JP2006182510A - Stacker crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stacker crane with transfer devices between which an arrangement interval is changeable without the need for a new driving source for driving means to change the arrangement interval between the transfer devices provided on a lift carriage. <P>SOLUTION: On the lift carriage 13 mounted on the stacker crane, two transfer devices are provided movably to the travelling direction (the ranging direction) of the stacker crane. The first driving means 30 for moving the whole transfer devices in the ranging direction has a first belt means 29 fixed onto the lift carriage 13 at both ends thereof and a first pulley means 26 provided on a rotating shaft via a first clutch in an integrally rotatable manner. The second driving means 36 for driving cargo transfer parts of the transfer devices has a second pulley means 31 provided on the rotating shaft via a second clutch in an integrally rotatable manner and a second belt means 34 wrapped between the second pulley means 31 and a driven pulley means 33. Both driving means 30, 36 use a motor as the driving source in common. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a stacker crane, and more particularly to a stacker crane provided with at least two transfer devices on a lifting carriage so that the arrangement interval thereof can be changed in the traveling direction of the stacker crane.

  In general, an automatic warehouse has a frame shelf (rack) provided with a plurality of storage units (shelf) for storing loads, a plurality of continuous storage units, a load receiving table for temporarily loading and unloading loads, a load receiving table and a storage unit, And a stacker crane for carrying and transferring the load between them. The loading and unloading work in this automatic warehouse includes a load transfer operation in which the stacker crane stops at a position corresponding to the load receiving platform or the storage unit and transfers the load onto the transfer device, and a desired storage by transporting the load. It consists of the unloading operation to stop and transfer the load at a position corresponding to the part or the load receiving platform.

  As a transfer device, a fork type device having a fork for supporting a load on the lower surface is generally used. Also, a clamp type that clamps and transfers a load on its side surface (for example, see Patent Document 1), or a so-called side picking type that pulls or pushes a load with a lever that locks the load on the front side or the rear side (for example, (See Patent Document 2). In the case of a clamp type or side picking type transfer device, the load is transferred to and from a storage unit with a flat shelf structure that places the load on a flat shelf plate with fewer columns on the frame shelf. Suitable for

  Also, as shown in FIG. 8, a twin fork stacker crane having two shuttle forks (transfer devices) 72 and 73 on a lifting / lowering base (lifting / lowering carriage) 71, the arrangement interval of which can be changed as shown in FIG. (For example, refer to Patent Document 3). Each of the shuttle forks 72 and 73 is supported by a slider fixed to the back of the shuttle forks 72 and 73 so as to be slidable in the traveling direction of the stacker crane (left and right in FIG. 8). The shift device 75, 76 provided on 71 can shift on the lifting platform 71. Cylinders are used for the shift devices 75 and 76. In this stacker crane, both shuttle forks are changed by changing the distance between both shuttle forks 72, 73 corresponding to the pitches T, t corresponding to two kinds of pitches T, t between adjacent storage parts of the frame shelf. 72 and 73 can simultaneously perform the transfer operation.

Even in an automatic warehouse equipped with a storage section having the flat shelf structure, there is also a stacker crane in which two clamp-type transfer devices are mounted on a lifting carriage. If the arrangement interval of the load on the storage unit is constant, two loads can be transferred simultaneously by two transfer devices. However, in an automatic warehouse equipped with a storage unit having a flat shelf structure, as shown in FIG. 9, loads W having different widths may be stored in the storage unit 80. It is narrow. Therefore, when the arrangement interval L of the two transfer devices 81 and 82 is constant, depending on the interval of the load W, the two transfer devices 81 and 82 cannot transfer two loads W at the same time. There is. As a result, there are more cases where simultaneous transfer is impossible. Therefore, it is necessary to be able to change the arrangement interval between the two transfer devices 81 and 82 by making the two transfer devices 81 and 82 movable in the traveling direction of the stacker crane on the lifting carriage.
JP 11-189305 A (paragraphs [0023] to [0027] of the specification, FIGS. 4, 7, and 8) JP 2002-68406 A (paragraphs [0028] to [0031] of the specification, FIGS. 2 and 3) JP 2000-255708 A (paragraphs [0010] to [0013], FIGS. 1 and 4 of the specification)

