JP2009269732A - Stacker crane and article storage equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily mount an elevating mast in a moving passage by making the elevating mast adjacent to an article storage shelf side. <P>SOLUTION: In a stacker crane 3, the elevating mast 11 for ascendingly guiding an elevating base 13 for conveying articles is erected at an end of a carriage frame 19 which is long in the vehicle body longitudinal direction. The elevating base is provided in an extended state from the elevating mast to one side of the vehicle body lateral width direction. The elevating mast is provided in a state located on a lateral side being an opposite side of a direction in which the elevating base is extended as compared with a traveling wheel 20 provided at the end of the carriage frame in a view of a vehicle body longitudinal direction. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a stacker crane in which an elevating mast for elevating and lowering a lifting platform for conveying articles is provided at an end of a carriage frame that is long in the longitudinal direction of the vehicle body, and an article storage facility equipped with the stacker crane About.

The stacker crane is reciprocally mounted in a moving path formed along the article storage shelf in order to move the elevator up and down to perform the work of entering and leaving the article with respect to the storage unit of the article storage shelf. Is.
In a conventional stacker crane, an elevating mast is provided above a traveling wheel provided in a bogie frame when viewed in the longitudinal direction of the vehicle body (see, for example, Patent Document 1).

JP-A-6-305514

For this reason, for example, when a maintenance work vehicle is driven along the movement path, the lifting mast is provided close to the article storage shelf side so that the lifting mast does not interfere with the traveling of the work vehicle. If it is desired to do so, it is necessary to bring the lifting mast closer to the article storage shelf as long as the traveling wheels do not interfere with the article storage shelf, and there is a drawback that it is difficult to bring the lifting mast closer to the article storage shelf.
This invention is made | formed in view of the said situation, Comprising: It aims at making a raising / lowering mast close to the goods storage shelf side, and making it easy to equip a movement path.

A first characteristic configuration of the present invention is a stacker crane in which an elevating mast for elevating and lowering a lifting platform for conveying an article is erected on an end portion of a carriage frame that is long in a longitudinal direction of the vehicle body.
The lifting platform is provided in a state extending from the lifting mast toward one side in the lateral direction of the vehicle body, and the lifting mast is more than a traveling wheel provided at an end portion of the cart frame in the longitudinal direction of the vehicle body. , In that it is provided in a state of being located on the lateral side opposite to the direction in which the lifting platform extends.

[Action and effect]
The lifting platform is provided in a state extending from the lifting mast toward one side of the vehicle body width direction. For example, when the maintenance work vehicle travels along the movement path, the lifting mast travels on the work vehicle. Even if the elevating mast is brought close to the article storage shelf side and installed in the moving path, such as making it difficult to interfere with the article storage shelf, the elevator table hardly interferes with the article storage shelf side.
In addition, since the lifting mast is provided in a state of being located on the lateral side opposite to the direction in which the lifting platform extends, rather than the traveling wheel provided at the end of the carriage frame in the longitudinal direction of the vehicle body, It is easy to bring the lifting mast closer to the article storage shelf side so that the traveling wheels do not interfere with the article storage shelf side.
Therefore, it is easy to equip the moving passage with the lifting mast close to the article storage shelf side.

  According to a second characteristic configuration of the present invention, the traveling wheel is provided in a state in which the traveling wheel is located at the same position as the bogie frame in a lateral width direction of the vehicle, and the lifting mast is located in a lateral side of the bogie frame. It is in the point provided.

[Action and effect]
The elevating mast and the traveling wheel are both close to the article storage shelf side and are easily installed in the moving path.

  According to a third characteristic configuration of the present invention, the carriage frame is provided with an elevating mast mounting frame portion including a placement portion for placing the lower end portion of the elevating mast and a receiving portion for receiving a lateral side surface of the lower end portion. In the point.

[Action and effect]
Easy to attach the lifting mast to the bogie frame.

  A fourth characteristic configuration of the present invention is that the elevating mast is disposed only on one side of the elevating platform.

[Action and effect]
Compared to the case where a plurality of lifting masts connected to each other by a connecting member are arranged on the side of the lifting platform, the structure can be simplified and reduced in weight, and the lifting platform and the article storage shelf are spanned. It is easy to arrange the lifting mast so as not to interfere with the transfer of the article.

  According to a fifth characteristic configuration of the present invention, the carriage frame includes the traveling wheel at one end and an idler wheel at the other end, and the elevating mast includes the traveling in the carriage frame. It is provided in the edge part by the side by which a wheel is arrange | positioned, and the said lifting platform exists in the point arrange | positioned with respect to the said raising / lowering mast at the side in which the said idler wheel is located.

[Action and effect]
Since the lifting mast is provided at the end of the carriage frame on the side where the traveling wheels are disposed, and the lifting platform is disposed on the side where the idler wheel is positioned with respect to the lifting mast, traveling with the traveling wheels. It is easy to ensure the frictional force with the rail by the weight of the lifting mast, and it is easy to efficiently run in a state where slip is unlikely to occur even when running with an empty load.

  A sixth characteristic configuration of the present invention is that the idler wheel is arranged so as to be positioned farther in the vehicle front-rear direction than the elevator base in plan view.

[Action and effect]
Since the lifting platform is arranged at a position between the traveling wheel and the idler wheel with respect to the carriage frame, it is easy to travel in a stable posture in which the traveling wheel is difficult to lift.

  A seventh characteristic configuration of the present invention is that the elevating mast is provided in a state where the traveling wheel side portion overlaps the traveling wheel as viewed in the lateral direction of the vehicle body.

[Action and effect]
Compared to the case where the elevating mast and traveling wheels are arranged side by side in the longitudinal direction of the vehicle body, the longitudinal length of the bogie frame is increased while the longitudinal length of the elevating mast is increased to increase the bending rigidity in the longitudinal direction of the vehicle body. In addition to shortening the length, the weight of the lifting mast can be efficiently transmitted to the traveling wheels, and even when traveling with an empty load, it is easier to travel more efficiently without slipping.

  In an eighth characteristic configuration of the present invention, the carriage frame is provided with a wheel support frame for supporting a traveling wheel, wound in a state extending in the vertical direction along the lifting mast, and connected to the lifting platform side. A space for arranging the liftable endless body is formed between the traveling wheel side portion of the lift mast, the carriage frame, and the wheel support frame.

