JPH03172207A - Stacker crane - Google Patents

Abstract

PURPOSE:To improve storing efficiency, and to make crane running unnecessary, in a stacker crane provided with a baggage exchange function, by putting on a running truck an elevating frame having a carriage that can move wider than the one width of the opening of a storing chamber, and by installing a double reach type fork device on the elevating frame. CONSTITUTION:A running truck 3 is moved to a storing chamber 2 in which two pieces of baggage A, B are stored, while an elevating frame 11 is elevated and lowered. A carriage 21 is then moved to, and for example, a supporting frame 24 on the right is moved to in front of the storing chamber 2. A piece of baggage A in front is held by a double reach type fork device 32, and is put on a supporting table 24. The carraige 21 is then moved to the right hand side of the drawing, and is moved to in front of the supporting table 24 on the left, and the other piece of baggage B is moved in exchange in the same manner. The carraige 3 is moved again to the left, while the piece of baggage A is stored in the storing chamber 2. In this structure, the storing efficiency is improved, and the drawing in and out can be performed without running the crane.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a stacker crane, and more particularly to a stacker crane having a load changing function.

BACKGROUND OF THE INVENTION Conventionally, in order to increase storage efficiency, some multi-level automated warehouses have been designed to store cargo in two rows, front and rear. By the way, this type of multi-level automatic warehouse is equipped with a stacker crane having two sets of double reach type fork devices, or a stacker crane having one set of double reach type fork devices, in order to carry out cargo from the rear side. A crane was provided and an empty space was prepared on the storage shelf. In each of the above configurations, a description will be given of the operation of carrying out the baggage on the rear side in a state where the baggage is stored in the front and rear positions. In the former case, one double reach type fork device temporarily takes out and holds the front load, the other double reach type fork device takes out the rear load, and then the front load is returned to its original position. I was putting it back.

In the latter case, the front baggage was moved to an empty space, the rear baggage was taken out, and the front baggage was returned to its original position.

Problems to be Solved by the Invention According to the above-mentioned conventional configuration, the former requires two sets of double reach type fork devices, resulting in high equipment costs, and the latter has the problem of high equipment costs. Since empty space is required, there is a problem in that storage efficiency is reduced, and in both cases, there is a problem in that the stacker crane itself must be moved when loading and unloading cargo.

Therefore, an object of the present invention is to provide a stacker crane that can solve the above problems.

Means for Solving the Problems In order to solve the above-mentioned problems, a first means of the present invention is to arrange a traveling cart movably along the front surface of a storage shelf, and to erect a pair of guide columns on this traveling cart. At the same time, an elevating frame is guided and supported on both guide columns via an elevating device so that it can be raised and lowered, and a carriage that can be horizontally moved along the front surface of the storage shelf is arranged on this elevating frame, and the widthwise configuration of this carriage is Two sets of support tables each consisting of a pair of support members that support both sides of the cargo are provided, and a moving device is provided for moving the carriage on the elevating frame over a range equal to or larger than the opening width of at least one storage chamber. A lift device is disposed in the center of the elevating frame and between the support members of the pair of support tables, and a double reach fork is installed on this lift device to take in and take out cargo in the storage chamber. A stacker crane is provided with a stacker crane, and each support member that is a component of the carriage is configured in a gate shape so as not to interfere with the lift device and the double reach type fork device during horizontal movement of the carriage.

Moreover, in order to solve the above-mentioned problem, the second means of the present invention arranges a traveling cart along the front surface of the storage shelf so as to be able to travel freely,
A pair of guide pillars are erected on top of this running cart, and
An elevating frame is guided and supported on both guide columns via an elevating device so that it can be raised and lowered, and a first carriage that is movable vertically along the front surface of the storage shelf is disposed on the elevating frame. A second carriage movable in the horizontal direction is disposed, and each of the carriages is provided with a support table consisting of a pair of left and right support members that are constituent members in the width direction of the carriage and support both sides of the cargo, and The second carriage is provided with a vertical movement device that vertically moves the carriage on the elevating frame over a range of at least the height of one baggage or more, and the second carriage is moved on the elevating frame with an opening width of at least the width of one storage chamber or more. A double carriage is provided with a horizontal movement device for horizontally moving within a range, and a lift device is provided on a lifting frame between both support members provided on the first carriage side, and the lift device is used to take in and take out cargo in the storage chamber. A stacker crane is provided with a reach type fork device, and each support member that is a component of the second carriage is configured in a gate shape so as not to interfere with the lift device and the double reach type fork device.

