JP5293999B2 - Stacker crane and goods 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 this stacker crane, the elevating mast 11 for ascendingly guiding an elevating base 13 for conveying articles is erected at an end of a carriage frame which is long in the vehicle body longitudinal direction. The elevating base is provided in an extended state from the elevating mast toward one side of the vehicle body lateral width direction. The elevating mast is provided with a plurality of elevating base guide rails 35 in an arranged state in the vehicle body longitudinal direction. The elevating base is provided with a plurality of guided parts 36 guided to each of the plurality of elevating base guide rails. <P>COPYRIGHT: (C)2010,JPO&amp;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. In order to stabilize the lifting posture of the lifting platform, a plurality of combinations of lifting platform guide rails and guided portions guided by the lifting platform guide rails are provided apart from each other. .
Conventional stacker cranes are provided with lifting guide rails on both sides of the lifting mast in the lateral direction of the vehicle body, and the guided parts guided by each of the lifting guide rails sandwich the lifting mast from the lateral direction of the vehicle body. It is located on both sides and provided on the lifting platform (for example, see 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. When it is desired to do so, it is necessary to bring the elevating mast closer to the article storage shelf as long as the guided portion does not interfere with the article storage shelf, and there is a drawback that it is difficult to bring the elevation 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 vehicle width direction, and the lifting mast is integrally formed in a flat shape in which the thickness in the vehicle width direction is thinner than the thickness in the vehicle longitudinal direction And is disposed only on one side of the lifting platform in the longitudinal direction of the vehicle body, and the lifting mast is provided with a plurality of lifting platform guide rails in a state of being aligned in the longitudinal direction of the vehicle body. A plurality of guided portions guided to each of the plurality of elevator platform guide rail portions are provided ,
The elevating mast is provided in a state of being located on the side opposite to the direction in which the elevating table extends, and in a lateral direction with respect to a traveling wheel provided at an end portion of the bogie frame in a vehicle body longitudinal direction view,
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 of the carriage frame on the side where the traveling wheels are arranged, and the elevating stand is arranged on the side where the idler wheel is positioned with respect to the elevating mast;
The elevating mast is provided in a state in which the traveling wheel side portion overlaps the traveling wheel in the 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. It is in the point formed between the support frames .

[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, the elevator table does not easily interfere with the article storage shelf side.
In addition, in order to stabilize the lifting posture of the lifting platform, the lifting mast is provided with a plurality of lifting guide rails arranged in the longitudinal direction of the vehicle body, and the lifting platform is provided with each of the lifting platform guide rails. A plurality of guided parts to be guided are provided, and a combination of the elevator guide rail part and the guided part guided by the elevator guide rail part is arranged side by side in the longitudinal direction of the vehicle body. The dimension in the vehicle body width direction can be reduced.
Therefore, it is easy to equip the moving passage with the lifting mast close to the article storage shelf side.

In addition, according to the first characteristic configuration, it is easy to simplify the structure and reduce the weight as compared with the case where a plurality of lifting masts connected to each other by the connecting member are arranged on the side of the lifting platform, It is easy to arrange the lifting mast so as not to obstruct the transfer of the article across the lifting platform and the article storage shelf.
Furthermore, according to the first characteristic configuration, the lifting mast can be brought close to the article storage shelf side so that the lifting platform does not interfere with the article storage shelf while ensuring the distance between the traveling wheel and the article storage shelf. .
Further, according to the first characteristic configuration, the elevating mast is provided at an end portion of the carriage frame on the side where the traveling wheels are disposed, and the elevating platform is on the side where the idler wheel is positioned with respect to the elevating mast. Since it is arranged, it is easy to secure the frictional force between the traveling wheel and the traveling rail with the weight of the lifting mast, and it is easy to efficiently travel in a state where slip is unlikely to occur even when traveling with an empty load.
In addition, according to the first characteristic configuration, the longitudinal rigidity of the lifting mast is increased by increasing the longitudinal length of the lifting mast as compared to the case where the lifting mast and the traveling wheel are arranged side by side in the longitudinal direction of the vehicle body. The height of the bogie frame in the longitudinal direction can be shortened while increasing the height of the bogie frame, and the weight of the lifting mast can be efficiently transmitted to the traveling wheels, so that slippage is unlikely to occur even when traveling with empty loads. This makes it easier to drive more efficiently.
Furthermore, according to the 1st characteristic structure, the endless body for raising / lowering can be wound over a low position, and it is easy to set the maximum descent | fall position of a raising / lowering stand to a low position.

The second characteristic configuration of the present invention is that the elevator guide rail portion is a guide body into which a sliding body as the guided portion is slidably fitted.

[Action and effect]
The sliding body as the guided portion is fitted to the guide body as the lifting platform guide rail portion, and the lifting platform can be guided to rise and fall with less backlash by the surface contact between the sliding body and the guide body. It is possible to stabilize the lifting position of the lifting platform.

According to a third characteristic configuration of the present invention, the elevator guide rail portion is a guide groove in which a roller as the guided portion is fitted so as to be able to roll, and the roller has a vehicle front-rear width rather than a vehicle body lateral width direction. It is provided in an inclined posture so as to rotate around an inclined axis that is inclined in the direction, and the guide groove is provided in an inclined state in accordance with the inclined posture of the roller.