[Action and effect]
The liftable endless body can be wound over a low position, and the maximum lowered position of the lift base can be easily set to a low position.

A ninth characteristic configuration of the present invention is an article storage facility equipped with the stacker crane according to any one of claims 1 to 8,
A stacker in which a moving passage is formed along a storage shelf provided with a plurality of storage portions for storing articles in a state of being arranged vertically and horizontally, and the elevating mast is positioned on one side of the moving passage in the lateral width direction At least two stacker cranes including a crane and a stacker crane in which the elevating mast is positioned on the other side in the lateral direction of the moving path are reciprocally mounted, and the two stacker cranes can be moved back and forth. Accordingly, at least one of the two stacker cranes is provided so that the lifting platform provided in one stacker crane is disposed so as not to contact the lifting mast of the other stacker crane and can be moved to pass each other. However, the elevating mast is mounted on the storage shelf side.

[Action and effect]
The lifting platform provided in each stacker crane is provided in a state extending from the lifting mast toward one side of the vehicle body width direction, and the lifting platform is positioned on one side in the width direction of the moving passage, and the lifting platform At least two stacker cranes with the stacker crane that is positioned on the other side in the lateral direction of the moving path, as the reciprocating movement, the lifting platform provided on one stacker crane becomes the lifting mast of the other stacker crane. Arrangement so that the two stacker cranes pass each other so that the heights of the lifting platforms differ from each other so that the two stacker cranes can move over each other with articles placed on the lifting platform. Because it is provided, two stacker cranes can be moved efficiently in the moving path. , It is possible to improve the conveyance capability, moreover, can be arranged compactly in the moving path of the two stacker cranes.
Since at least one of the two stacker cranes is equipped with the lifting mast positioned on the storage shelf side, when the maintenance work vehicle travels along the movement path, the lifting mast is It is hard to get in the way of work vehicles.

Embodiments of a stacker crane according to the present invention and an article storage facility equipped with the stacker crane will be described with reference to the drawings.
[First Embodiment]
As shown in FIG. 1, the article storage facility according to the first embodiment is provided between two storage shelves 1 that are installed at an interval so that the article loading / unloading directions face each other and between the two storage shelves 1. A stacker crane 3 that is movable along the movement path 2 formed in this manner, and a loading / unloading section 9 that supports the articles B that are stored in the storage rack 1 and the articles B that are discharged from the storage rack 1 at both ends of the movement path 2. Is provided

As shown in FIGS. 1 and 3, the storage shelf 1 has a plurality of pairs of support columns 4 a and 4 b that are erected at intervals in the longitudinal direction of the shelf, and are arranged side by side in the lateral direction of the shelf. A pair of adjacent support columns 4a and 4b are connected to each other by a plurality of shelf plates 17 in the vertical direction, and the article B is moved from the shelf plate 17 on the side of the movement path 2 between the adjacent support columns 4a and 4b in the left-right direction of the shelf. A plurality of storage portions 6 for mounting and storing so as to protrude are provided.
The loading / unloading unit 9 is provided so as to place and support the article B across a pair of article placing beams 9 a arranged side by side.

As shown in FIGS. 1 to 3, a traveling rail 7 having an H-shaped cross section is disposed on the lower side of the moving path 2 with the flange portions 7a and 7b positioned up and down. A rectangular upper guide rail 8 is arranged on the upper side.
The traveling rail 7 and the upper guide rail 8 are disposed at both ends in the width direction of the moving passage 2 in a state along the longitudinal direction of the moving passage 2.
The stacker crane 3 is provided so as to be movable over the entire length of the storage shelf 1 and the loading / unloading unit 9 while being guided by the traveling rail 7 and the upper guide rail 8.

  The stacker crane 3 guides the elevating body 10 so as to be movable up and down by an elevating mast 11 extending in the vertical direction, and is guided and traveled along the traveling rail 7 and the upper guide rail 8 arranged in the moving path 2. A traveling rangefinder 33 is provided that is configured to reciprocate along the moving path 2 by the traveling moving body 12 and detects the traveling position of the traveling moving body 12 in the longitudinal direction of the moving path 2.

  The travel distance meter 33 projects a distance measuring beam light along the longitudinal direction of the movement path 2 toward the travel reflector 34 provided on the travel moving body 12, and the travel distance measuring plate 33 is projected onto the travel reflector 34. By receiving the reflected light, the distance to the travel reflector 34 is detected, and the travel position of the travel mobile body 12 is detected.

  As shown in FIG. 10, the lifting body 10 includes a lifting platform 13 for transporting articles, and an article transfer device for transferring the article B across the lifting platform 13, the storage unit 6, and the loading / unloading unit 9. 14, the article transfer device 14 is provided on the lifting platform 13, and a vertically long control box 15 having a control unit for controlling the operation of the article transfer device 14 and the like is attached to the attachment frame 5. It is fixed to one side part of the lifting platform 13 via the side and formed in a substantially L shape in a side view.

  The stacker crane 3 includes a first stacker crane 3 a in which the lifting mast 11 is positioned on one side in the lateral direction of the moving passage 2, that is, one storage shelf 1 side, and the lifting mast 11 in the lateral direction of the moving passage 2. At least two stacker cranes 3 with the second stacker crane 3b positioned on the other end side, that is, on the other storage shelf 1 side, are mounted in the movement path 2 so as to be reciprocally movable.

  Note that at least one of the first stacker crane 3 a and the second stacker crane 3 b is provided for the moving path 2. In this embodiment, although not shown in the figure, two first stacker cranes 3a and two second stacker cranes 3b are provided for the moving path 2.

  Hereinafter, the first stacker crane 3a and the second stacker crane 3b will be described. First, the traveling mobile body 12, the lifting mast 11, and the lifting body 10 will be described in relation to the first stacker crane 3a and the second stacker crane 3b.

As shown in FIGS. 1 to 3, the traveling mobile body 12 provided in the first stacker crane 3 a is guided by a traveling rail 7 and an upper guide rail 8 disposed at one end in the lateral width direction of the moving passage 2. The traveling mobile body 12 provided in the second stacker crane 3b is provided so as to reciprocate in the moving path 2 in a state where the traveling path 7 is disposed at the other end in the lateral width direction of the moving path 2 and the upper guide. The moving path 2 is provided so as to reciprocate while being guided by the rail 8.
In this way, the traveling mobile bodies 12 provided in each of the first stacker crane 3a and the second stacker crane 3b are arranged at intervals in the lateral width direction of the moving passage 2 so as to be able to pass each other. ing.

