JP2018131319A - Stacker crane and automated warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain space saving of an automated warehouse and high efficiency of load transfer.SOLUTION: A stacker crane 100 for traveling along a rack, in which loads 300 are stored, to transfer the load from/to the rack 201, comprises: a carriage 101 traveling along the rack 201; a first lift base 121 and a second lift base 122 independently liftable relative to the carriage 101, respectively, in two reference positions arranged in a traveling direction; a first transfer device 131 and a second transfer device 132 attached to the lift bases, respectively, to transfer the load from/to the rack 201; and a first moving mechanism 141 and a second moving mechanism 142 which can independently move one transfer device in a direction of the reference position of the other transfer device.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a stacker crane and an automatic warehouse equipped with the stacker crane.

  For example, in an automatic warehouse equipped with a rack for storing luggage and a stacker crane that travels along the rack and can transfer the luggage between the racks, improvement of work efficiency in transferring the luggage is desired. It is rare.

  Patent Document 1 proposes a stacker crane in which two lifting platforms that can be moved up and down independently are arranged in the traveling direction and provided in one carriage, and a transfer device is attached to each lifting table for the purpose of improving work efficiency. Has been.

  According to this, a load can be transferred simultaneously between the shelves at different stages, and the work efficiency can be improved.

JP2013-203526A

  However, when two elevators are arranged in the traveling direction, the load is transferred to the other end of the rack using a transfer device attached to the elevator arranged on one side of the traveling direction. When it is intended to be mounted, it is necessary to provide a retreat space for arranging the lifting platform arranged on the other side outside the rack.

  In such a case, a space for retracting the lifting platform is generated outside the rack, which hinders space saving of the automatic warehouse.

  On the other hand, if the evacuation space is eliminated, the space can be saved, but the extreme end of the rack that cannot be accessed by one of the transfer devices is generated, which hinders improvement in work efficiency.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a stacker crane that can achieve both space saving and high efficiency of an automatic warehouse, and an automatic warehouse including the stacker crane.

  In order to achieve the above object, a stacker crane according to the present invention is a stacker crane that travels along a rack in which a load is stored and transfers the load to and from the rack. The two carriages that can be moved up and down independently with respect to the carriage at two reference positions arranged in the running direction, respectively, It is provided with the transfer apparatus which transfers, and the moving mechanism which can move each said transfer apparatus independently in the direction of the reference | standard position of the said other transfer apparatus, It is characterized by the above-mentioned.

  According to this, by enabling the two transfer devices provided in the stacker crane to move in the traveling direction, it is possible to increase the frontage for transferring the load between the racks of the two transfer devices. Thus, the transfer efficiency can be improved. Further, by moving the transfer device in the traveling direction in the stacker crane, it is not necessary to provide a space for retracting half of the stacker crane to the side of the rack, and space saving can be achieved.

  The moving mechanism may be capable of moving one transfer device to a reference position of the other transfer device.

  According to this, by moving one transfer device to the reference position of the other transfer device, transfer can be performed between the same racks. As a result, the two transfer devices can transfer between the same stations without moving the stacker crane. In addition, it is possible to transfer the load with both transfer devices between the same positions of the racks. For example, it is possible to change one load between two transfer devices without running a stacker crane.

  Further, the mast may be further provided on the carriage, and the moving mechanism may move the transfer device with respect to the mast in a traveling direction.

  For example, the moving mechanism may move the transfer device relative to a lifting platform that is fixed in the traveling direction with respect to the mast.

  Further, the moving mechanism may move the transfer device together with the lifting platform with respect to the mast.

  In this way, it is possible to increase the number of entrances in which the cargo can be transferred by moving the lifting platform or the transfer device on the lifting platform by the moving mechanism. Further, when only the transfer device is moved relative to the mast in the traveling direction, the amount of movement of the center of gravity can be suppressed, and the load on the mast can be reduced.

  A plurality of the masts may be attached to the carriage, and one lifting platform may be held on one mast, and the other lifting platform may be held on the other mast.

  According to this, even when both the lifting platforms have moved to the reference position of the other lifting platform, the two lifting platforms can be moved up and down independently without interference.

  For example, the plurality of masts may be arranged one by one so as to face each other in the transfer direction.

