JP5110124B2 - Stacker crane - Google Patents

Stacker crane Download PDF

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JP5110124B2
JP5110124B2 JP2010160609A JP2010160609A JP5110124B2 JP 5110124 B2 JP5110124 B2 JP 5110124B2 JP 2010160609 A JP2010160609 A JP 2010160609A JP 2010160609 A JP2010160609 A JP 2010160609A JP 5110124 B2 JP5110124 B2 JP 5110124B2
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horizontal
traveling
horizontal member
members
mast
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JP2012020846A (en
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隆治 野村
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Murata Machinery Ltd
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Murata Machinery Ltd
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Priority to JP2010160609A priority Critical patent/JP5110124B2/en
Priority to KR1020110054498A priority patent/KR20120007955A/en
Priority to CN201110193346.4A priority patent/CN102336381B/en
Priority to TW100124899A priority patent/TWI487657B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B66F9/072—Travelling gear therefor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Business, Economics & Management (AREA)
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  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Entrepreneurship & Innovation (AREA)
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  • Tourism & Hospitality (AREA)
  • Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Description

本発明は、クレーン、特に、少なくとも一方に物品を収納可能なラックが配置された走行通路を走行するスタッカクレーンに関する。   The present invention relates to a crane, and more particularly, to a stacker crane that travels on a travel path in which a rack capable of storing articles is disposed on at least one side.

スタッカクレーンは、物品をラックと物品入出庫部とを走行して、物品をラックに入荷およびラックから出荷するのに使用される。このようなスタッカクレーンは、昇降台を案内するマストを有している。従来のスタッカクレーンにおいて、軽量化を図るために、マストをトラス構造で構成したものが知られている（例えば、特許文献１参照）。従来のマストは、４本の支柱部材と、支柱部材を接続する斜め部材と、斜め部材と支柱部材との接続位置に配置された水平部材と、を有している。斜め部材は、４本の支柱のすべてを接続するように走行方向およびそれと直交する前後方向の両側に配置されている。   The stacker crane is used for traveling an article through a rack and an article loading / unloading unit, and receiving the article into and out of the rack. Such a stacker crane has a mast that guides the elevator. In a conventional stacker crane, a mast having a truss structure is known in order to reduce the weight (for example, see Patent Document 1). The conventional mast has four support members, an oblique member that connects the support members, and a horizontal member that is disposed at a connection position between the oblique member and the support members. The diagonal members are arranged on both sides in the traveling direction and in the front-rear direction perpendicular to the traveling direction so as to connect all four columns.

この種のマストには、スタッカクレーンを点検する際に使用される梯子部材が配置されている。従来の梯子部材は、走行方向の一方の側に支柱部材に固定された取付金具により取り付けられている。   This type of mast is provided with a ladder member used when checking the stacker crane. The conventional ladder member is attached to one side in the traveling direction by an attachment fitting fixed to the support member.

特開２００９−１９０８５５号公報JP 2009-190855 A

従来の構成では、梯子部材が取付金具により支柱部材に取り付けられている。このため、梯子部材を取り付けると、部品点数が増加し、マストの軽量化を図りにくい。
本発明の課題は、マストに梯子部材を設けても部品点数の増加を抑えてマストの軽量化を図れるようにすることにある。 In the conventional configuration, the ladder member is attached to the support member by a mounting bracket. For this reason, if a ladder member is attached, the number of parts will increase and it will be difficult to reduce the weight of the mast.
An object of the present invention is to suppress the increase in the number of parts even when a ladder member is provided on the mast so that the mast can be reduced in weight.

以下に、課題を解決するための手段として複数の態様を説明する。これら態様は、必要に応じて任意に組み合せることができる。
本発明に係るスタッカクレーンは、物品を収納可能なラックの側方に配置された走行通路を走行するスタッカクレーンである。スタッカクレーンは、走行台車と、マストと、昇降台と、移載装置と、を備えている。走行台車は、走行通路を走行可能である。マストは、走行台車に立設されたトラス構造のものである。昇降台は、マストに上下方向に案内される。移載装置は、昇降台に装着されている。マストは、複数の支柱部材と、複数の斜め部材と、複数の第１水平部材と、複数の第２水平部材と、を有している。複数の支柱は、昇降台を案内するガイド部を有している。複数の斜め部材は、複数の支柱部材同士を接続している。複数の第１水平部材は、支柱部材と斜め部材との接続位置に配置されている。複数の第２水平部材は、第１水平部材同士の間に複数配置されている。
このスタッカクレーンでは、トラス構造のマストの支柱部材と斜め部材との接続位置に配置された第１水平部材に加えて、第１水平部材同士の間に第２水平部材が複数配置されている。ここでは、第１水平部材および第２水平部材をトラスの構造部材として用いるとともに、梯子部材として利用することができる。このため、部品点数の増加を抑えてマストの軽量化を図れるようになる。 Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
The stacker crane according to the present invention is a stacker crane that travels on a travel path disposed on the side of a rack that can store articles. The stacker crane includes a traveling carriage, a mast, a lifting platform, and a transfer device. The traveling carriage can travel along the traveling path. The mast has a truss structure standing on the traveling carriage. The elevator platform is guided vertically by the mast. The transfer device is mounted on the lifting platform. The mast has a plurality of support members, a plurality of oblique members, a plurality of first horizontal members, and a plurality of second horizontal members. The plurality of struts have a guide portion for guiding the lifting platform. The plurality of diagonal members connect the plurality of support members. The plurality of first horizontal members are arranged at connection positions between the support members and the oblique members. A plurality of second horizontal members are more disposed between the adjacent first horizontal member.
In this stacker crane, a plurality of second horizontal members are disposed between the first horizontal members in addition to the first horizontal member disposed at the connecting position between the strut structure mast column member and the oblique member. Here, the first horizontal member and a second horizontal member with use as a structural member of a truss, can be used as a ladder member. For this reason , the mast can be reduced in weight while suppressing an increase in the number of parts.