The lifting mast 11 provided in the first stacker crane 3a is located at one end of the moving path 2 in the lateral direction, and the lifting mast 11 provided in the second stacker crane 3b is the other side in the lateral direction of the moving path 2. At the end.
Thus, the 1st stacker crane 3a and the 2nd stacker crane 3b are comprised so that the raising / lowering mast 11 with which it is provided may be located in the edge part of the horizontal direction of the movement path 2. As shown in FIG.

The elevating body 10 provided in each of the first stacker crane 3a and the second stacker crane 3b is supported by the elevating mast 11 in an article delivery posture for delivering the article B between the storage unit 6 and the loading / unloading unit 9. .
The lift 10 provided in the first stacker crane 3a is reciprocated in a state of being supported by the lift mast 11 and having a portion overlapping with the lift 10 of the second stacker crane 3b in the lateral width direction of the moving passage 2. A state in which the second stacker crane 3b protrudes toward the second stacker crane 3b in a range where it does not come into contact with the lift mast 11 of the second stacker crane 3b, that is, the lift 13 is directed from the lift mast 11 to one side in the lateral direction of the vehicle body. It is supported in a cantilever posture in a state of extending.

  The lifting body 10 provided in the second stacker crane 3b is in a state of having a portion overlapping with the lifting body 10 of the first stacker crane 3a and the lateral width direction of the moving passage 2 in the state supported by the lifting mast 11, and reciprocating. A state where the first stacker crane 3a protrudes toward the first stacker crane 3a in a range where it does not contact the lift mast 11 of the first stacker crane 3a, that is, the lift 13 is directed from the lift mast 11 to the other side in the lateral direction of the vehicle body It is supported in a cantilever posture in a state of extending.

The lifting body 10 provided in each of the first stacker crane 3a and the second stacker crane 3b is supported in the lateral direction of the other lifting body 10 and the movement path 2 in a state where the lifting mast 11 supports the article delivery posture. It is provided in a state where it overlaps over the entire length and protrudes to the vicinity of the lifting mast 11 within a range where it does not contact the other lifting lifting mast 11.
Therefore, in the article transfer posture in which the lifting body 10 is supported by the lifting mast 11, the lifting body 10 is moved at a different position in the vertical direction so as to avoid mutual interference, thereby moving the lifting body 10 in a passing manner. Can do.

  Thus, as shown in FIG. 3, the first stacker crane 3a and the second stacker crane 3b are opposite to the side from which the elevating body 10 protrudes in the lateral width direction of the moving path 2. Even when the article B is being transferred to and from the storage unit 6, the lifting / lowering body 10 of the second stacker crane 3 b is moved up and down so as to avoid interference with the lifting body 10 of the first stacker crane 3 a. The first stacker crane 3a and the second stacker crane 3b can pass each other by being positioned at different positions in the direction.

Next, the traveling mobile body 12, the lifting mast 11 and the lifting body 10 will be described in the first stacker crane 3a and the second stacker crane 3b. In the first stacker crane 3 and the second stacker crane 3b, The traveling moving body 12 and the lifting mast 11 are arranged symmetrically in the lateral direction of the moving path 2 so that the arrangement position of the traveling body 12 and the protruding direction of the lifting body 10 are opposite to the lateral direction of the moving path 2.
Therefore, only the first stacker crane 3a will be described based on FIGS. 6 to 12, and the description of the second stacker crane 3b will be omitted.

  The traveling vehicle 12 includes a traveling carriage 16 that is guided by traveling rail 7 and an upper traveling frame 18 that is guided by the upper guide rail 8. The traveling carriage 16 and the upper traveling frame 18 are arranged on the lifting mast 11. Connected together.

As shown in FIGS. 4 to 7, the traveling carriage 16 includes a carriage frame 19 that is long in the longitudinal direction of the vehicle body (traveling direction), a traveling wheel 20 that rotates in contact with the upper surface of the traveling rail 7, and a traveling rail. 7 and the upper flange on which the traveling wheel 20 of the traveling rail 7 contacts so that the lifting of the traveling wheel 20 from the traveling rail 7 is restricted. The control ring body (backup roller) 22 abutted on the lower surface side with respect to the portion 7a and the front and rear positions of the carriage frame 19 are horizontal so that the lateral movement is restricted with respect to the traveling rail 7. The first stacker crane 3a is abutted in a state of being sandwiched from the direction, and is brought into contact with the lower guide wheels 23 and 24 for guiding the first stacker crane 3a along the traveling rail 7 and the current collecting rail installed along the traveling rail 7. Current collection And a 32.
The upper traveling frame 18 is provided with a pair of left and right upper guide wheel bodies 25 that are in contact with the side surface of the upper guide rail 8 and sandwich the upper guide rail 8 from the horizontal direction.

  The traveling wheel 20 is supported by a wheel support frame 26 that is bolted to one end of the carriage frame 19 in the longitudinal direction of the carriage frame 19 so as to be driven to rotate, and is positioned at the same position as the carriage frame 19 in the vehicle body width direction. The idler wheel 21 is provided so as to be positioned, and is supported by the other end of the carriage frame 19 so as to be freely rotatable, and is arranged so as to be located farther in the longitudinal direction of the vehicle body than the elevator 13 in a plan view. ing.

  The restriction wheel bodies 22 are provided as a set, and are positioned on the left and right sides of the traveling rail 7, and the two restriction wheel bodies 22 of each set are arranged around the horizontal axis along the vehicle body width direction. Is provided on the wheel support frame 26 and is supported on each of the free ends of the wheel support arm 57, and is pressed against the upper flange portion 7 a on the lower side of the traveling wheel 20. It is provided so as to be switchable between a state in which lifting is restricted and a state in which pressure contact is released.