  According to this, the lifting platform can be moved with a simple configuration. Further, the stacker crane can be reduced in weight, and the energy efficiency at the time of carrying the load can be improved.

  In addition, a beam attached to the mast and extending in the traveling direction may be provided, and the moving mechanism may move a lifting platform with respect to the beam.

  According to this, it becomes possible to move the lifting platform stably.

  The mast may be disposed at each of four corners of a rectangular region that virtually extends along the traveling direction.

  According to this, it is possible to stably raise and lower the lifting platform.

  In addition, beams provided to the masts arranged in the traveling direction may be provided, and the moving mechanism may move the lifting platform along each beam.

  According to this, the lifting platform can be moved stably.

  Further, in the mast arranged in the traveling direction, the mast is attached to one mast so as to be movable up and down and can be extended until it is attached to the other mast, and the attached state with one mast is attached to the other mast. You may provide the beam which cancels | releases and degenerates.

  The mast may further include a mast that is erected on the carriage so as to be able to move up and down. The moving mechanism may move the mast relative to the carriage.

  By moving the transfer device together with the mast, it is possible to increase the frontage for transferring the load to and from the rack.

  In addition, the transfer device simultaneously transfers the load between the stations indicating the storage unit group of the loads arranged in the vertical direction of the rack, and causes the carriage to travel after the transfer, and simultaneously with the different stations. You may provide the controller which transfers a load.

  Thereby, a load can be transferred efficiently.

  Further, the transfer device is arranged at each reference position so that a load can be transferred simultaneously with the rack, and one of the transfer devices is arranged at the reference position of the other transfer device. There may be provided a controller that exchanges the position and exchanges the position so that the other transfer device is arranged at the reference position of the one transfer device and simultaneously transfers the load to and from the rack. .

  Thereby, a load can be transferred efficiently. Furthermore, by selecting a transport operation that completes the movement of the transfer device relative to the carriage during traveling, the load can be transferred without waiting time when the traveling is stopped.

  Further, when one of the transfer devices stops due to a problem, the other transfer device is moved to a station corresponding to the stopped transfer device to transfer the load, and the stopped transfer device A controller may be provided that moves the other transfer device to a different position in the same sequence beyond the ascending / descending direction to transfer the load.

  According to this, even if one transfer apparatus is abnormal, the conveyance can be continued.

  Further, with the carriage stopped, one of the transfer devices is moved to or from a predetermined place of the rack or the loading / unloading station, and the one transfer device is moved. Then, the other transfer device may be provided with a controller for transferring the load between the rack or the same place in the loading / unloading station.

  According to this, it is possible to efficiently exchange the luggage in the rack.

  When the rack can store a plurality of loads in the transfer direction, the load is stored on the transfer device side in a predetermined place of the rack using one of the transfer devices with the carriage stopped. And a controller that moves one of the transfer devices to the other transfer device between the rear side of the same place of the rack.

  In a rack where two packages are placed in the depth direction of one frontage, when transferring packages to the back side, even if there is a front baggage, the baggage is temporarily moved without moving It is possible to transfer luggage between the back and the side.

  In order to achieve the above object, an automatic warehouse according to the present invention includes the stacker crane, a rack, and stations arranged side by side on the side of the rack.

  As a result, it is possible to provide an automatic warehouse that can be efficiently loaded and unloaded in a space-saving manner.

  It is possible to improve the conveyance efficiency while saving the space in the area where the stacker crane is installed.