[Action and effect]
Since the roller as the guided portion is fitted to the guide groove as the lift guide rail portion so as to roll freely, the lift can be smoothly guided up and down.
In addition, the roller is provided in an inclined posture so as to rotate around an inclined axis that is inclined in the longitudinal direction of the vehicle body rather than in the lateral direction of the vehicle body, and the guide groove is provided in an inclined state in accordance with the inclined posture of the roller. Therefore, by extending the roller support along the direction perpendicular to the rotation axis of the roller and attaching it to the lifting platform, it is difficult for the roller to be twisted and the lifting mast is stored in the lifting platform and the article. The lifting platform can be assembled at a position shifted in the longitudinal direction of the vehicle body with respect to the lifting mast so as not to interfere with the transfer of the article across the shelf.

According to a fourth characteristic configuration of the present invention, the idler wheel is arranged so as to be positioned farther in the front-rear direction of the vehicle body than the lifting platform 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.

5th characteristic structure of this invention is the article | item storage equipment equipped with the stacker crane of any one of Claims 1-4 ,
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 wheel support frame 25 side, as shown in FIG. 9, the mounting portion 29 for mounting the lower end portion of the elevating mast 11 and the side surface of the lower end portion are substantially omitted in plan view. 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 including a plurality of guided portions 36 guided by each of the 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 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 where the lifting body 10 is positioned 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 causes the traveling moving body 12 to travel, 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 transverse 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 portion 36a is composed of two upper and lower first guided rollers 64 and two upper and lower opposing rollers 65 facing the first guided rollers 64 with a space therebetween, and the other guided portion 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]
3 2, 3 3 illustrates another embodiment of a stacker crane 3 according to the invention, the running wheels 20 and a pair of idle wheel 21 before and after the carriage frame 19 is provided to constitute the traveling vehicle 16, the pair The idler wheel 21 is supported on the lower surface side of the carriage frame 19 and is provided to abut on the upper surface of the lower flange portion 7 b of the traveling rail 7 and roll.

  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.

Lifting mast mounting frame 31, as shown in FIG. 3 3, formed such placement portion 29 is lower than the upper surface of the carriage frames 19, fixed to the carriage frame 19, the lower end of the lifting mast 11 An elevating drive unit 41, which is supported on the lateral side portion of the bogie frame 19 at a position lower than the upper surface of the bogie frame 19 and includes a drive sprocket 43 and an elevating motor M 2, Is provided.
Other configurations are the same as those of the first embodiment.

[ Eighth Embodiment]
3 4 shows another embodiment of a mounting frame 5 of the lifting table 13 and the control box 15 in the stacker crane 3 according to the invention, constituting a respective mounting frame 5 and the elevation frame 13 in FRP that is reinforced with carbon fibers Then, bolts are connected to each other at the lateral side of the lifting platform 13, and the lifting guide 61 is connected to the back side of the mounting frame 5. The mounting frame 5 has an opening 77 for maintenance and inspection of the control box 15. 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 Cross-sectional view of essential parts showing the fifth embodiment The perspective view of the principal part which shows 5th Embodiment Cross-sectional view of essential parts showing the sixth embodiment The perspective view of the principal part which shows 6th Embodiment Side view of stacker crane showing seventh embodiment Partial sectional drawing of the principal part which shows 7th Embodiment The perspective view of the principal part which shows 8th 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 Traveling wheel 21 Wheel wheel 26 Wheel support frame 35 Lifting stand guide rail part 36 Guided part (sliding body)
37 guide body 40 endless body for raising and lowering 46 space 64 roller 66 roller 78 guide groove B article

Claims (5)

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,
The lifting mast is integrally formed in a flat shape in which the thickness in the vehicle body width direction is thinner than the thickness in the vehicle longitudinal direction, and is disposed only on one side of the lifting platform in the vehicle longitudinal direction,
The lifting mast is provided with a plurality of lifting platform guide rail portions arranged in a longitudinal direction of the vehicle body,
The lifting platform is provided with a plurality of guided portions guided by each of the plurality of lifting platform guide rail portions ,
The elevating mast is provided in a state of being located on the side opposite to the direction in which the elevating table extends, and in a lateral direction with respect to a traveling wheel provided at an end portion of the bogie frame in a vehicle body longitudinal direction view,
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 of the carriage frame on the side where the traveling wheels are arranged, and the elevating stand is arranged on the side where the idler wheel is positioned with respect to the elevating mast;
The elevating mast is provided in a state in which the traveling wheel side portion overlaps the traveling wheel in the 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. A stacker crane formed between the support frame .   The stacker crane according to claim 1, wherein the elevator guide rail portion is a guide body into which a sliding body as the guided portion is slidably fitted. The elevator guide rail part is a guide groove into which a roller as the guided part is fitted so as to roll freely,
The roller is provided in an inclined posture so as to rotate around an inclined axis that is inclined in the vehicle body longitudinal width direction rather than the vehicle body width direction,
The stacker crane according to claim 2, wherein the guide groove is provided in an inclined state in accordance with an inclination posture of the roller. The stacker crane according to any one of claims 1 to 3, 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 .   An article storage facility equipped with the stacker crane according to any one of claims 1 to 4,
  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.

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