A traveling electric motor (hereinafter simply referred to as a traveling motor) M1 that drives the traveling wheel 20 is attached to the wheel support frame 26 shown in FIG. A planetary gear type reduction device 27 that decelerates the output is provided in the traveling wheel 20.
The wheel support frame 26 is cast in a state in which a mounting plate portion 28 for mounting a lifting electric motor (hereinafter simply referred to as a lifting motor) M2 to be described later is provided so as to extend upward from the upper surface thereof.

  As shown in FIG. 9, at the end of the traveling carriage 16 on the side of the wheel support frame 25, as shown in FIG. An elevating mast mounting frame portion 31 having an L-shaped receiving portion 30 is provided, and the elevating mast mounting frame portion 31 is arranged such that the placing portion 29 and the receiving portion 30 protrude laterally of the carriage frame 19. Is provided.

  Then, by placing the lower end portion of the elevating mast 11 on the placing portion 29 and bolting the lateral side surface of the lower end portion to the receiving portion 30, the elevating mast 11 is a traveling wheel in the vehicle longitudinal direction view. 20 in a state of being located laterally with respect to 20 and standing on the opposite side to the direction in which the lifting platform 13 extends, provided at the end of the carriage frame 19 on the side where the traveling wheels 20 are disposed, and The lifting platform 13 is arranged on the side where the idler wheel 21 is located with respect to the lifting mast 11, and the traveling wheel side portion of the lifting mast 11 overlaps with the traveling wheel 20 when viewed in the lateral direction of the vehicle body. It has been.

  As shown in FIG. 11, the elevating mast 11 is made of an aluminum extruded material or a magnesium extruded material having a small thickness in the width direction of the moving passage 2, and is disposed on one side of the elevating table 13 so as to face the control box 15 side. A plurality of elevator platform guide rail portions 35 are provided in a state of being arranged in the front-rear direction of the carriage frame 19 at a portion facing the elevator platform 13, and a plurality of elevator platform guide rail portions are provided on the elevator platform 13 side. An elevating guide portion 61 having a plurality of guided portions 36 guided by each of 35 is provided on the mounting frame 5 of the control box 15.

  Each of the elevator guide rail portions 35 is a substantially rectangular shape fixed to the elevator mast 11 along the vertical direction as a guide body into which a plurality of upper and lower slide bodies 36 as the guided portions are slidably fitted. A steel lifting guide rail 37 having a cross-sectional shape is provided, and this lifting guide rail 37 is fixed to a groove bottom portion of a vertical groove 38 formed in the vertical direction on the lifting mast 11 as a guided portion. The sliding body 36 is formed of a steel thick plate member in which a fitting groove 39 to be fitted to the lifting guide rail 37 is formed.

As shown in FIGS. 2 and 10, an elevating drive unit 41 that drives and rotates an elevating chain 40 as an endless elevating belt that suspends and supports the elevating body 10 so as to be driven up and down is provided.
The elevating chain 40 includes a pair of upper guide sprockets 42 arranged side by side on the upper traveling frame 18 in the vehicle longitudinal direction, a drive sprocket 43 and an idler procket 44 provided on the wheel support frame 26, and a vehicle frame 19 A pair of lower guide sprockets 45 arranged side by side in the direction is wound in a state extending vertically along the elevating mast 11, and both ends thereof are connected to the elevating body 10.

  The lift drive unit 41 includes a drive sprocket 43 and a lift motor M2, and the drive sprocket 43 is driven and rotated by the lift motor M2, so that the lift chain 40 is moved in the longitudinal direction thereof, and the lift base 13 is substantially omitted. The elevating body 10 is configured to be driven up and down while maintaining a horizontal posture.

  The lifting motor M2 is attached to the upper portion of the wheel support frame 26, that is, the mounting plate portion 28 provided on the wheel support frame 26, and a space 46 for arranging the lifting chain 40 is provided in the lifting mast 11. It is formed between the traveling wheel side portion and the carriage frame 19 and the wheel support frame 26.

  The elevating body 10 is provided with a current collector 47 for supplying power to the article transfer device 14 and the like, and an elevating limit detection sensor 48 for detecting an ascending limit position and a descending limit position. A power supply rail 49 in contact with the current collector 47 and a dog for detecting a rising limit position and a lowering limit position by a lift limit detection sensor 48 are provided.

  The traveling carriage 16 is provided with a lift rangefinder 50 that detects the lift position of the lift body 10 in the vertical direction. The elevating rangefinder 50 projects a ranging beam light along the elevating direction of the elevating body 10 toward the elevating reflector 51 installed in the elevating body 10, and the elevating reflector 51 By receiving the reflected light, the distance to the elevating body 10 is detected and the elevating position of the elevating body 10 is detected.

  As shown in FIG. 10, the article transfer device 14 includes a conveyor device 53 including a pair of left and right transport belts 52 that transport the product B in the lateral width direction (transfer direction) of the movement path 2 in a state where the article B is placed and supported. , A pair of guide plates 54 for regulating the displacement of the article B placed and supported in the longitudinal direction of the vehicle body, the conveyor device 53 with respect to the lifting platform 13, one storage shelf 1 side in the lateral direction of the movement path 2, and the other A conveyor moving device 55 that reciprocates across the storage shelf 1 side, and includes a conveyor driving electric motor (hereinafter simply referred to as a conveyor driving motor) M3 for driving the conveyor device 53, and a conveyor moving device 55. An electric motor for moving the conveyor for driving (hereinafter simply referred to as a conveyor moving motor) M4 is provided.

  When the transfer operation of the article B between the storage shelf 1 and the loading / unloading unit 9 is not performed, the conveyor device 53 does not contact the lifting mast 11 of the other stacker crane 3 when the stacker crane 3 travels. Stopped at the transport position, drives the conveyor movement motor M4 when transferring the article B to / from the storage shelf 1 or the loading / unloading unit 9, and approaches the storage shelf 1 side or the loading / unloading unit 9 side Moved to the transfer position.

  As shown in FIG. 12, a crane control device that controls the operation of the stacker crane 3 to perform the article conveying operation for conveying the article B based on the command from the management controller 56 corresponding to each of the stacker cranes 3. 59 is provided. In the article transport operation, the crane control device 59 operates the traveling body 12 and moves the lifting body 10 up and down to move the article transfer device 14 to the article transfer stop position with respect to the storage unit 6 or the loading / unloading unit 9. The article B supported by the storage unit 6 or the loading / unloading unit 9 is taken out or stored in the storage unit 6 or the loading / unloading unit 9 in a state where the operation is controlled and the article transfer device 14 is stopped at the article transfer stop position. In order to wholesale the article B, the transfer operation of the article transfer device 14 is controlled.