FIG. 1 is a perspective view of the automatic warehouse according to the first embodiment. FIG. 2 is a perspective view showing the vicinity of a lifting platform arranged at different heights according to the first embodiment. FIG. 3 is a perspective view showing the vicinity of the lifting platform arranged at the same height according to the first embodiment. FIG. 4 is a perspective view illustrating a state in which the first transfer device according to the first embodiment is moved to the second reference position of the second transfer device. FIG. 5 is a perspective view illustrating a state in which each of the transfer apparatuses according to the first embodiment is moved to a reference position of another transfer apparatus. FIG. 6 is a perspective view of the stacker crane according to the second embodiment. FIG. 7 is a perspective view showing the vicinity of a lifting platform arranged at different heights according to the second embodiment. FIG. 8 is a perspective view of a part of the stacker crane according to the third embodiment. FIG. 9 is a perspective view illustrating a state in which a beam of the stacker crane according to the third embodiment is extended. FIG. 10 is a perspective view illustrating a state in which a beam of the stacker crane according to the third embodiment is contracted. FIG. 11 is a plan view showing the stacker crane according to the third embodiment from above. FIG. 12 is a diagram illustrating the operation of the stacker crane in the automatic warehouse. FIG. 13 is a diagram illustrating another operation of the stacker crane in the automatic warehouse. FIG. 14 is a diagram illustrating another operation of the stacker crane in the automatic warehouse. FIG. 15 is a diagram illustrating a transfer operation with respect to a rack that can store two packages in the transfer direction. FIG. 16 is a diagram illustrating a transfer operation with respect to a rack that can store two packages in the transfer direction. FIG. 17 is a perspective view showing another aspect of the moving mechanism. FIG. 18 is a perspective view showing an operation state by a moving mechanism according to another aspect. FIG. 19 is a perspective view showing a moving mechanism for moving the transfer device relative to the lifting platform. FIG. 20 is a perspective view showing an operation state of the moving mechanism shown in FIG.

  Next, an embodiment of a stacker crane and an automatic warehouse according to the present invention will be described with reference to the drawings. In addition, the following embodiment is only what showed an example of the stacker crane which concerns on this invention, and an automatic warehouse. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

  Also, the drawings are schematic diagrams in which emphasis, omission, and ratio adjustment are performed as appropriate to show the present invention, and may differ from actual shapes, positional relationships, and ratios.

(Embodiment 1)
[Automatic warehouse 200]
FIG. 1 is a perspective view showing an automatic warehouse.

  As shown in the figure, the automatic warehouse 200 is a warehouse that can automatically store the stored luggage 300 and can automatically store the stored luggage 300. The rack 201, the station 202, A stacker crane 100 is provided.

[Rack 201]
The rack 201 is a facility that includes holding members 211 that hold the luggage 300 arranged in one axial direction (Y-axis direction in the drawing) in a horizontal plane, and also arranged in the vertical direction (Z-axis direction in the drawing). The luggage can be taken in and out in a direction orthogonal to the vertical plane on which the member 211 is arranged. In the case of the present embodiment, the holding member 211 is realized as a long plate-like shelf board. In addition, the group of storage parts formed by the holding members 211 arranged along the same axis in the horizontal plane is described as “stage”, and formed by a part of the holding members 211 arranged along the same vertical axis. A group of storage units to be stored may be described as “ream”. Further, the storage unit means a part in which one load 300 can be stored by the holding member 211 in one axial direction (Y-axis direction in the drawing, the longitudinal direction of the rack). In the case of the present embodiment, since the holding member 211 is a flat plate, the position of the storage unit is defined based on the control of the stacker crane 100.

  For the sake of explanation, the rack 201 is shown only on one side of the stacker crane 100 for the sake of illustration, but the rack 201 is arranged on both sides of the stacker crane 100 so as to face each other. The automatic warehouse 200 may include a plurality of pairs of racks 201.

  The shape of the rack 201 corresponds to the form of the transfer device, and an arbitrary shape is adopted.

[Station 202]
The station 202 is an apparatus for carrying the luggage 300 into the automatic warehouse 200 and carrying the luggage 300 out of the automatic warehouse 200. The station 202 can transfer the luggage 300 to and from the stacker crane 100. It has become.

  In the case of the present embodiment, the station 202 is a conveyor arranged in a plurality of stages (two stages in the case of the present embodiment) in the vertical direction.

  Further, the station 202 is arranged at the same height as the stage of the rack 201. Note that the station 202 may be arranged at a position included in a series of racks 201.

[Stacker crane 100]
FIG. 2 is a perspective view showing the vicinity of a lifting platform arranged at different heights.

  FIG. 3 is a perspective view showing the vicinity of a lifting platform arranged at the same height.

  As shown in these drawings, the stacker crane 100 is a self-propelled device that travels along a rack 201 in which the luggage 300 is stored and can transfer the luggage 300 to and from the rack 201. The carriage 101, the first lifting platform 121, the second lifting platform 122, the first transfer device 131, the second transfer device 132, the first moving mechanism 141, the second moving mechanism 142, A first mast 151 and a second mast 152 are provided. In the case of the present embodiment, the stacker crane 100 includes a first beam 161 and a second beam 162.