In the configuration of the first means described above, when carrying out the luggage stored in the rear storage chamber, the traveling trolley is run in front of the storage chamber in which the luggage is stored, and the elevating frame is moved to the luggage storage floor. raise. Next, the carriage is moved so that one of the support tables is located in front of the storage chamber. Then, in this state, the front load is temporarily supported on one of the support frames using the double reach type fork device and the lift device. Next, the carriage is moved so that the other support table is located in front of the storage chamber. Then, using the same procedure as above, the rear cargo is pulled out and placed on the other support table using a lift device and a double reach type fork device. Next, the carriage is moved again and the luggage stored in the front side can be stored in the rear side using the lift device and the double reach type fork device.

In addition, in the configuration of the second means, when taking out the baggage on the rear side, the lift device and the double reach type fork device are used to pull out the baggage on the front side onto the support table of the first carriage, and then the vertical movement device As a result, the first carriage is raised and the cargo on the front side is held at one end above the upper position. Next, move the second carriage horizontally to the left,
Similarly, a lift device and a double reach type fork device are used to pull the rear load onto the support table of the second carriage. Then, the second carriage is moved in the original direction, and then the first carriage is lowered to store the front baggage in the rear side of the storage chamber.

EXAMPLE Hereinafter, an example of the present invention will be explained based on FIGS. 1 to 5.

In FIGS. 1 and 2, reference numeral 1 denotes a storage shelf in which luggage is stored in two rows, front and back, in each storage chamber 2, and a traveling trolley 3 is movably provided along the front surface of the storage shelf. That is, a running rail 5 is laid on the floor surface 4 of the warehouse along the front surface of the storage shelf 1, and the running cart 3 is provided with running wheels 6 that can freely run on the running rail 5. . Further, this traveling truck 3 is provided with an electric motor 8 that drives the traveling wheels 6 via a chain 7.

Guide columns 10 are erected near both ends of the traveling frame 9 of the traveling truck 3, respectively. An elevating frame 11 is guided to both guide columns 10 via guide rollers 12 so as to be able to rise and fall freely, and an elevating device 1
3, it is supported so that it can be raised and lowered freely. This elevating frame 11 includes a frame portion 14 that is rectangular in plan view, and a frame portion 14 that is rectangular in plan view.
4 and a vertical portion 15 erected from both ends of the
In addition, guide rails 1 are provided on the outer side of the frame portion 14, respectively.
6 are provided along the traveling direction of the traveling trolley 3. Further, the length of the traveling cart 2 is set to be at least three opening widths of each storage chamber 2 in the storage shelf 1. The lifting device 13 is comprised of sprockets 17 provided on the upper side of the vertical portion 15 and an electric motor (not shown) that winds up one end of a chain 18 wound around these sprockets 17. The elevating frame 11 has two
A carriage 21 on which multiple pieces of luggage can be placed at the same time is connected to the storage shelf 1.
is movably placed along the front of the That is,
The carriage 21 has a pair of longitudinal finger members 23 adjacent to each other, each of which is provided with a plurality of guide wheels 22 guided on guide rails 16 disposed on both sides of the lifting frame 1. It is comprised of two sets of support tables 24 which connect both of the girder members 23 in the width direction at positions corresponding to the two storage chambers 2, and which are capable of supporting both ends of each baggage. Note that each set of support tables 24 is composed of a pair of support members 25, and a space is provided between these support members 25. A lift device 31 is disposed in the center of the elevating frame 11, and this lift device 3
A double reach type fork device 32 (a known technique) is provided on the storage chamber 2 and the support table 24 for storing and taking out luggage. That is, as shown in FIG. 3, the lift device 31 has a lift platform 34 guided by four wooden guide rods 33 erected on the side of the lift frame 11, and a lift stand 34 that is also placed on the side of the lift frame 11 at two locations. A screw type jacking device 35 that is arranged to raise and lower this lift table 34, and both of these jacking devices 3
5 and an electric motor 37 that drives the two together through a transmission shaft 36. Note that these lift devices 31 and double reach type fork devices 32 are connected to each support member 25.
It is sized to fit in between. Furthermore, at least one carriage 21 is installed on the elevating frame 11 side.
A moving device 41 is provided that horizontally moves the storage chamber 2 within the range of the opening width thereof. That is, this moving device 41
As shown in FIGS. 1 and 4, the lifting frame 1
A driving side sprocket 42 and a driven side sprocket 43 are provided at respective front and rear positions of a pair of left and right beam members 14a in the longitudinal direction of the frame portion 14, and both of these sprockets 42.
A chain 45 is wound between 43 and connected to a predetermined position of the girder member 23 of the carriage 21 via a connector 44, and an electric motor for driving the drive side sprocket 42 also provided on the elevating frame 11 side. It consists of 46. Then, the electric motor 46 causes the chain 4 to
5, the carriage 21 can be horizontally moved relative to the lifting frame 11 between the solid line position (a) and the imaginary line position (b) in FIG. It can be moved to the front of two adjacent storage chambers 2. In addition, this carriage 21
To prevent the lift device 31 and the double reach type fork device 32 from colliding with the support table 24, which is a component of the carriage 21, during the horizontal movement of the support table 24,
That is, the support member 25 in the width direction is configured in a gate shape.