  The crane control device 59 controls the traveling operation of the traveling moving body 12 so as to move the article transfer device 14 to the article transfer stop position in the horizontal direction based on the detection information of the traveling rangefinder 33. Based on the detection information of the traveling control unit 59a and the lifting rangefinder 50, the lifting control for controlling the lifting operation of the lifting body 10 to move the article transfer device 14 to the article transfer stop position in the vertical direction. Transfer control for controlling the transfer operation of the article transfer device 14 to take out the article B supported by the section 59b, the storage section 6 or the loading / unloading section 9 or to take the article B to the storage section 6 or the loading / unloading section 9 It consists of part 59c.

  The travel controller 59a drives the travel motor 12 by driving the travel motor M1. The traveling control unit 59a monitors the position of the article transfer device 14 in the horizontal direction based on the detection information of the traveling rangefinder 33 while the traveling moving body 12 is traveling. When the article transfer device 14 reaches the article transfer stop position in the horizontal direction, the travel control unit 59a stops driving the travel motor M1 and stops the travel of the travel mobile body 12, thereby causing the article in the horizontal direction to move. The article transfer device 14 is positioned at the transfer stop position.

  The lifting control unit 59b drives the lifting motor 10 to move the lifting body 10 up and down. The lifting control unit 59b monitors the position of the article transfer device 14 in the vertical direction based on the detection information of the lifting rangefinder 50 while the lifting body 10 is being lifted. When the article transfer device 14 reaches the stop position for transferring articles in the vertical direction, the lift control unit 59b stops driving the lift motor 10 to stop the lifting and lowering of the lift body 10, thereby moving the articles in the vertical direction. The article transfer device 14 is positioned at the loading stop position.

The control operation of the transfer control unit 59c will be described. First, the case where the article B is transferred from the storage unit 6 or the loading / unloading unit 9 to the lifting platform 13 will be described.
When the article transfer device 14 is positioned at the article transfer stop position in the vertical direction, as shown in FIG. 13A, the article on which the front end portion of the conveyor belt of the conveyor device 53 is placed on the shelf plate 17. After controlling the operation of the conveyor moving motor M4 so as to enter the lower surface side of the portion of the B protruding from the shelf 17 toward the moving path 2, the conveyor device 53 reaches a height position where the article B is placed on the leading end of the conveying belt. Controls the operation of the lifting motor M2.

Thereafter, as shown in FIG. 13B, after the operation of the conveyor drive motor M3 is controlled so that the article B is transferred to the conveyor device 53 as a whole, as shown in FIG. The operation of the conveyor moving motor M4 is controlled so that the conveyor device 53 moves to the transfer position.
In this way, the article B is transferred from the storage unit 6 or the loading / unloading unit 9 to the lifting platform 13.

Next, a case where the article B is transferred from the lifting platform 13 to the transfer storage unit 6 or the loading / unloading unit 9 will be described. Basically, the article B is transferred from the storage unit 6 or the loading / unloading unit 9 to the lifting platform 13. The reverse operation is performed when transferring to.
The transfer control unit 59c is configured so that the conveyor belt tip of the conveyor device 53 moves to a transfer position that is close to a position slightly higher than the shelf plate 17 with respect to the shelf plate 17. After controlling the operation, the operation of the elevating motor M2 is controlled so that the conveyor device 53 moves down to a height position at which the front end side of the article B in the transfer direction is placed on the shelf board 17.

Thereafter, the operation of the conveyor drive motor M3 is controlled so that the article B is entirely transferred to the shelf plate 17, and then the operation of the conveyor movement motor M4 is controlled so that the conveyor device 53 moves to the transport position. .
In this way, the article B is transferred from the elevator 13 to the storage unit 6 or the loading / unloading unit 9.

  The management controller 56 controls the operations of the first stacker crane 3a and the second stacker crane 3b by giving commands to the crane controller 59 of the first stacker crane 3a and the crane controller 59 of the second stacker crane 3b, respectively. Is configured to do.

  The management controller 56 is, for example, stored in any of the plurality of storage units 6 with respect to the crane control device 59, and a warehousing instruction for storing the article B of the storage / unloading unit 9 into any of the plurality of storage units 6. It is configured to give a movement command such as a shipping command for shipping the article B to the loading / unloading unit 9. At this time, the management controller 56 is configured to also command a transfer stop position corresponding to the storage unit 6 or the storage / unloading unit 9 to be transferred.

  The management controller 56 is configured to cause the stacker cranes 3 to individually carry articles by giving commands to the crane control devices 59 of the stacker cranes 3. In other words, the management controller 56 receives the goods B stored in any of the plurality of storage units 6 or the goods B stored in any of the plurality of storage units 6. When there is a movement request such as an unloading request, the crane control device 59 selects the stacker crane 3 that operates the article transport operation from the plurality of stacker cranes 3 and operates the selected stacker crane 3 to perform the article transport operation. Give a directive.

  When the management controller 56 performs the article transport operation for each stacker crane 3 individually, if the movement ranges of the movement passages 2 interfere with each other between the first stacker cranes 3a or the second stacker cranes 3b, the stacker crane 3 By giving a movement restriction command so as to restrict the movement of the first stacker cranes 3a or the second stacker cranes 3b, the collision is avoided.

  For example, when the movement range in the movement path 2 between the first stacker cranes 3a interferes with each other, the management controller 56 sets the movement range of the movement path 2 in the first stacker crane 3a that has previously performed the article transport operation to the intrusion prohibited range. As described above, a movement restriction command is given to the crane control device 59 of the first stacker crane 3a so that the first stacker crane 3a that performs the article transport operation later does not enter the intrusion prohibition range. Upon receiving the movement restriction command, the crane control device 59 controls the operation of the stacker crane 3 so as to stop the stacker crane 3 before the entry prohibition range or move the stacker crane 3 out of the entry prohibition range.

