontal distance between the driving and driven pinions 45a and 45b, as compared with the case where only one pinion (for example, the driving pinion 45a) is used. It can be extended by L1. Further, the protruding direction of the intermediate frame 11 can be changed by the rotating direction of the drive pinion 45a.

Further, on the inner side surfaces of the fixed frame 1 and the work frame 21, racks 9 and 29 are provided over the entire lengths above the intermediate flange portions 4 and 24, respectively. On the other hand, an opening 47 is provided between the upper surface of the horizontal protruding portion 14 and the lower surface of the upper groove-shaped protruding portion 13 in the center of the intermediate frame 11, and the upper surface of the horizontal protruding portion 14 is doubled in the opening 47. A stroke transmission pinion mechanism 48 is provided. The double-stroke transmission pinion mechanism 48 is composed of meshing pinions 49a, 49b at both ends and a plurality of transmission pinions 50a, 50b, 50c arranged in a row, and the rotation of one meshing pinion 49a is transmitted. It is transmitted to the other meshing pinion 49b via the pinions 50a, 50b, 50c. Further, one meshing pinion 49a meshes with the rack 9 of the fixed frame 1 (it meshes with the rack 29 of the work frame 21 when contracted), and the other meshing pinion 49b meshes with the rack 29 of the work frame 21. (When contracted, it also meshes with the rack 9 of the fixed frame 1.) Therefore, when the intermediate frame 11 is slid by the drive pinion mechanism 45, the meshing pinion 49a is rotated by the meshing of the rack 9 and the meshing pinion 49a, and this rotation is transmitted through the transmission pinions 50a, 50b, 50c to the other side. It is transmitted to the meshing pinion 49b, and the meshing pinion 49b rotates. As a result, the rack 29 is fed by the rotation of the meshing pinion 49b, so that the work frame 21 is driven and the work frame 21 is projected. Thus, when the drive pinion mechanism 45 causes the intermediate frame 11 to project, the double-stroke transmission pinion mechanism 48 causes the work frame 21 to further project from the intermediate frame 11, and when the intermediate frame 11 retracts, the work frame 21 also simultaneously moves. Withdraw. Moreover, when the work frame 21 is projected, the work frame 21 can be projected until just before the rack 29 of the work frame 21 is disengaged from the meshing pinion 49b (or 49a), as shown in FIG. By using the stroke transmission pinion mechanism 48, as compared with the case where power is transmitted to the work frame 21 by one pinion (for example, the meshing pinion 49a), the projecting distance of the work frame 21 is set between the meshing pinions 49a and 49b. The distance can be extended by L2. The work frame 21 also slides in both directions according to the protruding direction of the intermediate frame 11.

The horizontal distance from the center of the driven pinion 45c (45b) of the drive pinion mechanism 45 to the end of the rack 9 of the fixed frame 1 and the engagement pinion of the double stroke transmission mechanism 48 from the end of the rack 46 of the intermediate frame 11. The horizontal distance to the center of 49a (49b) is almost equal. Further, the fixed frame 1, the intermediate frame 11 and the work frame 21 have the same length.

Therefore, according to the fork device A of the present invention, it is possible to realize the slim type fork device A having a single rod shape, and the work frame 21 can be inserted into a narrow space. Moreover, by using the drive pinion mechanism 45 and the double stroke transmission pinion mechanism 48, the projecting length of the work frame 21 can be extended by L2 (= 2 × L1), or conversely, when it is contracted and shortened by that amount. The length (the length of the fixed frame 1 etc.) can be shortened, and the fork device A can be made more compact. Further, by fitting the cam followers 6, 7, 8 of the fixed frame 1 and the cam followers 26, 27, 28 of the working frame 21 with the groove-shaped protrusions 13, the horizontal protrusions 14 and the groove-shaped protrusions 15 of the intermediate frame 11. Since the fixed frame 1, the intermediate frame 11 and the work frame 21 are assembled, the fork device A can be made to have a high load bearing strength despite the slim structure of the fork device A. For example, 700 strokes / hour. It was possible to achieve a payload capacity of 20 kg.

In the above embodiment, there is only one intermediate frame, but it is possible to use two or more intermediate frames. Also, a suitable table may be attached on the work frame at the tip. Furthermore, although this fork device can be used in the posture shown in Fig. 1, it should be used with it rotated 90 degrees (that is, with the work frame on the top and the fixed frame on the bottom). You can also

Further, in the above embodiment, only one fork device A has been described, but the fork device of the present invention can be used not only by itself but also by using two or three or more parallel devices. You can also For example, although not shown, two fork devices may be installed in parallel and a table portion may be provided between the work frames of both fork devices. With such a structure, the fork devices on both sides supporting the table portion can be used independently, so that the operation is smooth and the load bearing strength is increased.

[0021]

[Effect of device]

 According to the present invention, since the structure of the fork device can be simplified and the outer dimensions of the fork device can be made slim, the fork device can be reduced in size and weight. In addition, since the frame of the fork device can be inserted into a narrow space, it can be used in work environments and work environments where conventional fork devices cannot work.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view showing an embodiment of the present invention.

FIG. 2 is a sectional view of the same.

FIG. 3 is a view for explaining the operation of the drive pinion mechanism of the above.

FIG. 4 is a view for explaining the operation of the above double stroke transmission pinion mechanism.

FIG. 5 is a schematic cross-sectional view showing a conventional fork device.

[Explanation of symbols]

 1 fixed frame 6,7,8 cam follower 11 intermediate frame 13 groove type protrusion 14 horizontal protrusion 15 groove type protrusion 21 work frame 26, 27, 28 cam follower 42 drive motor 45 drive pinion mechanism 9, 29, 46 rack 48 times Stroke transmission pinion mechanism

Claims (2)

[Scope of utility model registration request] 1. A fork device in which a plurality of frames are slidably coupled in sequence, and adjacent frames are slid by a drive mechanism so that a leading end frame is projected and retracted. The engaged portion is provided on the side surface of one of the frames, and the engaging portion is provided on the side surface of the other frame.
A fork device characterized in that adjacent frames are slidably coupled by slidably engaging the engaging portion and the engaged portion. 2. A rollable roller is provided on the side surface of one frame of a pair of adjacent frames, and a groove is provided on the side surface of the other frame over substantially the entire length. The fork device according to claim 1, wherein the frame is slidably coupled.