[Dolly 101]
The cart 101 is a device that travels along the rack 201. In the case of the present embodiment, the carriage 101 includes wheels that engage the rail 111, a servo motor for running the carriage 101, and the like, and can move the lifting platform and the like in an arbitrary sequence.

[mast]
The first mast 151 and the second mast 152 (which may be collectively referred to as “mast”) are columnar members that are erected on the carriage 101 and extend in the vertical direction. It is the structural member used as the foundation of raising / lowering. The mast moves in parallel along the rack 201 as the carriage 101 moves.

  In the case of the present embodiment, the first mast 151 and the second mast 152 are arranged one by one so as to face each other in the transfer direction of the luggage 300 (X-axis direction in the drawing).

[Lifting platform]
FIG. 2 is a perspective view showing the vicinity of a lifting platform arranged with different heights.

  FIG. 3 is a perspective view showing the vicinity of a lifting platform arranged at the same height.

  As shown in these drawings, the first lifting platform 121 and the second lifting platform 122 (these may be collectively referred to as “lift platform”) are arranged in a first reference position 123 aligned in the traveling direction. , And a second reference position 124 (these may be collectively referred to as “reference position”), and can be moved up and down along the mast independently of the carriage 101.

  Here, the reference position is a position where the transfer device moves up and down along with the lifting platform, and is a virtual position that is arranged side by side in the traveling direction and is predetermined with respect to the carriage 101 as a home position. In the case of the present embodiment, the first reference position 123 is a position that serves as a reference for the first transfer device 131 to move up and down, and is virtually determined on one side in the traveling direction (the Y axis negative side in the figure). Position. The second reference position 124 is a position that serves as a reference for the second transfer device 132 to move up and down, and is a position that is virtually determined on the other side in the traveling direction (the Y-axis positive side in the drawing).

  In the case of the present embodiment, the first elevator 121 is attached to the first mast 151 that is one of the masts that are attached in the width direction of the carriage 101 so as to be movable up and down. It is attached to a second mast 152, which is a mast, so as to be movable up and down.

[Transfer equipment]
The first transfer device 131 and the second transfer device 132 (these may be collectively referred to as “transfer device”) may be referred to as the first lifting platform 121 and the second lifting platform 122. Each of these devices is a device that is attached and transfers the load 300 to and from the rack 201. The type of the transfer device is not particularly limited. For example, a fork is provided for lifting and transferring the load 300, or a claw is engaged with the front side or the back side of the load 300 as shown in FIG. For example, a case in which the load 300 is pushed out and pulled in and transferred, and a case in which the load 300 is transferred while holding the side of the load 300 can be exemplified.

[Movement mechanism]
The first moving mechanism 141 is a device that can move the first transfer device 131 in the direction of the second reference position 124 that is the reference position of the second transfer device 132. The second moving mechanism 142 is a device that can move the second transfer device 132 in the direction of the first reference position 123 of the first transfer device 131. Note that the first moving mechanism 141 and the second moving mechanism 142 may be collectively referred to as a moving mechanism.

  In the present embodiment, the first moving mechanism 141 can move the first transfer device 131 to the second reference position 124 of the second transfer device 132 as shown in FIG. Yes. The second moving mechanism 142 is the same.

  Further, the moving mechanism is a device that can move the transfer device relative to the mast in the traveling direction. In the case of the present embodiment, the moving mechanism moves the transfer device together with the lifting platform in the traveling direction with respect to the mast. It can be moved.

  The type of the moving mechanism is not particularly limited. For example, a mechanism including a linear motion guide, a linear motion block that moves along the linear motion guide, and a servo motor that drives the linear motion block may be exemplified. it can.

[Beam]
The first beam 161 and the second beam 162 (which may be collectively referred to as “beam”) are attached to the first mast 151 and the second mast 152, respectively, and extend in the traveling direction. It is an existing structural member. In the case of the present embodiment, the beam is a member that holds the lifting platform movably in a cantilever state, and the lifting platform moves up and down via the beam as the beam moves up and down with respect to the mast. . Moreover, a moving mechanism is attached to the beam, and the lifting platform moves in the traveling direction with respect to the beam by the moving mechanism.