  The management controller 56 operates the first stacker crane 3 when the movement range of the movement path 2 interferes with each other in the first stacker crane 3a and the second stacker crane 3b when the stacker cranes 3 are individually conveyed. A passing movement command is given to the crane controller 59 of the stacker crane 3 so as to move the 3a and the second stacker crane 3b. When the crane control device 59 receives the passing movement command, the crane control device 59 passes the first stacker crane 3a and the second stacker crane 3b with the lifting body 10 positioned at different positions in the vertical direction so as to avoid mutual interference. The operation of the stacker crane 3 is controlled so as to be moved.

  For example, the management controller 56 sets a passing position for positioning the elevating body 10 at an interval in the vertical direction as a passing movement command, and commands the set passing position to the crane control device 59. The crane control device 59 raises and lowers the elevating body 10 to the passing position, then travels the traveling moving body 12, and then raises and lowers the elevating body 10 to position the article transfer device 14 at the article transfer stop position. The operation of the stacker crane 3 is controlled.

  The management controller 56 does not always give a passing movement command when the movement range of the movement path 2 interferes with each other in the first stacker crane 3a and the second stacker crane 3b. A movement restriction command may be given to restrict the movement. When the stacker crane 3 that has been previously transporting the article is transferring the article B to and from the storage section 6 on the side where the lifting body 10 in the lateral width direction of the movement path 2 protrudes, the conveyor device 53 is transferred. Since it has moved to the position, the first stacker crane 3a and the second stacker crane 3b cannot pass each other. Therefore, in such a case, a movement restriction command is given so as to restrict the movement of the stacker crane 3.

The command of the management controller 56 will be described based on the flowchart of FIG.
When there is a movement request, the management controller 56 selects the stacker crane 3 that performs the article transport operation from the plurality of stacker cranes 3 (steps 1 and 2). The management controller 56 determines whether or not the movement range of the stacker crane 3 that has previously performed the article conveyance operation interferes with the movement range of the stacker crane 3 selected this time. If the movement range does not interfere, A movement command is given to the crane control device 59 of the selected stacker crane 3 (steps 3 and 4).
When the movement range interferes between the first stacker cranes 3a or the second stacker cranes 3b, the management controller 56 gives a movement restriction command to the crane control device 59 of the stacker crane 3 selected this time (steps 5 and 6).

  Even if the movement range interferes between the first stacker crane 3a and the second stacker crane 3b, the first stacker crane 3a and the second stacker crane 3b can pass each other. However, when the stacker crane 3 that has been previously transporting the article is transferring the article B to and from the storage unit 6 on the side from which the elevating body 10 in the lateral width direction of the movement path 2 protrudes, the transfer position is set to the transfer position. The moving conveyor device 53 gets in the way, and the first stacker crane 3a and the second stacker crane 3b cannot move each other. Therefore, when the stacker crane 3 that has been previously transporting the article is transferring the article B to and from the storage section 6 on the side where the lifting body 10 in the lateral width direction of the movement path 2 protrudes, If it is being loaded and the transfer for passing is prohibited, the management controller 56 gives a movement restriction command to the crane control device 59 of the stacker crane 3 selected this time (steps 7 and 6).

  If the movement range interferes between the first stacker crane 3a and the second stacker crane 3b, the management controller 56 sends the crane control device 59 of the selected stacker crane 3 to the crane control device 59 of the stacker crane 3 selected this time. A passing movement command is given (steps 7 and 8). In this way, not only when the stacker crane 3 that has been previously transported for articles has not transferred to and from the storage unit 6, but also the stacker crane 3 that has been previously transported for articles is the movement path 2. The first stacker crane 3a and the second stacker crane 3b are also moved while the article B is being transferred to and from the storage section 6 on the side opposite to the side from which the lifting body 10 in the width direction projects. Then, the stacker crane 3 is operated to carry the article.

[Second Embodiment]
15 to 17 show another embodiment of the traveling carriage 16 in the stacker crane 3 according to the present invention. Instead of the idler wheel 21 shown in the first embodiment, the traveling wheel 20 of the traveling rail 7 is shown. An idler wheel 21 that abuts from the lower surface side and idles with respect to the upper flange portion 7a that abuts is provided.

The idler wheels 21 are provided as a set and are positioned on both the left and right sides of the traveling rail 7, and the two idler wheels 21 of each set have a horizontal axis along the lateral width direction of the vehicle body. A wheel support arm 58 that can swing around is provided on the carriage frame 19, and is supported on each free end of the wheel support arm 58 so as to be freely rotatable.
Other configurations are the same as those of the first embodiment.

[Third Embodiment]
18 to 23 show another embodiment of the traveling carriage 16 in the stacker crane 3 according to the present invention. As shown in FIG. 23, the elevating mast mounting frame 31 is composed of the placing section 29 and the receiving section 30 as the carriage frame 19. The lifting mast 11 is attached so as not to protrude laterally of the carriage frame 19 and the wheel support frame 26 is connected to one end of the carriage frame 19 via the bracket 60. It is provided so as to be located laterally outward from the carriage frame 19 at the side end, and the idler wheel 21 is supported at the other end of the carriage frame 19.

And the cross-sectional shape of the rail 7 for driving | running | working is formed in the shape where one side part of the lower side flange part 7b was extended laterally side rather than the upper side flange part 7a, and the edge part stood | started up. Thus, the traveling wheel 20 abuts on the upper surface of the upper flange portion 7a and rolls, and the idler wheel 21 abuts on the upper surface of the lower flange portion 7b and rolls, and the lower guide wheel on the idler wheel 21 side. 23 is configured to guide the traveling of the stacker crane 3 along between the web portion 7c and the rising portion 7d of the traveling rail 7.
Other configurations are the same as those of the first embodiment.

[Fourth Embodiment]
24 to 27 show another embodiment of the traveling carriage 16 in the stacker crane 3 according to the present invention. The traveling rail 7 has a cross-sectional shape in which one side portion of the lower flange portion 7b is more than the upper flange portion 7a. A pair of front and rear idler wheels 21 formed in a shape extending laterally and supported on the lower surface of the end of the bogie frame 19 abuts against the upper surface of the lower flange portion 7b and rolls to form a bogie frame. The traveling rail 7 is sandwiched from the horizontal direction by the lower guide wheel body 23a supported near the 19 idler wheels 21 and the lower guide wheel body 23b supported by the bracket 60 so as to guide the travel of the stacker crane 3. It is configured.
Other configurations are the same as those of the third embodiment.