  However, in the twin fork stacker crane described in Patent Document 1, shift devices 75 and 76 for moving the fork on the lifting platform 71 in the traveling direction of the stacker crane are required for each of the forks 72 and 73. An extra drive source is required. In addition, since the shift devices 75 and 76 are provided so as to extend in the traveling direction of the stacker crane outside the moving range (shift range) of the forks 72 and 73, the length of the lifting platform is increased correspondingly. There is a problem of becoming. The same applies to a stacker crane provided with a plurality of transfer devices of a clamp type or the like suitable for an automatic warehouse equipped with a storage unit having a flat shelf structure, in the case where a driving means for changing the interval between the transfer devices is provided. There's a problem.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide a drive source for a drive unit for changing the arrangement interval of the transfer device provided on the lifting carriage. Another object of the present invention is to provide a stacker crane capable of changing the arrangement interval of the transfer device.

  In order to achieve the above object, an invention according to claim 1 is a stacker crane provided with at least two transfer devices on a lifting carriage so that the arrangement interval thereof can be changed in the traveling direction of the stacker crane. A drive source of a first drive means for moving the entire transfer device in the traveling direction of the stacker crane so as to be in a position suitable for a load transfer operation on the lifting carriage; The drive source of the 2nd drive means which drives a load transfer part is made common.

  In the present invention, the first drive means for changing the arrangement interval of at least two transfer devices provided on the lifting carriage and the second drive means for driving the load transfer portion of the transfer device are the same. Driven by a drive source. Therefore, it is possible to change the arrangement interval of the transfer device without newly providing a drive source of the driving means for changing the arrangement interval of the transfer device provided on the lifting carriage.

  The invention according to claim 2 is the structure according to claim 1, wherein the load transfer section includes a pair of grip portions that are arranged on both sides of the load and transfer the load in a sandwiched state. The second driving means is configured to drive so as to enlarge or reduce the distance between the pair of gripping portions. In this invention, even if it is the structure provided with the storage part of the flat shelf structure which reduces the pillar of a frame shelf and mounts a load on a flat shelf board as an automatic warehouse.

  According to a third aspect of the present invention, in the second aspect of the present invention, the drive source is a motor provided so as to be able to move integrally with the transfer device. The first driving means includes first belt means whose both ends are fixed on the lifting carriage in a state extending in the traveling direction of the stacker crane, and a direction rotated by the motor and perpendicular to the traveling direction of the stacker crane. And a first pulley means which is provided on a rotary shaft extending in a manner such that it can rotate integrally through a first clutch and which engages with the first belt means. The second driving means includes second pulley means provided on the rotary shaft so as to be integrally rotatable via a second clutch, driven pulley means provided on the transfer device, and the second pulley means. A pulley means and an endless second belt means wound around the driven pulley means, and the pair of gripping portions are driven by the stacker crane when the belt means is driven with respect to the second belt means. It is provided to be movable. Here, the “belt means” means not only a normal belt but also a timing belt and a chain. The “pulley means” means not only a normal pulley but also a timing pulley and a sprocket.

  In this invention, the drive source is a motor, and the rotary shaft for transmitting the rotation of the motor to the first and second drive means extends so as to be orthogonal to the traveling direction of the stacker crane, so the length of the lifting carriage is increased. The problem of increasing the size can be suppressed.

  According to the present invention, it is possible to change the arrangement interval of the transfer device without newly providing a drive source of the driving means for changing the arrangement interval of the transfer device provided on the lifting carriage.