  In the case of the present embodiment, the first beam 161 is disposed at a position where it does not interfere with the second lifting platform 122 and the second transfer device 132 that is not in the advanced state. The same applies to the second beam 162. Thereby, as shown in FIG. 2, the transfer devices respectively arranged at the respective reference positions can be moved up and down so that the transfer devices can pass each other, and as shown in FIG. Even in a state where each of the transfer devices is moved to the reference position, the transfer devices can be moved up and down to pass each other.

  Thereby, the space only for retracting the lifting platform can be eliminated on the side of the rack 201, the peripheral conveyor can be brought close to the rack, and the space can be saved.

(Embodiment 2)
Subsequently, another embodiment of the stacker crane 100 will be described. In addition, the same code | symbol may be attached | subjected to what has the effect | action and function similar to the said Embodiment 1, and the same shape, mechanism, and structure (part) may be abbreviate | omitted. In the following description, differences from the first embodiment will be mainly described, and description of the same contents may be omitted.

[Stacker crane 100]
FIG. 6 is a perspective view showing a stacker crane.

  FIG. 7 is a perspective view showing the vicinity of a lifting platform arranged at different heights.

  As shown in the figure, the stacker crane 100 includes four masts.

[mast]
The four masts are a first mast 151, a second mast 152, a third mast 153, and a fourth mast 154, respectively, and four corners of a rectangular area virtually extending along the traveling direction (in this embodiment) The four corners of the carriage 101 are arranged respectively.

[Beam]
The first beam 161 is passed between the first mast 151 and the third mast 153 arranged in the traveling direction, and is held by the first mast 151 and the third mast 153 so as to be movable up and down. Similarly, the second beam 162 is passed between the second mast 152 and the fourth mast 154 arranged in the running direction, and is held by the second mast 152 and the fourth mast 154 so as to be movable up and down.

  In the case of the present embodiment, auxiliary beams 160 are attached to the masts arranged in the traveling direction below (or above) each beam. The auxiliary beam 160 is a member that holds the bracing member 169 that supports the end of the lifting platform opposite to the beam so as to be movable in the traveling direction.

  According to the stacker crane 100 having the above structure, the heavy load 300 can be moved up and down and moved in the traveling direction.

(Embodiment 3)
Subsequently, another embodiment of the stacker crane 100 will be described. In addition, the same code | symbol may be attached | subjected to what has the effect | action and function similar to the said Embodiment 1, 2, and the same shape, mechanism, and structure, and description may be abbreviate | omitted. In the following description, differences from the first embodiment will be mainly described, and description of the same contents may be omitted.

[Stacker crane 100]
FIG. 8 is a perspective view showing a part of the stacker crane.

[Beam]
As shown in the figure, the stacker crane 100 includes a first beam 161 that is attached to a first mast 151 that is one of the masts so as to be movable up and down in two masts arranged in the traveling direction. Although not shown, the stacker crane 100 includes a second mast 152 and a fourth mast 154, and includes a second beam 162 connected to these masts. The second beam 162 has the same mechanism as the first beam 161. As shown in FIG. 9, the first beam 161 can be extended until reaching the third mast 153 that is the other mast, and can be attached to the third mast 153 so as to be movable up and down. Furthermore, a mechanism is provided that can release the attachment state with the first mast 151 in a state where the beam is attached to the third mast 153 and can be retracted as shown in FIG.

  Since the transfer device moves in the traveling direction due to expansion and contraction of the beam and removal from the mast, the beam also functions as a moving mechanism.

  By providing the extendable beam in this way, as shown in FIG. 11, the transfer device can be moved up and down without interference even if the transfer device is arranged in the traveling direction. Even when the transfer devices are respectively arranged at the reference positions, even when the positions of the transfer devices are changed, the transfer devices can pass each other in the ascending / descending direction.

[Operation]
Next, the operation of the stacker crane 100 in the automatic warehouse 200 will be described.

  FIG. 12 is a diagram illustrating the operation of the stacker crane in the automatic warehouse.

  As shown in the figure, in the stacker crane 100, a transfer device transfers a plurality of loads 300 simultaneously to and from a series 203 indicating a storage section group of loads arranged in the vertical direction of the rack 201. There is provided a controller (not shown) for running the carriage 101 and transferring the cargo between different stations 203 at the same time.