[Fifth Embodiment]
28 and 29 show another embodiment of the lifting body 10 and the lifting mast 11 in the stacker crane 3 according to the present invention. The lifting body 10 moves the connecting arm 62 fixed to the lower surface side of the lifting platform 13 to the article. It is configured to extend in a cantilevered manner on the lateral side of the lifting platform 13 along an oblique direction with respect to the article transfer direction by the loading device 14, and the lifting guide portion 61 is fixed to the tip portion thereof. The elevating mast 11 is provided with two elevating platform guide rail portions 35 arranged in the longitudinal direction of the vehicle body, and the elevating guide portion 61 is provided with two covers guided by the two elevating platform guide rail portions 35, respectively. A guide part 36 is provided.

  As shown in FIG. 29, the elevating / lowering guide portion 61 includes a plurality of roller support plates 63 whose plate surfaces are substantially parallel to each other along the extending direction of the connecting arm 62, and one of the two guided portions 36 is covered. The guide part 36a is composed of two upper and lower first guided rollers 64 and two upper and lower opposing rollers 65 facing each first guided roller 64 with an interval, and the other guided part 36b is The upper and lower second guided rollers 66 are composed of two rollers 64, 65 and 66, which are all around the inclined axis X inclined in the vehicle longitudinal width direction rather than the vehicle body width direction, that is, a roller support plate. It is supported on the roller support plate 63 in an inclined posture that rotates around the inclined axis X substantially perpendicular to 63.

Each of the elevator guide rails 35 of the elevator mast 11 is fitted so that the first guided roller 64 and the second guided roller 66 can roll along the rotation axis X along the groove depth direction. The guide groove 78 is provided in an inclined state in accordance with the inclination postures of the first and second guided rollers 64 and 66, and the first guided roller 64 and its opposite roller are provided. A guide plate portion 67 sandwiched between 65 and 65 is formed substantially in parallel along the guide groove 78.
Other configurations are the same as those of the first embodiment.

[Sixth Embodiment]
30 and 31 show another embodiment of the lifting body 10 and the lifting mast 11 in the stacker crane 3 according to the present invention. The lifting body 10 moves the support frame 68 fixed on the lower surface side of the lifting platform 13 to the article. A lifting frame 69 having a lifting guide portion 61 is fixed to the tip of the lifting table 13 in a cantilevered manner along the direction orthogonal to the mounting direction. The lift mast 11 is provided with two lift guide rail portions 35 arranged in the longitudinal direction of the vehicle body, and the lift guide portion 61 is guided by the two lift guide rail portions 35 respectively. Two guided portions 36 are provided.

  As shown in FIG. 31, each of the two guided portions 36 includes two upper and lower first rollers 70 that are rotatably supported around an axial center along the longitudinal direction of the vehicle body, and an axial center around the lateral width direction of the vehicle body. Two upper and lower second rollers 71 that are rotatably supported by the upper and lower guide rollers, and two upper and lower guide rollers that are rotatably supported around an axis along the longitudinal direction of the vehicle body at a distance from the first roller 70. 72 is provided.

Each of the elevator guide rail portions 35 includes a first guide surface 73 along the vehicle body longitudinal direction for rolling the first roller 70, a second guide surface 74 along the vehicle body lateral direction for rolling the second roller 71, And a third guide surface 75 along the longitudinal direction of the vehicle body for rolling the guide roller 72.
Other configurations are the same as those of the first embodiment.

[Seventh Embodiment]
32 and 33 show another embodiment of the lifting body 10 and the lifting mast 11 in the stacker crane 3 according to the present invention. The lifting body 10 is fixed to the lower surface side of the lifting platform 13 as in the sixth embodiment. A lifting frame having a supporting frame 68 extending in a cantilevered manner on the lateral side of the lifting platform 13 along a direction orthogonal to the article transfer direction and having a lifting guide portion 61 at the tip thereof. The body 69 is fixed.

  As shown in FIG. 33, the lifting guide portion 61 has two upper and lower first rollers 70a supported so as to be rotatable about an axis along the longitudinal direction of the vehicle body, and is rotatable around an axis along the lateral direction of the vehicle body. Two upper and lower second rollers 71a supported on the upper and lower two guide rollers 72a that are rotatably supported around an axis along the longitudinal direction of the vehicle body at a distance from the first roller 70a. The main mast guided portion 36a is provided, two upper and lower first rollers 70b rotatably supported around an axis along the longitudinal direction of the vehicle body, and spaced apart from the first roller 70b. A submast guided portion 36b provided with two upper and lower guide rollers 72b supported rotatably around an axis along the longitudinal direction of the vehicle body is provided.

  The elevating mast 11 has a main mast 11a close to the elevating platform 13 side and a sub mast 11b far from the elevating platform 13 side standing on the carriage frame 19 with an interval in the longitudinal direction of the vehicle body, and an upper end of the main mast 11a The upper mast 11b is integrally connected to the upper end of the sub-mast 11b.

The first mast 11a and the sub mast 11b are respectively provided with a first guide surface 73 along the longitudinal direction of the vehicle for rolling the first rollers 70a and 70b, and a third along the longitudinal direction of the vehicle for rolling the guide rollers 72a and 72b. The guide surface 75 is provided, and the main mast 11a is provided with a guide groove 76 in which the second roller 71a is caused to enter and roll in a posture in which the rotation axis is along the groove depth direction. , 35b are arranged in a state of being aligned in the longitudinal direction of the vehicle body.
Other configurations are the same as those of the first embodiment.

[Eighth Embodiment]
FIG. 34 and FIG. 35 show another embodiment of the stacker crane 3 according to the present invention. A traveling wheel 16 and a pair of idler wheels 21 are provided before and after the carriage frame 19 to constitute the traveling carriage 16, and a pair of idle rotations. The wheel 21 is supported on the lower surface side of the carriage frame 19 and is provided so as to roll in contact with the upper surface of the lower flange portion 7 b of the traveling rail 7.

  A lifting mast mounting frame 31 including a mounting portion 29 for mounting the lower end portion of the lifting mast 11 and a substantially L-shaped receiving portion 30 in a plan view for receiving the lateral side surface of the lower end portion is paired with the traveling wheel 20. The elevating mast 11 is erected on the elevating mast mounting frame 31 at a position between the idler wheel 21 and the bogie frame 19.