  Hereinafter, an embodiment in which the present invention is embodied in a stacker crane equipped with a clamp type transfer device will be described with reference to FIGS. FIG. 1A is a schematic partial plan view of an automatic warehouse, FIG. 1B is a schematic partial side view, and FIG. 2 is a driving means for moving the traveling direction of two transfer devices provided on an elevating carriage (first It is a schematic diagram of a drive means) and a drive means for clamp operation (second drive means). 3A and 3B are schematic plan views of the transfer device, FIG. 4 is a schematic front view of the transfer device, and FIG. 5 is a schematic side view of the transfer device. FIG. 6 is a schematic plan view for explaining the action, and FIGS. 7A to 7C are schematic plan views for explaining the action.

  As shown in FIG. 1A, the automatic warehouse 1 includes a pair of left and right frame shelves 2a and 2b arranged to face each other. As shown in FIG. 1 (b), the frame shelves 2a and 2b have a plurality of storage portions 3 in the continuous direction (left and right direction in FIG. 1 (b)) and the step direction (up and down direction in FIG. 1 (b)), respectively. They are provided at predetermined intervals. Each storage unit 3 includes a column 4 and a shelf plate 5 disposed between the columns 4, and the shelf plate 5 is formed to have a length capable of mounting a plurality of loads W. Moreover, the entrance 6 and the exit 7 are provided in the front side edge part (left end part in Fig.1 (a)) of the frame shelves 2a and 2b.

  A rail 9 is laid in the passage 8 between the frame shelves 2a and 2b of the automatic warehouse 1, and a stacker crane 10 is disposed on the rail 9 so as to be able to travel. The stacker crane 10 includes a traveling platform 11 having traveling wheels (not shown), a pair of masts 12 erected on the traveling platform 11, and an elevating carriage 13 disposed between the masts 12 so as to be movable up and down. Yes. A traveling motor 15 for traveling the stacker crane 10 and an elevating motor 16 for elevating the elevating carriage 13 are disposed on the traveling platform 11. A control device 17 for controlling both the motors 15 and 16 is provided under the front mast 12.

  On the elevating carriage 13, two transfer devices 14 </ b> A and 14 </ b> B capable of transferring the load W between the storage units 3 of the two framed shelves 2 a and 2 b are equipped so that the arrangement interval can be changed. . Both transfer devices 14A and 14B are provided on the lift carriage 13 so as to be movable along a guide rail 18 as a guide member extending in the traveling direction of the stacker crane 10 (left and right direction in FIG. 1A). For convenience of illustration, the size of the stacker crane 10, the transfer devices 14A and 14B, etc. is shown smaller than the load W in FIG.

  Next, the transfer devices 14A and 14B will be described. Since both transfer apparatuses 14A and 14B have substantially the same configuration, one transfer apparatus 14A will be mainly described below. As shown in FIGS. 3A and 3B, the transfer device 14 </ b> A is provided with a base plate 19 movably along the guide rail 18. A rail 20 is fixed on the base plate 19 so as to extend in parallel with the guide rail 18, and support plates 21 a and 21 b are supported on the rail 20 so as to be movable, that is, the distance between them can be changed. Support members 22a and 22b are provided on the support plates 21a and 21b so as to be movable in a direction perpendicular to the rails 20 via guides (not shown) (for example, linear guides).

  On the support members 22a and 22b, belt conveyors 23a and 23b are provided as a pair of gripping portions constituting a load transfer portion. The belt conveyors 23a and 23b are driven by motors 24 that can be rotated forward and backward, respectively, provided on the support members 22a and 22b. The driving force of the motor 24 is transmitted to the belt conveyors 23a and 23b via, for example, a pulley / belt mechanism (not shown). Note that the transfer device 14A and the transfer device 14B are different in the arrangement of the two motors 24 as shown in FIGS. That is, among the motors 24 arranged close to each other, the motor 24 installed in the transfer device 14B is arranged near the frame shelf 2a, and the motor 24 equipped in the transfer device 14A is arranged on the side away from the frame shelf 2a. Has been placed. The support members 22a and 22b are integrally formed with support portions 22a1 and 22b1 for supporting the load W below the opposite sides of the belt conveyors 23a and 23b. As shown in FIG.3 (b), both the support parts 22a1, 22b1 are formed so that it may mutually contact | abut when the space | interval of the belt conveyors 23a, 23b is the narrowest state.