第２水平部材は、第１水平部材同士の間に複数配置されていてもよい。
これにより、第１水平部材および第２水平部材を梯子部材として利用した場合、梯子の間隔を狭くして作業員が梯子部材を登りやすくなる。 A plurality of second horizontal members may be disposed between the first horizontal members.
Thereby, when the 1st horizontal member and the 2nd horizontal member are used as a ladder member, the space | interval of a ladder is narrowed and it becomes easy for an operator to climb a ladder member.

複数の支柱部材は、走行台車の走行方向および走行方向と直交する前後方向の四隅に配置され、斜め部材は、前後方向の両側に設けられ、第１水平部材は、走行方向の両側に設けられている。第２水平部材は、走行方向の一方の側に設けられていてもよい。
これにより、走行方向に作用する荷重をトラス構造の斜め部材で支え、走行方向の片側に第２水平部材を配置することにより、安価かつ性能を維持して梯子部材を配置することができる。 The plurality of support members are disposed in the traveling direction of the traveling carriage and the four corners in the front-rear direction orthogonal to the traveling direction, the oblique members are disposed on both sides in the front-rear direction, and the first horizontal member is disposed on both sides in the traveling direction. ing. The second horizontal member may be provided on one side in the traveling direction.
Thus, the load acting in the direction of travel supported by diagonal members of the truss structure, by disposing the second horizontal member on one side of the traveling direction, it is possible to arrange the ladder member by keeping low cost and performance.

第２水平部材及び走行方向において第２水平部材と同じ側に設けられた第１水平部材は、梯子部材として利用するためのものである。  The second horizontal member and the first horizontal member provided on the same side as the second horizontal member in the traveling direction are for use as a ladder member.

本発明によれば、第１水平部材および第２水平部材をトラスの構造部材として用いるとともに、梯子部材として利用するためのものである。このため、部品点数の増加を抑えてマストの軽量化を図れるようになる。 According to the present invention, with use of the first horizontal member and a second horizontal member as a structural member of a truss, it is intended for use as a ladder member. For this reason , the mast can be reduced in weight while suppressing an increase in the number of parts.

本発明の第１実施形態によるスタッカクレーンが採用された自動倉庫の平面図。The top view of the automatic warehouse where the stacker crane by 1st Embodiment of this invention was employ | adopted. 第１実施形態のスタッカクレーンの側面図。The side view of the stacker crane of a 1st embodiment. マストの斜視部分図。The perspective partial view of a mast. 第２実施形態によるマストの斜視部分図。The perspective partial view of the mast by 2nd Embodiment.

＜第１実施形態＞
（１）自動倉庫全体
以下、本発明に係る一実施形態が採用された自動倉庫１を説明する。 <First Embodiment>
(1) Whole automatic warehouse Hereinafter, the automatic warehouse 1 by which one Embodiment which concerns on this invention was employ | adopted is demonstrated.

図１において、自動倉庫１は、主に、前ラック２ａおよび後ラック２ｂを有するラック２と、前ラック２ａと後ラック２ｂの間を走行するスタッカクレーン３とから構成されている。なお、この実施形態において、図１の上下方向がスタッカクレーン３の前後Ｘ方向であり、図１の左右方向がスタッカクレーン３の走行Ｙ方向である。   In FIG. 1, an automatic warehouse 1 mainly includes a rack 2 having a front rack 2a and a rear rack 2b, and a stacker crane 3 that travels between the front rack 2a and the rear rack 2b. In this embodiment, the vertical direction in FIG. 1 is the front-rear X direction of the stacker crane 3, and the left-right direction in FIG. 1 is the traveling Y direction of the stacker crane 3.