As shown in FIG. 35, the elevating mast mounting frame portion 31 is formed so that the mounting portion 29 is lower than the upper surface of the carriage frame 19, and is fixed to the carriage frame 19, and the lower end portion of the elevation mast 11 is the carriage. A lift drive unit 41 that is supported on the side of the carriage frame 19 at a position lower than the upper surface of the frame 19 and includes a drive sprocket 43 and a lift motor M2 is provided on the carriage frame 19 on the side of the lift mast 11. It has been.
Other configurations are the same as those of the first embodiment.

[Ninth Embodiment]
FIG. 36 shows another embodiment of the mounting frame 5 of the lifting platform 13 and the control box 15 in the stacker crane 3 according to the present invention, and each of the lifting platform 13 and the mounting frame 5 is made of FRP reinforced with carbon fiber. The lifting guide 13 is bolted to each other at the lateral side of the lifting platform 13, and the lifting guide 61 is bolted to the rear side of the mounting frame 5. The mounting frame 5 has an opening 77 for maintenance and inspection of the control box 15. It is formed.
Other configurations are the same as those of the first embodiment.

[Other Embodiments]
1. The stacker crane according to the present invention may be provided on only one side in the lateral width direction in a moving passage formed on the front side of the storage shelf.
2. The article storage facility equipped with the stacker crane according to the present invention may be provided only on one side in the lateral width direction in the moving passage formed on the front side of the storage shelf.

Top view of goods storage equipment Side view of the stacker crane installed in the moving path of the article storage facility Front view of the stacker crane installed in the moving passage of the article storage facility Top view of traveling cart Side view of traveling cart Partial cross section of traveling cart Partial cross section of traveling cart Perspective view of traveling cart Plan view of main parts Top view of the lifting body Cross section of the main part Control block diagram of goods storage equipment Top view showing transfer operation of article to and from storage Flow chart showing control operation of management controller The top view of the traveling trolley which shows 2nd Embodiment. Side view of traveling cart showing second embodiment Partial sectional view of a traveling cart showing a second embodiment The top view of the traveling cart which shows a 3rd embodiment. Side view of traveling cart showing third embodiment Partial sectional view of a traveling cart showing a third embodiment Partial sectional view of a traveling cart showing a third embodiment Partial sectional view of a traveling cart showing a third embodiment The top view of the principal part which shows 3rd Embodiment The top view of the traveling trolley | bogie which shows 4th Embodiment. Side view of traveling cart showing fourth embodiment Partial sectional view of a traveling cart showing a fourth embodiment Partial sectional view of a traveling cart showing a fourth embodiment The perspective view of the principal part which shows 5th Embodiment Cross-sectional view of the main part showing the fifth embodiment The perspective view of the principal part which shows 6th Embodiment Cross-sectional view of essential parts showing the sixth embodiment The perspective view of the principal part which shows 7th Embodiment Cross-sectional view of the main part showing the seventh embodiment Side view of a stacker crane showing an eighth embodiment Partial sectional drawing of the principal part which shows 8th Embodiment The perspective view of the principal part which shows 9th Embodiment

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Storage shelf 2 Movement path 3 Stacker crane 6 Storage part 11 Lifting mast 13 Lifting stand 19 Bogie frame 20 Running wheel 21 Wheel wheel 26 Wheel support frame 29 Mounting part 30 Receiving part 31 Lifting mast attachment frame part 40 Lifting endless body 46 Space B Goods

Claims (9)

A stacker crane in which an elevating mast for elevating and lowering a lifting platform for conveying articles is installed at the end of a bogie frame that is long in the longitudinal direction of the vehicle body,
The lifting platform is provided in a state extending from the lifting mast toward one side of the vehicle body width direction,
A stacker provided in a state in which the lifting mast is positioned laterally opposite to the direction in which the lifting platform extends from a traveling wheel provided at an end portion of the carriage frame in a vehicle longitudinal direction. crane. The traveling wheel is provided in a state of being located at the same position as the bogie frame in the vehicle body width direction,
The stacker crane according to claim 1, wherein the elevating mast is provided in a state of being located on a lateral side of the carriage frame.   The stacker crane according to claim 1 or 2, wherein the carriage frame is provided with an elevating mast mounting frame portion including a placement portion for placing the lower end portion of the elevating mast and a receiving portion for receiving a lateral surface of the lower end portion. .   The stacker crane according to any one of claims 1 to 3, wherein the lifting mast is disposed only on one side of the lifting platform. The bogie frame is configured to include the traveling wheel at one end and the idler wheel at the other end,
The elevating mast is provided at an end portion of the carriage frame on the side where the traveling wheel is arranged, and the elevating stand is arranged on the side where the idler wheel is positioned with respect to the elevating mast. The stacker crane according to claim 4.   The stacker crane according to claim 5, wherein the idler wheel is disposed so as to be positioned farther in the longitudinal direction of the vehicle body than the lifting platform in plan view.   The stacker crane according to claim 5 or 6, wherein the elevating mast is provided in a state where the traveling wheel side portion overlaps the traveling wheel in a vehicle body lateral direction view. The carriage frame is provided with a wheel support frame that supports the traveling wheels,
A space for arranging an endless body for lifting which is wound in a vertically extending state along the lifting mast and connected to the lifting platform side includes a traveling wheel side portion of the lifting mast, a carriage frame and a wheel. The stacker crane according to claim 7, wherein the stacker crane is formed between the support frame and the support frame. An article storage facility equipped with the stacker crane according to any one of claims 1 to 8,
A movement path is formed along a storage shelf provided with a plurality of storage units that store articles in a state of being arranged vertically and horizontally,
At least a stacker crane in which the elevating mast is positioned on one side of the moving path in the lateral direction of the moving path and a stacker crane in which the elevating mast is positioned on the other side of the moving path in the lateral direction of the moving path. Two stacker cranes are equipped for reciprocating movement,
The two stacker cranes are arranged so that the lifting platform provided in one stacker crane does not come into contact with the lifting mast of the other stacker crane in accordance with the reciprocating movement, and can be moved by each other.
An article storage facility in which at least one of the two stacker cranes is equipped with the lifting mast positioned on the storage shelf side.

Images