  Sensors S1 and S2 are provided above both ends of the belt conveyors 23a and 23b. As the sensors S1 and S2, a transmissive optical sensor including projectors S1a and S2a and light receivers S1b and S2b is used.

  As shown in FIGS. 4 and 5, the rotating shaft 25 is provided on one end side of the base plate 19 so as to be supported by a support portion (not shown) so as to extend in a direction orthogonal to the rail 20. The rotary shaft 25 is driven by a motor M as a drive source. As the motor M, a servo motor capable of forward and reverse rotation is used. A first pulley means 26 is provided on the rotary shaft 25 through a first clutch 27 (shown in FIG. 4) so as to be integrally rotatable. A timing pulley is used as the first pulley means 26 and an electromagnetic clutch is used as the first clutch 27. Two guide pulleys 28 are provided in the vicinity of the first pulley means 26. A first belt means 29 is wound around the first pulley means 26 and the guide pulley 28. A timing belt is used as the first belt means 29.

  As shown in FIG. 2, the first belt means 29 extends in the traveling direction of the stacker crane 10 (left and right direction in FIG. 2) except for the position corresponding to the first pulley means 26 of the transfer devices 14 </ b> A and 14 </ b> B. Both ends are fixed on the lifting carriage 13 via brackets. Therefore, when the rotating shaft 25 is rotated by the motor M with the first clutch 27 connected, the first pulley means 26 is rotated and the transfer devices 14A and 14B move along the guide rail 18. . By the first pulley means 26, the guide pulley 28 and the first belt means 29, the transfer device 14A, 14B is placed on the elevating carriage 13 so that the stacker crane 10 has a position suitable for the load W transfer operation. A first drive means 30 is configured to move in the traveling direction.

  A second pulley means 31 is provided on the rotary shaft 25 via a second clutch 32 (shown in FIG. 4) so as to be integrally rotatable. As shown in FIG. 5, the base plate 19 is provided with a driven pulley means 33 at a position opposite to the second pulley means 31, and an endless second belt means 34 is wound between the pulley means 31 and 33. It is hung. A timing pulley is used as both pulley means 31 and 33, and a timing belt is used as the second belt means 34. The support plates 21a and 21b are connected to the second belt means 34 via connecting members 35a and 35b (shown in FIGS. 2 and 5). One support plate 21a is connected to the upper traveling portion of the portion where the second belt means 34 travels horizontally, and the other support plate 21b travels below the portion where the second belt means 34 travels horizontally. It is connected to the part. And when the 2nd belt means 34 drive | works with the drive of the motor M, both the support plates 21a and 21b are comprised so that it may move to a mutually reverse direction. Accordingly, the belt conveyors 23a and 23b are moved together with the support plates 21a and 21b together with the support members 22a and 22b arranged on the support plates 21a and 21b, and the interval between the belt conveyors 23a and 23b is changed.

  The second pulley means 31, the second clutch 32, the driven pulley means 33, and the second belt means 34 constitute a second drive means 36 for driving the load transfer section of the transfer devices 14A and 14B. Yes. In this embodiment, the load transfer unit is configured to include a pair of belt conveyors 23a and 23b that are arranged on both sides of the load W and transfer the load while sandwiching the load. It is the structure which drives so that the space | interval of the belt conveyors 23a and 23b may be expanded or reduced. The motor M functions as a common drive source for the first drive means 30 and the second drive means 36.

  FIG. 2 is a schematic diagram showing the relationship between the first driving means 30 and the second driving means 36, and the ratio of the lengths in the continuous direction and the lengths (heights) in the step direction of the respective parts is shown in the figure. For convenience, it differs from the other figures. Further, illustration of the base plate 19 and the like is omitted, and members are simplified.