（２）ラック
前ラック２ａおよび後ラック２ｂは、走行Ｙ方向に延びるスタッカクレーン３の走行通路５を挟むよう前後に配置されている。前ラック２ａおよび後ラック２ｂは、走行通路５側に所定間隔で左右に並ぶ多数の第１支柱７と、走行通路５と反対側に所定間隔を空けて並ぶ第２支柱９と、第１支柱７および第２支柱９に設けられた多数の物品支承部材１１とを有している。左右一対の物品支承部材１１によって、多数の物品載置部１３が構成されている。各物品載置部１３には、図から明らかなように、物品Ｗが載置可能である。なお、各物品Ｗは、パレットＰ上に載置され、パレットＰと共に移動させられる。なお、左右一対の物品支承部材１１間は、後述するスライドフォーク２９（移載装置の一例）上下方向の移動を許容するフォーク通過間隙１５となっている。 (2) Rack The front rack 2a and the rear rack 2b are arranged at the front and back so as to sandwich the traveling passage 5 of the stacker crane 3 extending in the traveling Y direction. The front rack 2a and the rear rack 2b include a large number of first support columns 7 arranged on the left and right sides at a predetermined interval on the side of the traveling passage 5, a second support column 9 aligned at a predetermined interval on the opposite side of the traveling passage 5, and a first support column 7 and a plurality of article support members 11 provided on the second support column 9. A large number of article placement portions 13 are configured by the pair of left and right article support members 11. As is apparent from the drawing, an article W can be placed on each article placement unit 13. Each article W is placed on the pallet P and moved together with the pallet P. In addition, between the pair of left and right article support members 11 is a fork passage gap 15 that allows movement in the vertical direction, which will be described later.

前ラック２ａの左側には、物品Ｗを入庫するための入庫ステーション１７が配置されている。後ラック２ｂの左側には、物品Ｗを出庫するための出庫ステーション１９が配置されている。   On the left side of the front rack 2a, a storage station 17 for storing articles W is disposed. On the left side of the rear rack 2b, an unloading station 19 for unloading the articles W is arranged.

（３）スタッカクレーン
図１および図２において、走行通路５に沿って、上ガイドレール２１ａ（図２）および下ガイドレール２１ｂが設けられており、上ガイドレール２１ａおよび下ガイドレール２１ｂにスタッカクレーン３が左右Ｙ方向に移動可能に案内されている。スタッカクレーン３は、多数の物品載置部１３と入庫ステーション１７と出庫ステーション１９との間で物品Ｗを搬送する。 (3) Stacker crane In FIGS. 1 and 2, an upper guide rail 21a (FIG. 2) and a lower guide rail 21b are provided along the traveling path 5, and the stacker crane is provided on the upper guide rail 21a and the lower guide rail 21b. 3 is guided so as to be movable in the left-right Y direction. The stacker crane 3 conveys the article W among a large number of article placement units 13, a warehouse station 17, and a warehouse station 19.

スタッカクレーン３は、走行台車２２と、走行台車２２に立設された１本のマスト２５と、マスト２５に昇降方向に案内される昇降台２７と、昇降台２７に設けられたスライドフォーク（移載装置の一例）２９と、を有している。走行台車２２は、下ガイドレール２１ｂに案内されて走行通路５を往復移動可能である。マスト２５の上部には、上ガイドレール２１ａに案内される上ガイド部３１が設けられている。
昇降台２７は、マスト２５に案内される第１ガイドローラ２７ａと、上下一対の第２ガイドローラ２７ｂと、を有している。第１ガイドローラ２７ａおよび一対の第２ガイドローラ２７ｂは、昇降台２７の前後Ｘ方向の両側に配置されている。スライドフォーク２９は、物品載置部１３の間、および入庫ステーション１７または出庫ステーション１９と物品載置部１３との間でパレットＰに載置された物品ＷをパレットＰ毎移載する。 The stacker crane 3 includes a traveling carriage 22, a mast 25 erected on the traveling carriage 22, a lifting platform 27 guided by the mast 25 in the ascending / descending direction, and a slide fork (transfer) provided on the lifting platform 27. An example of a loading device) 29. The traveling carriage 22 can reciprocate in the traveling path 5 while being guided by the lower guide rail 21b. An upper guide portion 31 that is guided by the upper guide rail 21 a is provided on the upper portion of the mast 25.
The lifting platform 27 includes a first guide roller 27a guided by the mast 25 and a pair of upper and lower second guide rollers 27b. The first guide roller 27 a and the pair of second guide rollers 27 b are disposed on both sides of the lifting platform 27 in the front-rear X direction. The slide fork 29 transfers the articles W placed on the pallet P between the article placement units 13 and between the warehousing station 17 or the unloading station 19 and the article placement unit 13 for each pallet P.

また、スタッカクレーン３には、走行台車２２を駆動する走行駆動部３３と、昇降台２７を昇降駆動する昇降駆動部３５とを有している。走行駆動部３３および昇降駆動部３５は、走行台車２２に搭載されている。昇降駆動部３５は、前後一対の昇降ロープ３７を巻取及び繰り出すことにより昇降台２７を昇降駆動する。前後一対の昇降ロープ３７は、マスト２５の上端を通るようにマスト２５の走行Ｙ方向両側に配置され、先端が昇降台２７に固定されている。   In addition, the stacker crane 3 includes a travel drive unit 33 that drives the travel carriage 22 and a lift drive unit 35 that drives the lift 27 to move up and down. The travel drive unit 33 and the lift drive unit 35 are mounted on the travel carriage 22. The lift drive unit 35 drives the lift 27 up and down by winding and unwinding a pair of front and rear lift ropes 37. The pair of front and rear lifting ropes 37 are arranged on both sides in the traveling Y direction of the mast 25 so as to pass through the upper end of the mast 25, and the tip ends are fixed to the lifting platform 27.