  In this case, the controller of the stacker crane 100 may interchange the top and bottom of the luggage 300 while the carriage 101 is traveling.

  FIG. 13 is a diagram illustrating another operation of the stacker crane in the automatic warehouse.

  As shown in the figure, the controller provided in the stacker crane 100 arranges the transfer device at each reference position, for example, transfers the load 300 simultaneously with the same stage 204 of the rack 201, and transfers the other. The positions are changed so that one transfer device is arranged at the reference position of the device, and the load is simultaneously transferred to the same stage 204 of the rack 201.

  FIG. 14 is a diagram illustrating another operation of the stacker crane in the automatic warehouse.

  As shown in the figure, when the controller included in the stacker crane 100 acquires information indicating that the second transfer device 132 that is one transfer device has stopped due to a malfunction, the second transfer device 132 stops. The first transfer device 131, which is the other transfer device, is moved to the station 203, and the load 300 is transferred to and from the rack 201, and further, the same transfer is performed across the stopped second transfer device 132. The first transfer device 131 is moved to a different position 203 to transfer the load 300 to and from the rack 201.

  Further, the controller included in the stacker crane 100 transfers the load 300 to and from the predetermined location of the rack 201 on one transfer device in a state where the cart 101 is stopped. After the movement is stopped, the other transfer device may transfer the load between the same place on the rack 201.

  Further, as shown in FIG. 15, the controller provided in the stacker crane 100 is stored on the transfer device side in a predetermined place of the rack 201 using the second transfer device 132 with the carriage 101 stopped. After the load 300 (A) is transferred and the second transfer device 132 is moved upward, downward or sideward (as shown in FIG. 16), as shown in FIG. The load 300 (B) is transferred to the first transfer device 131 between the rack 201 and the back side of the same place. Further, the controller may cause the stacker crane 100 to move the load 300 (A) to the same position using the second transfer device 132 after moving the first transfer device 131. Or, even if the load 300 (B) is transferred by the first transfer device 131, the load 300 (A) can be transferred to a position where the load 300 (A) can be transferred by the second transfer device 132. Good.

  According to the stacker crane 100 and the automatic warehouse 200 provided with the stacker crane 100 according to the above-described embodiment, in any case, the first transfer device 131 and the second transfer device 131 with the carriage 101 stopped. The transfer device 132 can transfer the load 300 between the same station 203 of the rack 201. Accordingly, although the stacker crane 100 includes a plurality of transfer devices, any transfer device can transfer a load between the end of the rack 201 without providing a space for retracting the stacker crane 100. . Therefore, it is possible to achieve both space saving of the automatic warehouse and high efficiency of the transfer of luggage.

  Moreover, various operations are possible as described above, and the positional relationship between the first transfer device 131 and the second transfer device 132 can be changed while traveling on the carriage 101. Therefore, for example, the first transfer device 131 and the second transfer device 132 transfer the load 300 to and from the same stage 204 of the rack 201 at the same time, and the first transfer device 131 and the station 202 move while the carriage 101 is traveling. It is also possible to arrange the one transfer device 131 and the second transfer device 132 in the vertical direction and simultaneously transfer the cargo between the loading / unloading ports of the stations 202 arranged in the vertical direction.

  In addition, this invention is not limited to the said embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.

  For example, as shown in FIG. 17 and FIG. 18, a moving mechanism that directly moves the elevator in the traveling direction with respect to the mast may be provided without the beam.

  Further, as shown in FIGS. 19 and 20, the lifting platform may be fixed in the traveling direction with respect to the mast, and a moving mechanism that moves the transfer device relative to the lifting platform may be provided. In this case, when the transfer device is moved from the reference position, the two transfer devices cannot be passed with each other when moving up and down, but the present invention includes such a case.

  Further, the lifting platform and the transfer device do not move in the traveling direction with respect to the mast, and the moving mechanism moves the mast relative to the carriage 101 to move the lifting platform and the transfer device to the carriage. May be moved in the traveling direction.

  In addition, the first transfer device 131 and the second transfer device 132 may be transferred not only in the same direction with the rack but also in different directions.

  Further, the first transfer device 131 and the second transfer device 132 can be transferred to and from the station 202.

  The present invention is applicable to an automatic warehouse that automatically loads and unloads packages.