  Both support members 22a and 22b are connected by a connecting member 37 (shown only in FIGS. 3A and 3B) that can be expanded and contracted, and can move integrally in a direction perpendicular to the rail 20. A motor 38 (shown only in FIG. 4) capable of rotating in the forward and reverse directions is provided on the lower surface of one support plate 21a, and a pinion (not shown) is fixed to the drive shaft of the motor 38 so as to be integrally rotatable. One support member 22 a is provided with a rack (not shown) that meshes with the pinion so as to extend in a direction perpendicular to the rail 20. Then, by driving the motor 38, both the support members 22a and 22b are moved in a direction orthogonal to the rail 20, that is, a direction orthogonal to the traveling direction of the stacker crane 10.

The motors M, 24, and 38, the first clutch 27, and the second clutch 32 equipped in the transfer devices 14A and 14B are controlled by the control device 17.
Next, the operation of the stacker crane 10 configured as described above will be described by taking the delivery as an example. When the controller 17 inputs a shipping command from a crane controller (not shown), the controller 17 controls the stacker crane 10 according to the command. The delivery command includes data such as the position of the storage unit 3 that is the delivery source and the width of the load W. The control device 17 moves the stacker crane 10 to a position corresponding to the commanded storage unit 3 (running direction position) and moves the lifting carriage 13 to a position corresponding to the commanded storage unit 3 (stage direction position). Let

  In a state where the lifting carriage 13 is stopped at a position corresponding to the storage unit 3, as shown in FIG. 7A, the center position of both the transfer devices 14A and 14B is shifted from the center position of the load W. is there. The control device 17 positions the transfer devices 14A and 14B in the continuous direction so that the center positions of the transfer devices 14A and 14B are aligned with the center position of the load W. The positioning is not performed at the same time for both transfer devices 14A and 14B, but in order.

  When positioning, first, the motor M is driven in a state where only the first clutch 27 of one transfer device (for example, the transfer device 14A) is connected. The rotation shaft 25 is rotated by driving the motor M, and the first pulley means 26 is rotated via the first clutch 27. Both ends of the first belt means 29 wound around the first pulley means 26 are fixed to the elevating carriage 13, and the base plate 19 that supports the rotating shaft 25 is in the traveling direction of the stacker crane 10 with respect to the elevating carriage 13. Since the relative movement is possible in the (continuous direction), the transfer device 14 </ b> A moves in the continuous direction by the rotation of the first pulley means 26. When the center of the transfer device 14A moves to a position that coincides with the center of the load W, the motor M is stopped and the connection of the first clutch 27 is released, and the positioning of the transfer device 14A is completed. Next, positioning of the other transfer device 14B is performed in the same manner, and the state shown in FIG.

  Next, the motors 38 of both transfer devices 14A and 14B are driven, the support members 22a and 22b are moved toward the storage unit 3 in the direction orthogonal to the traveling direction of the stacker crane 10, and the belt conveyors 23a and 23b are stored in the storage unit. Move forward toward 3. As shown in FIG. 6, when the belt conveyors 23a and 23b advance to a position where the sensor S1 (light projector S1a and light receiver S1b) detects the load W, the drive of the motor 38 is stopped by the detection signal of the sensor S1.

  Next, after the second clutch 32 of both transfer devices 14A and 14B is connected, the motor M is driven and the rotary shaft 25 is rotated. Then, the second pulley means 31 is rotated integrally with the rotary shaft 25, and the second belt means 34 travels. As the second belt means 34 travels, the support plates 21a and 21b connected to the second belt means 34 via the connecting members 35a and 35b are moved in the travel direction of the stacker crane 10 so as to approach each other. When the interval between the belt conveyors 23a and 23b reaches a predetermined value corresponding to the width of the load W, the motor M is stopped in each of the transfer devices 14A and 14B. And as shown in FIG.7 (c), it will be in the state by which the edge part of the load W was clamped by the edge part of the belt conveyors 23a and 23b of both transfer apparatuses 14A and 14B.