（４）マスト
マスト２５は、図３に示すように、トラス構造である。マスト２５は、例えば４本の支柱部材４０と、２本の支柱部材４０を接続する複数本の斜め部材４２と、第１水平部材４４と、第２水平部材４６と、を備えている。 (4) Mast The mast 25 is a truss structure as shown in FIG. The mast 25 includes, for example, four support members 40, a plurality of oblique members 42 that connect the two support members 40, a first horizontal member 44, and a second horizontal member 46.

支柱部材４０は、例えば、アルミニウム合金製であり押出成型により得られる部材である。支柱部材４０は、矩形の支柱本体４０ａと、支柱本体４０ａから前後方向外方に突出するガイド部４０ｂと、を有している。支柱本体４０ａには、固定用のボルト部材５０の頭部またはボルト部材５０に螺合するナット５１を抜け止めかつ長手方向に移動自在に配置可能なＴ字状の配置溝４０ｃが長手方向に沿って形成されている。   The column member 40 is a member made of, for example, an aluminum alloy and obtained by extrusion molding. The column member 40 includes a rectangular column body 40a and a guide portion 40b that protrudes outward in the front-rear direction from the column body 40a. The column main body 40a is provided with a T-shaped arrangement groove 40c along the longitudinal direction that prevents the head 51 of the fixing bolt member 50 or the nut 51 that is screwed to the bolt member 50 from being removed and can be arranged to be movable in the longitudinal direction. Is formed.

なお、この実施形態では、ボルト部材５０の頭部を配置溝４０ｃに配置している。また、以降のボルト部材５０に関する説明では、説明を簡略化するためにボルトにより固定された部材の固定用のボルトをボルト部材５０と記載しているが、ボルト部材５０のサイズ及び長さは異なっていてもよい。   In this embodiment, the head of the bolt member 50 is arranged in the arrangement groove 40c. Moreover, in the following description regarding the bolt member 50, the bolt for fixing the member fixed by the bolt is described as the bolt member 50 for the sake of simplicity, but the size and length of the bolt member 50 are different. It may be.

（５）支柱部材
支柱部材４０の上端部は、山形鋼形状の例えばアルミニウム合金製の連結部材５２により連結されている。支柱部材４０のガイド部４０ｂの両面を昇降台２７の一対の第２ガイドローラ２７ｂが挟んで配置されている。これにより、昇降台２７の走行Ｙ方向が規制される。また、支柱本体４０ａの外側面に第１ガイドローラ２７ａが配置される。これにより、昇降台２７の前後Ｘ方向が規制される。
なお、第１実施形態では、昇降台２７を案内する必要がない図３手前側（図３左側）の支柱部材４０にもガイド部４０ｂを設けている。これは、４本の支柱部材４０の強度を統一するためである。 (5) Column member The upper end portion of the column member 40 is connected by a connecting member 52 made of, for example, an aluminum alloy having an angle steel shape. A pair of second guide rollers 27 b of the lifting platform 27 is sandwiched between both surfaces of the guide portion 40 b of the column member 40. Thereby, the traveling Y direction of the lifting platform 27 is regulated. A first guide roller 27a is disposed on the outer side surface of the column main body 40a. Thereby, the front-rear X direction of the lifting platform 27 is restricted.
In the first embodiment, the guide portion 40b is also provided on the column member 40 on the near side in FIG. 3 (left side in FIG. 3) that does not need to guide the lifting platform 27. This is to unify the strength of the four support members 40.

（６）斜め部材
斜め部材４２は、例えばアルミニウム合金製である。斜め部材４２は、前後Ｘ方向の両側に設けられている。斜め部材４２は、前後Ｘ方向の両側に設けられている。斜め部材４２は、図３右下がりの第１斜め部材４２ａと、第１斜め部材４２ａと交互に配置された左下がりの第２斜め部材４２ｂとを有している。図２に示すように、一番上の第１斜め部材４２ａおよび一番下の第２斜め部材４２ｂは、支柱部材４０にボルト部材５０により固定された第１接続部材４８ａにより一端が支柱部材４０に接続されている。中間にある隣り合う第１斜め部材４２ａおよび第２斜め部材４２ｂの端部は、支柱部材４０にボルト部材５０により固定された第２接続部材４８ｂにボルト部材５０により一括して支柱部材４０に接続されている。 (6) Diagonal member The oblique member 42 is made of, for example, an aluminum alloy. The oblique member 42 is provided on both sides in the front-rear X direction. The oblique member 42 is provided on both sides in the front-rear X direction. The slanting member 42 includes a first slanting member 42a that is slanted to the right in FIG. 3 and a second slanting member 42b that is slanting to the left and is arranged alternately with the first slanting member 42a. As shown in FIG. 2, the uppermost first oblique member 42 a and the lowermost second oblique member 42 b have one end of the column member 40 by a first connection member 48 a fixed to the column member 40 by a bolt member 50. It is connected to the. The ends of the first diagonal member 42a and the second diagonal member 42b adjacent to each other in the middle are connected to the column member 40 by the bolt member 50 in a lump to the second connection member 48b fixed to the column member 40 by the bolt member 50. Has been.