DESCRIPTION OF SYMBOLS 100 Stacker crane 101 Carriage 111 Rail 121 First lifting stand 122 Second lifting stand 123 First reference position 124 Second reference position 131 First transfer device 132 Second transfer device 141 First moving mechanism 142 Second moving mechanism 151 First mast 152 Second mast 153 Third mast 154 Fourth mast 160 Auxiliary beam 161 First beam 162 Second beam 200 Automatic warehouse 201 Rack 202 Station 203 Station 204 Stage 211 Holding member 300 Luggage

Claims (18)

A stacker crane that travels along a rack in which luggage is stored and transfers the luggage to and from the rack,
A carriage that travels along the rack;
Two lifting platforms that can be lifted and lowered independently from each other at the two reference positions arranged in the running direction;
A transfer device attached to each of the lifts and transferring a load to and from the rack;
A stacker crane comprising: a moving mechanism capable of independently moving one of the transfer devices in a direction of a reference position of the other transfer device. The stacker crane according to claim 1, wherein the moving mechanism can move one of the transfer devices to a reference position of the other transfer device. Further comprising a mast erected on the carriage,
The moving mechanism is
The stacker crane according to claim 1, wherein the transfer device is moved in a traveling direction with respect to the mast. The stacker crane according to claim 3, wherein the moving mechanism moves a transfer device together with a lifting platform with respect to the mast. 5. The vehicle according to claim 1, wherein a plurality of masts are attached to the carriage, and one elevator base is held by one mast and the other elevator base is held by the other mast. Stacker crane. The stacker crane according to claim 5, wherein each of the plurality of masts is disposed so as to face each other in the transfer direction. It has a beam attached to the mast and extending in the direction of travel,
The stacker crane according to claim 6, wherein the moving mechanism moves a lifting platform with respect to the beam. The stacker crane according to claim 5, wherein the mast is disposed at each of four corners of a rectangular area that virtually extends along the traveling direction. It has a beam that is passed to each mast aligned in the running direction,
The stacker crane according to claim 8, wherein the moving mechanism moves the lifting platform along each beam. The masts arranged in the running direction are attached to one mast so as to be able to move up and down and can be extended until attached to the other mast, and when attached to the other mast, the attached state with one mast is released. The stacker crane according to claim 8, comprising a beam that degenerates. The stacker crane according to claim 3, wherein the moving mechanism moves the transfer device with respect to a lifting platform fixed in a traveling direction with respect to the mast. A mast that is erected on the carriage and that holds the lifting platform so as to be movable up and down;
The stacker crane according to claim 1, wherein the moving mechanism moves a mast with respect to the carriage. The transfer device transfers the load simultaneously to the reams indicating the storage unit groups of the load lined up and down in the rack, and moves the carriage after the transfer, and simultaneously loads the loads between different reams. The stacker crane according to claim 1, further comprising a controller to be transferred. The transfer device is arranged at each reference position, and a load is transferred simultaneously with the rack, and the position is set so that one transfer device is arranged at the reference position of the other transfer device. The controller which replaces and replaces a position so that the other said transfer apparatus is arrange | positioned in the reference | standard position of one said transfer apparatus, and transfers a load simultaneously with the said rack is provided. A stacker crane according to any one of the above. When one of the transfer devices stops due to a problem, the other transfer device is moved to a station corresponding to the stopped transfer device to transfer the load, and the stopped transfer device is moved up and down. The stacker crane according to any one of claims 1 to 12, further comprising a controller that moves the other transfer device to a different position in the same series beyond the direction to transfer the load. After the carriage is stopped, one of the transfer devices is moved with the rack or a predetermined place of the loading / unloading station, and one of the transfer devices is moved. The stacker crane according to any one of claims 1 to 12, further comprising a controller that transfers a load between the other transfer device and the same location of the rack or a loading / unloading station. When the rack can store a plurality of packages in the transfer direction,
With the carriage stopped, using one of the transfer devices to transfer the cargo stored on the transfer device side of the predetermined place of the rack, after moving one of the transfer devices, The stacker crane according to any one of claims 1 to 12, further comprising a controller that causes the other transfer device to transfer a load to a rear side of the same location of the rack. The stacker crane according to any one of 1 to 17,
Rack,
An automatic warehouse comprising stations arranged vertically on the side of the rack.