  Next, the motor 24 is driven and the belt conveyors 23a and 23b are driven in a direction to transfer the load W onto the transfer devices 14A and 14B. As the belt conveyors 23a and 23b are driven, the load W moves on the support portions 22a1 and 22b1. When the sensor S2 (the projector S2a and the light receiver S2b) detects the load W, the motor 24 is stopped. Next, the motor 38 is driven, and the belt conveyors 23a and 23b are moved to their original positions together with the support members 22a and 22b, and the transfer operation of the load W is completed.

  Thereafter, the stacker crane 10 moves to a position corresponding to the delivery port 7 or the storage unit 3 at the receiving destination, and transfers the load W to the delivery port 7 or the storage unit 3. When the load W on the transfer devices 14A and 14B is transferred to the delivery port 7 or the storage unit 3, the belt conveyors 23a and 23b are first moved forward together with the support members 22a and 22b, and then the belt conveyors 23a and 23b are moved. Drive in the direction of delivery of the load W. When the sensor S1 no longer detects the load W, the driving of the belt conveyors 23a and 23b is stopped. Next, after the second clutch 32 is connected, the motor M is driven to widen the distance between the belt conveyors 23a and 23b and release the load W from being held. Thereafter, the motor 38 is driven, and the belt conveyors 23a and 23b are moved to their original positions together with the support members 22a and 22b, and the transfer operation of the load W is completed. When the stacker crane 10 completes the transfer of the load W to the storage unit 3 or the exit port 7, the stacker crane 10 stops at that position and waits for the next command.

In addition, when transferring the load W between the frame shelf 2b, the rotation direction of the motor 38 and the rotation direction of the motor 24 are opposite to the case where the load W is transferred between the frame shelf 2a. Become.
This embodiment has the following effects.

  (1) The stacker crane 10 includes two transfer devices 14A and 14B on the lifting carriage 13 so that the arrangement interval can be changed in the traveling direction of the stacker crane 10. Then, the transfer device 14A, 14B as a whole is moved on the elevating carriage 13 in the traveling direction of the stacker crane 10 so as to be in a position suitable for the transfer operation of the load W; The drive source of the 2nd drive means 36 which drives the load transfer part of mounting apparatus 14A, 14B is made common. Therefore, the arrangement interval of the transfer devices 14A and 14B is increased without providing a new drive source of the first drive means 30 for changing the arrangement interval of the transfer devices 14A and 14B provided on the elevating carriage 13. Can be changed.

  (2) The load transfer unit is configured to include a pair of gripping portions that are disposed on both sides of the load W and transfer the load W while sandwiching the load W, and the second driving unit 36 includes the pair of gripping units. It is the structure which drives so that a space | interval may be expanded or reduced. Accordingly, the automatic warehouse 1 is provided with a storage unit 3 having a flat shelf structure in which the columns (posts 4) of the frame shelves 2a and 2b are reduced and the load W is placed on the flat shelf plate 5. Can also respond.

  (3) The pair of gripping portions are constituted by belt conveyors 23a and 23b, and most of the load transfer is performed by driving the belt conveyors 23a and 23b when the load W is transferred. Therefore, the amount of movement for moving the pair of gripping portions in the direction orthogonal to the traveling direction of the stacker crane 10 is reduced, and the time required for the transfer operation can be shortened.

  (4) The first driving means 30 and the second driving means 36 are connected to the common rotating shaft 25 extending in the direction orthogonal to the traveling direction of the stacker crane 10 via the first clutch 27 and the second clutch 32. A first pulley means 26 and a second pulley means 31 are provided so as to be integrally rotatable. A motor M that is a common drive source for the first drive means 30 and the second drive means 36 drives the rotary shaft 25. Therefore, unlike the prior art in which each of the transfer devices 14A and 14B is provided with a driving means (shift device) for moving the transfer devices 14A and 14B in the traveling direction of the stacker crane 10, the lift carriage 13 becomes longer and larger. The problem can be suppressed.