（７）第１水平部材
第１水平部材４４は、その両端が第１接続部材４８ａおよび第２接続部材４８ｂにボルト部材５０により接続されている。すなわち、第１水平部材４４は、走行Ｙ方向の両側で支柱部材４０と斜め部材４２との接続位置に配置されている。 (7) First Horizontal Member The first horizontal member 44 has both ends connected to the first connecting member 48a and the second connecting member 48b by bolt members 50. That is, the first horizontal member 44 is disposed at the connection position between the support member 40 and the oblique member 42 on both sides in the traveling Y direction.

第１実施形態では、第１水平部材４４は、図３の走行Ｙ方向の手前側（図３左側）の左第１水平部材４４ａと、奥側（図３右側）の右第１水平部材４４ｂとを有している。左第１水平部材４４ａと右第１水平部材４４ｂとは形状が異なる。すなわち、左第１水平部材４４ａは、梯子部材６０としても利用される。一方、右第１水平部材４４ｂは、トラス構造における構成部材としてだけ利用される。このため、左第１水平部材４４ａは、右第１水平部材４４ｂに比べて上下方向の長さが短くかつ走行Ｙ方向の長さが長い。   In the first embodiment, the first horizontal member 44 includes a left first horizontal member 44a on the front side (left side in FIG. 3) in the traveling Y direction in FIG. 3 and a right first horizontal member 44b on the back side (right side in FIG. 3). And have. The left first horizontal member 44a and the right first horizontal member 44b have different shapes. That is, the left first horizontal member 44 a is also used as the ladder member 60. On the other hand, the right first horizontal member 44b is used only as a constituent member in the truss structure. For this reason, the left first horizontal member 44a has a shorter vertical length and a longer length in the traveling Y direction than the right first horizontal member 44b.

（８）第２水平部材
第２水平部材４６は、左第１水平部材４４ａの間に複数個（例えば、３個）設けられている。第２水平部材４６は、支柱部材４０にボルト部材（図示せず）により接続された第３接続部材４８ｃにより支柱部材４０に固定されている。第２水平部材４６は、ボルト部材５０により第３接続部材４８ｃに固定されている。第２水平部材４６には、ボルト部材５０の頭部またはナット５１を抜け止めかつ長手方向に移動自在に配置可能なＴ字状の配置溝４６ａが長手方向に沿って形成されている。第２水平部材４６は、右第１水平部材４４ｂの間には設けられていない。第１実施形態では、左第１水平部材４４ａおよび第２水平部材４６の間隔は、例えば、３５０ｍｍである。したがって、第１斜め部材４２ａおよび第２斜め部材４２ｂの組は、１４００ｍｍ間隔で配置されている。 (8) Second horizontal member A plurality of (for example, three) second horizontal members 46 are provided between the left first horizontal member 44a. The second horizontal member 46 is fixed to the column member 40 by a third connection member 48 c connected to the column member 40 by a bolt member (not shown). The second horizontal member 46 is fixed to the third connection member 48 c by a bolt member 50. The second horizontal member 46 is formed with a T-shaped arrangement groove 46a along the longitudinal direction that prevents the head of the bolt member 50 or the nut 51 from being removed and can be arranged to be movable in the longitudinal direction. The second horizontal member 46 is not provided between the right first horizontal member 44b. In the first embodiment, the interval between the left first horizontal member 44a and the second horizontal member 46 is, for example, 350 mm. Therefore, the set of the first diagonal member 42a and the second diagonal member 42b is arranged at an interval of 1400 mm.

（９）梯子部材
第１実施形態では、梯子部材６０は、左第１水平部材４４ａおよび第２水平部材４６を利用して構成されている。これにより、別に梯子部材を設ける構成に比べてマスト２５の部品点数の増加を抑えてマスト２５の全体の軽量化を図ることができる。 (9) Ladder Member In the first embodiment, the ladder member 60 is configured using the left first horizontal member 44a and the second horizontal member 46. Thereby, compared with the structure which provides a ladder member separately, the increase in the number of parts of the mast 25 can be suppressed, and the weight reduction of the whole mast 25 can be achieved.

＜第２実施形態＞
第１実施形態では、左第１水平部材４４ａおよび第２水平部材４６を梯子部材６０として利用したが、第２実施形態では、梯子部材を別に設けている。
第２実施形態において、図４に示すように、マスト１２５の第１水平部材１４４の右第１水平部材１４４ｂは、第１実施形態と同じである。左第１水平部材１４４ａは、梯子部材１６０を取り付けるための取付部材１４４ｃを両側に有している。また、第２水平部材１４６が走行Ｙ方向の両側に配置されている。 Second Embodiment
In the first embodiment, the left first horizontal member 44a and the second horizontal member 46 are used as the ladder member 60. However, in the second embodiment, a ladder member is provided separately.
In the second embodiment, as shown in FIG. 4, the right first horizontal member 144b of the first horizontal member 144 of the mast 125 is the same as in the first embodiment. The left first horizontal member 144a has attachment members 144c for attaching the ladder member 160 on both sides. Moreover, the 2nd horizontal member 146 is arrange | positioned at the both sides of the driving | running | working Y direction.

梯子部材１６０は、前後一対の垂直部材１６０ａと、垂直部材１６０ａの間に所定間隔（例えば３５０ｍｍ間隔）で接続された横桟部材１６０ｂと、を有している。第２実施形態では、梯子部材１６０の垂直部材１６０ａと横桟部材１６０ｂは、例えばネジ部材または溶接により一体形成されている。
取付部材１４４ｃは、支柱部材４０に固定される部分から前後Ｘ方向両側に広がっている。取付部材１４４ｃの先端部は、垂直部材１６０ａの両外側面まで回り込んでいる。その他の構成は、第１実施形態と同様であるので説明を省略する。
このような第２実施形態では、左第１水平部材１４４ａを梯子部材１６０を取り付けるための取付部材１４４ｃに利用しているので、別に梯子部材を取り付けるための取付部材を設ける構成に比べてマスト１２５の部品点数の増加を抑えてマスト１２５の全体の軽量化を図ることができる。 The ladder member 160 has a pair of front and rear vertical members 160a, and a crosspiece member 160b connected between the vertical members 160a at a predetermined interval (for example, an interval of 350 mm). In the second embodiment, the vertical member 160a and the crosspiece member 160b of the ladder member 160 are integrally formed by, for example, a screw member or welding.
The attachment member 144c extends from the portion fixed to the column member 40 to both sides in the front-rear X direction. The distal end portion of the attachment member 144c goes around to both outer side surfaces of the vertical member 160a. Since other configurations are the same as those of the first embodiment, the description thereof is omitted.
In the second embodiment, since the left first horizontal member 144a is used as the attachment member 144c for attaching the ladder member 160, the mast 125 is different from the configuration in which the attachment member for attaching the ladder member is separately provided. The overall weight of the mast 125 can be reduced by suppressing an increase in the number of parts.

（１０）特徴
上記実施形態は、下記のように表現可能である
（Ａ）スタッカクレーン３は、物品Ｗを収納可能なラック２の側方に配置された走行通路５を走行する。スタッカクレーン３は、走行台車２２と、マスト２５と、昇降台２７と、移載装置としてのスライドフォーク２９と、を備えている。走行台車２２は、走行通路５を走行可能である。マスト２５は、走行台車２２に立設されたトラス構造のものである。昇降台２７は、マスト２５に上下方向に案内される。スライドフォーク２９は、昇降台２７に装着されている。マスト２５は、複数の支柱部材４０と、複数の斜め部材４２と、第１水平部材４４と、第２水平部材４６と、を有している。複数の支柱部材４０は、昇降台２７を案内するガイド部４０ｂを有している。複数の斜め部材４２は、複数の支柱部材４０同士を接続している。第１水平部材４４は、支柱部材４０と斜め部材４２との接続位置に配置されている。第２水平部材４６は、第１水平部材４４同士の間に少なくとも一つ配置されている。 (10) Features The above embodiment can be expressed as follows. (A) The stacker crane 3 travels on a travel path 5 disposed on the side of the rack 2 in which the article W can be stored. The stacker crane 3 includes a traveling carriage 22, a mast 25, a lifting platform 27, and a slide fork 29 as a transfer device. The traveling carriage 22 can travel along the traveling path 5. The mast 25 has a truss structure erected on the traveling carriage 22. The elevator 27 is guided by the mast 25 in the vertical direction. The slide fork 29 is attached to the lifting platform 27. The mast 25 includes a plurality of support members 40, a plurality of oblique members 42, a first horizontal member 44, and a second horizontal member 46. The plurality of support members 40 have guide portions 40 b that guide the lifting platform 27. The plurality of oblique members 42 connect the plurality of support members 40 to each other. The first horizontal member 44 is disposed at a connection position between the support member 40 and the oblique member 42. At least one second horizontal member 46 is disposed between the first horizontal members 44.