  (5) A timing pulley is used as the first pulley means 26 and the second pulley means 31, and a timing belt is used as the first belt means 29 and the second belt means 34. Therefore, position adjustment is easy and accuracy is higher than when a chain or a simple belt is used as the belt means.

  (6) The belt conveyors 23a and 23b are supported on the support plates 21a and 21b provided so as to be movable in the direction in which the interval between the belt conveyors 23a and 23b serving as gripping portions is changed, and the stacker crane 10 travels both. Support members 22a and 22b that are moved in a direction orthogonal to the direction are provided. Therefore, when the support members 22a and 22b move in the direction orthogonal to the traveling direction of the stacker crane 10, the first drive is performed as compared with the configuration in which the support plates 21a and 21b are disposed above the support members 22a and 22b. It is easy to avoid interference with the means 30 and the second drive means 36.

  (7) A servo motor is used as the motor M which is a drive source of the first drive means 30 and the second drive means 36. Therefore, the position of the transfer devices 14A and 14B can be easily adjusted and the accuracy can be increased as compared with the case of using another motor.

  (8) Of the motors 24 that respectively drive the belt conveyors 23a and 23b provided in the two transfer devices 14A and 14B, the motors 24 arranged on the sides close to each other extend straight in the traveling direction of the stacker crane 10. It is arranged not to be located on the line. Therefore, it is possible to avoid interference between the motors 24 when the transfer devices 14A and 14B are arranged close to each other.

The embodiment is not limited to the above, and may be embodied as follows, for example.
○ A chain or a simple belt is used as the first pulley means 26 and the second pulley means 31 instead of the timing pulley, and the first belt means 29 and the second belt means 34 correspond to the chain or the simple belt. Sprockets or simple pulleys may be used.

  The number of transfer devices provided on the lift carriage 13 may be more than two. However, when there are many places where the interval of the load W is not constant, if the number is large, it takes time to adjust the position of each transfer device in the connecting direction.

The transfer device may have a configuration including a simple pair of gripping portions that are not belt conveyors 23a and 23b as a clamp-type load transfer portion.
A support plate provided on a support member for moving the belt conveyors 23a and 23b as gripping portions in a direction orthogonal to the traveling direction of the stacker crane 10 so as to be movable in a direction for changing the interval between the belt conveyors 23a and 23b. 21a and 21b may be provided and the belt conveyors 23a and 23b may be supported on the support plates 21a and 21b.

  The transfer device may include a so-called picking type load transfer unit. Also in the case of the picking type load transfer section, it is necessary to have a configuration for changing the distance between the pair of support arms in the traveling direction of the stacker crane depending on the width of the load, and a configuration for moving in the direction orthogonal to the traveling direction. The configurations of the first driving means 30 and the second driving means 36 can be applied.

  The transfer device may be provided with a fork type having a fork for supporting the load W on the lower surface thereof as a load transfer portion. Unlike the clamp type and picking type load transfer sections, the fork type load transfer section does not require a mechanism for moving only the load transfer section in the traveling direction of the stacker crane 10. Therefore, the second drive means for driving the load transfer section is configured to move the fork in a direction orthogonal to the traveling direction (the continuous direction) of the stacker crane 10. As a configuration for moving the fork in a direction orthogonal to the continuous direction, a configuration using rotation of a rotating shaft extending in the continuous direction is common. In this case, the first driving means 30 includes a rotating shaft 25 extending in a direction orthogonal to the connecting direction, and the second driving means for moving the fork includes a rotating shaft extending in the connecting direction. Therefore, when the drive source of the first drive means 30 and the second drive means is made common, for example, by adopting a configuration in which the rotation of one rotary shaft is transmitted to the other rotary shaft via a bevel gear. Both rotary shafts can be rotated by a single drive source, and both drive means can obtain power from each rotary shaft via a clutch.