このスタッカクレーン３では、トラス構造のマスト２５の支柱部材４０と斜め部材４２との接続位置に配置された第１水平部材４４（または１４４）に加えて、第１水平部材４４同士の間に第２水平部材４６が少なくとも一つ配置されている。ここでは、第１水平部材４４および第２水平部材４６をトラスの構造部材として用いるとともに、梯子部材６０または梯子部材１６０を取り付けるための取付部材１４４ｃとして利用することができる。このため、梯子部材６０（または１６０）を設けても部品点数の増加を抑えてマスト２５の軽量化を図れるようになる。   In the stacker crane 3, in addition to the first horizontal member 44 (or 144) disposed at the connection position between the strut member 40 and the slant member 42 of the truss structure mast 25, the first horizontal member 44 is connected between the first horizontal members 44. At least one two horizontal members 46 are arranged. Here, while using the 1st horizontal member 44 and the 2nd horizontal member 46 as a structural member of a truss, it can utilize as the attachment member 144c for attaching the ladder member 60 or the ladder member 160. FIG. For this reason, even if the ladder member 60 (or 160) is provided, the increase in the number of parts can be suppressed and the weight of the mast 25 can be reduced.

（Ｂ）第２水平部材４６は、第１水平部材４４同士の間に複数配置されている。
これにより、第１水平部材４４および第２水平部材４６を梯子部材６０として利用した場合、梯子の間隔を狭くして作業員が梯子部材６０を登りやすくなる。 (B) A plurality of second horizontal members 46 are arranged between the first horizontal members 44.
Thereby, when the 1st horizontal member 44 and the 2nd horizontal member 46 are utilized as the ladder member 60, the space | interval of a ladder is narrowed and it becomes easy for an operator to climb the ladder member 60. FIG.

（Ｃ）複数の支柱部材４０は、走行台車２２の走行Ｙ方向および走行方向と直交する前後Ｘ方向の四隅に配置される。斜め部材４２は、前後Ｘ方向の両側に設けられている。第１水平部材４４は、走行Ｙ方向の両側に設けられている。第２水平部材４６は、走行Ｙ方向の一方の側に設けられている。
これにより、走行Ｙ方向に作用する荷重をトラス構造の斜め部材４２で支え、走行Ｘ方向の片側に第２水平部材４６を配置することにより、安価かつ性能を維持して梯子部材６０または梯子部材を取り付けるための取付部材１４４ｃを配置することができる。 (C) The plurality of support members 40 are disposed at the four corners of the traveling carriage 22 in the traveling Y direction and the front-rear X direction orthogonal to the traveling direction. The oblique member 42 is provided on both sides in the front-rear X direction. The first horizontal member 44 is provided on both sides in the traveling Y direction. The second horizontal member 46 is provided on one side in the traveling Y direction.
Thus, the load acting in the traveling Y direction is supported by the diagonal member 42 of the truss structure, and the second horizontal member 46 is disposed on one side in the traveling X direction, so that the ladder member 60 or the ladder member can be maintained with low cost and performance. The attachment member 144c for attaching can be arranged.

（Ｄ）第１水平部材４４および第２水平部材４６の少なくともいずれかに固定された梯子部材１６０をさらに備える。
これにより、第１水平部材１４４または第２水平部材１４６を梯子部材を取り付けるための取付部材とすることによりコストを低減することができる。 (D) A ladder member 160 fixed to at least one of the first horizontal member 44 and the second horizontal member 46 is further provided.
Thereby, the cost can be reduced by using the first horizontal member 144 or the second horizontal member 146 as an attachment member for attaching the ladder member.

（１１）他の実施形態
以上、本発明の一実施形態について説明したが、本発明は上記実施形態に限定されるものではなく、発明の要旨を逸脱しない範囲で種々の変更が可能である。特に、本明細書に書かれた複数の実施形態および変形例は必要に応じて任意に組合せ可能である。 (11) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in the present specification can be arbitrarily combined as necessary.

（ａ）前記実施形態では、マストが１本のスタッカクレーンを例示したが、マストが２本のスタッカクレーンにも本発明を適用できる。   (A) In the above embodiment, a stacker crane with one mast is illustrated, but the present invention can also be applied to a stacker crane with two masts.

（ｂ）前期実施形態では、移載装置としてスライドフォークを例示したが、移載装置は、スライドフォークに限定されない。例えば、物品の両側を挟持する移載装置であってもよい。   (B) Although the slide fork is illustrated as the transfer device in the previous embodiment, the transfer device is not limited to the slide fork. For example, a transfer device that holds both sides of the article may be used.

（ｃ）前記実施形態では、走行Ｙ方向の一方の側（図３左側）にだけ第２水平部材を配置したが、第２水平部材を他方の側に配置してもよい。   (C) In the above embodiment, the second horizontal member is disposed only on one side (left side in FIG. 3) in the traveling Y direction. However, the second horizontal member may be disposed on the other side.

（ｄ）前記第２実施形態では、左第１水平部材１４４ａにだけ取付部材１４４ｃを設けたが、左側の第２水平部材１４６にも取付部材を設けてもよい。   (D) In the second embodiment, the attachment member 144c is provided only on the left first horizontal member 144a. However, the attachment member may also be provided on the left second horizontal member 146.

本発明に係るスタッカクレーンは、自動倉庫等に広く適用可能である。   The stacker crane according to the present invention is widely applicable to automatic warehouses and the like.

１ 自動倉庫
２ ラック
２ａ 前ラック
２ｂ 後ラック
３ スタッカクレーン
５ 走行通路
７ 第１支柱
９ 第２支柱
１１ 物品支承部材
１３ 物品載置部
１５ フォーク通過間隙
１７ 入庫ステーション
１９ 出庫ステーション
２１ａ 上ガイドレール
２１ｂ 下ガイドレール
２２ 走行台車
２５ マスト
２７ 昇降台
２７ａ 第１ガイドローラ
２７ｂ 第２ガイドローラ
２９ スライドフォーク
３１ 上ガイド部
３３ 走行駆動部
３５ 昇降駆動部
３７ 昇降ロープ
４０ 支柱部材
４０ａ 支柱本体
４０ｂ ガイド部
４０ｃ 配置溝
４２ 斜め部材
４２ａ 第１斜め部材
４２ｂ 第２斜め部材
４４ 第１水平部材
４４ａ 左第１水平部材
４４ｂ 右第１水平部材
４６ 第２水平部材
４８ａ 第１接続部材
４８ｂ 第２接続部材
４８ｃ 第３接続部材
５０ ボルト部材
５１ ナット
５２ 連結部材
６０ 梯子部材
１２５ マスト
１４４ 第１水平部材
１４４ａ 左第１水平部材
１４４ｂ 右第１水平部材
１４４ｃ 取付部材
１４６ 第２水平部材
１６０ 梯子部材
１６０ａ 垂直部材
１６０ｂ 横桟部材 DESCRIPTION OF SYMBOLS 1 Automatic warehouse 2 Rack 2a Front rack 2b Rear rack 3 Stacker crane 5 Traveling passage 7 1st support | pillar 9 2nd support | pillar 11 Article support member 13 Article mounting part 15 Fork passage gap 17 Entry station 19 Outlet station 21a Upper guide rail 21b Below Guide rail 22 Traveling carriage 25 Mast 27 Lifting platform 27a First guide roller 27b Second guide roller 29 Slide fork 31 Upper guide portion 33 Traveling drive portion 35 Lifting drive portion 37 Lifting rope 40 Strut member 40a Strut body 40b Guide portion 40c Arrangement groove 42 diagonal member 42a first diagonal member 42b second diagonal member 44 first horizontal member 44a left first horizontal member 44b right first horizontal member 46 second horizontal member 48a first connecting member 48b second connecting member 48c third connecting member 50 bolt members 1 the nut 52 coupling member 60 ladder member 125 mast 144 first horizontal member 144a left first horizontal member 144b right first horizontal member 144c mounting member 146 second horizontal member 160 ladder member 160a vertical member 160b lateral beam member

Claims (1)

物品を収納可能なラックの側方に配置された走行通路を走行するスタッカクレーンであって、
前記走行通路を走行可能な走行台車と、
前記走行台車に立設されたトラス構造のマストと、
前記マストに上下方向に案内される昇降台と、
前記昇降台に装着された移載装置と、を備え、
前記マストは、
前記昇降台を案内するガイド部を有する複数の支柱部材と、
前記複数の支柱部材同士を接続する複数の斜め部材と、
前記支柱部材と前記斜め部材との接続位置に配置された複数の第１水平部材と、
前記第１水平部材同士の間に複数配置された複数の第２水平部材と、
を有しており、
前記複数の支柱部材は、前記走行台車の走行方向および前記走行方向と直交する前後方向の四隅に配置され、
前記斜め部材は、前記前後方向の両側に設けられ、
前記第１水平部材は、前記走行方向の両側に設けられ、
前記第２水平部材は、前記走行方向の一方の側に設けられており、
前記第２水平部材及び前記走行方向において前記第２水平部材と同じ側に設けられた第１水平部材は、梯子部材として利用するためのものである、
スタッカクレーン。 A stacker crane that travels in a travel path that is disposed on the side of a rack that can store articles,
A traveling carriage capable of traveling in the traveling path;
A truss structure mast erected on the traveling carriage;
A lifting platform guided in the vertical direction by the mast;
A transfer device mounted on the lifting platform,
The mast is
A plurality of support members having a guide portion for guiding the lifting platform;
A plurality of diagonal members connecting the plurality of support members;
A plurality of first horizontal members disposed at a connection position between the support member and the oblique member;
A plurality of second horizontal members which are more disposed between each other said first horizontal member,
And have a,
The plurality of support members are disposed at four corners in the front-rear direction orthogonal to the traveling direction of the traveling carriage and the traveling direction,
The oblique members are provided on both sides in the front-rear direction,
The first horizontal member is provided on both sides in the traveling direction,
The second horizontal member is provided on one side in the traveling direction,
The first horizontal member provided on the same side as the second horizontal member in the traveling direction with the second horizontal member is for use as a ladder member.
Stacker crane.
JP2010160609A 2010-07-15 2010-07-15 Stacker crane Active JP5110124B2 (en)

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CN201110193346.4A CN102336381B (en) 2010-07-15 2011-07-11 Stacker crane
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TW201206817A (en) 2012-02-16

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