  ○ In the transfer device having a clamp type or picking type load transfer unit, the second drive means is configured to move the pair of gripping units or the pair of arms in a direction perpendicular to the traveling direction of the stacker crane. May be. In this case, the rotating shaft constituting the first driving means 30 and the rotating shaft constituting the second driving means are provided so as to extend in directions orthogonal to each other, and a bevel gear is interposed between the two rotating shafts. By doing so, both rotating shafts are rotated by a common drive source (motor).

The automatic warehouse 1 may be a double reach type automatic warehouse including a frame shelf in which a front shelf and a back shelf are arranged so that two loads can be stored in the depth direction.
The automatic warehouse 1 may be configured such that the stacker crane 10 receives and loads the cargo W only with respect to the one-side frame shelf facing the passage 8.

  The automatic warehouse 1 is not limited to a configuration in which the single stacker crane 10 is used for loading and unloading the framed shelves 2a and 2b provided on the left and right sides of the passage 8 of the stacker crane 10. For example, a configuration may be employed in which a storage crane and a storage crane are provided separately, and storage is performed only on one side of the shelf, and storage is performed only on the other side.

The sensors S1 and S2 for detecting the load W are not limited to transmissive optical sensors, but may be reflective optical sensors, contact sensors (for example, limit switches), or the like.
○ The sensors S1 and S2 for detecting the load W are eliminated, and when the load W is transferred, the belt conveyors 23a and 23b are moved for a predetermined time so as to transfer from the transfer devices 14A and 14B to the storage unit 3 side. Also good.

The invention (technical idea) grasped from the embodiment will be described below.
(1) In the invention described in claim 3, the first belt means is a timing belt, and the first pulley means is a timing pulley.

(A) is a schematic partial top view of the automatic warehouse of one Embodiment, (b) is a schematic partial side view. The schematic diagram of the drive means of two transfer apparatuses. (A), (b) is a schematic plan view of a transfer apparatus. The schematic front view of a transfer apparatus. The schematic side view of a transfer apparatus. The schematic plan view explaining an effect | action. (A)-(c) is a schematic plan view explaining an effect | action. The schematic plan view which shows a prior art. The schematic plan view which shows another prior art.

Explanation of symbols

  M: Motor as drive source of first driving means and second driving means, W: Load, 10: Stacker crane, 13: Elevating carriage, 14A, 14B ... Transfer device, 23a, 23b ... Load transfer section And a belt conveyor as a pair of gripping portions, 25... Rotating shaft, 26... First pulley means, 27... First clutch, 29... First belt means, 30. ... second pulley means, 32 ... second clutch, 33 ... driven pulley means, 34 ... second belt means, 36 ... second drive means.

Claims (3)

A stacker crane provided with at least two transfer devices on a lifting carriage, the arrangement interval of which can be changed in the traveling direction of the stacker crane,
A drive source of first drive means for moving the entire transfer device in the traveling direction of the stacker crane so as to be in a position suitable for load transfer work on the elevating carriage, and load transfer of the transfer device. A stacker crane having a common drive source for the second drive means for driving the mounting portion.   The load transfer section includes a pair of gripping portions that are arranged on both sides of the load and transfer the load in a state where the load is sandwiched, and the second driving means expands the interval between the pair of gripping portions or The stacker crane according to claim 1, wherein the stacker crane is configured to be driven to reduce. The drive source is a motor provided so as to be able to move integrally with the transfer device, and the first drive means extends in the traveling direction of the stacker crane, and both ends are fixed on the lift carriage. Belt means, and a rotary shaft that is rotated by the motor and extends in a direction perpendicular to the traveling direction of the stacker crane, is provided so as to be integrally rotatable via a first clutch, and engages with the first belt means. First pulley means, and the second drive means is provided in the transfer device and second pulley means provided on the rotating shaft so as to be integrally rotatable via a second clutch. A driven pulley means; a second pulley means; and an endless second belt means wound around the driven pulley means, wherein the pair of gripping portions are connected to the second belt means with respect to the belt. Stacker crane according to claim 2, when stage drive is provided to be movable in the travel direction of the stacker crane.

Images