Next, in the above configuration, a procedure for carrying out the luggage stored in the rear storage chamber will be explained.

First, as shown in FIG. 5(a), the traveling trolley 3 is
, B are stored in front of the storage room 2, and
The elevating frame 11 is raised to the storage capacity of the luggage. Next, the carriage 21 is moved, for example, to the left side in the drawing,
Move the right support frame 24 to the front of the storage chamber 2.

In this state, the double reach type fork device 32 holds the load on the front side, and the lift platform 34 is slightly raised so that the bottom surface of the load is above the top surface of the support table 24, and then, as shown in FIG. As shown in b), the front cargo A is pulled out onto the support table 24, the lift table 34 is lowered, and the cargo A is placed on the support table 24. Next, as shown in FIG. 5(C), the carriage 21
is moved to the right side, and the left support table 24 is moved to the front of the storage chamber 2. Then, using the same steps as above,
As shown in FIG. 5(d), the rear cargo B is pulled out and placed on the left support table 24 by the double reach type fork device 32 and the lift device 31. Next, as shown in FIG. 5(e), after moving the carriage 21 to the left side, as shown in FIG. 5(f), the lift device 31 is moved to the left side.
Then, using the double reach type fork device 32, the baggage A that was stored in the front side is stored in the rear side. In this way, when carrying out the rear baggage B, the front baggage A is temporarily held on the carriage 21 side (therefore, two double reach type fork devices are not required as in the conventional case, and the front baggage A is not required). It becomes necessary to store the cargo A in an empty space, and there is no need to run the stacker crane itself when loading and unloading the cargo.

Next, other embodiments will be described based on FIGS. 6 to 8.

In the above embodiment, two sets of support tables 24 are used to temporarily hold the front baggage when carrying out the rear baggage.
Although this was done by moving the carriage 21 having a horizontal axis in the left-right direction, in other embodiments, the carriage 21 is moved in the vertical direction to temporarily hold the cargo on the front side.

That is, a first carriage 5 is mounted on an elevating frame 52 which is supported by a traveling cart 51 so as to be able to rise and fall freely, and which is vertically movable along the front surface of the storage shelf by a vertical movement device 53.
4, and a second carriage 5 which is horizontally movable on the frame portion 56 of the elevating frame 52 in front of at least two adjacent storage chambers (not shown) by a horizontal movement length ft55.
7, and on the elevating frame 52 corresponding to the first carriage 54, a lift device 58 and a double reach type fork device 59 similar to those in the above embodiment are arranged.

Each of the carriages 54, 57 is provided with a support table 61, 62 on which a load is placed.

Of these, the first carriage 54 includes a pair of phase members 63 along the moving direction of the traveling trolley S1, and a pair of left and right support members (constituting a support table) that connect these phase members 63 in the width direction. It consists of 64. Further, the vertical movement device 53 includes a pair of guide posts 65 erected at one end of the elevating frame 52, an elevating body 66 that is guided so as to be movable up and down between these guide posts 65, and The provided sprocket 67 has one end fixed to the elevating frame 52 side and the other end fixed to the first
It is composed of a chain 68 connected to the carriage 54, and an electric jack (or hydraulic jack) 69, which is also provided on the elevating frame 52 and raises and lowers the first carriage 54 by raising and lowering the elevating body 66. Further, one end side of the first carriage 54 is guided toward the elevating body 66 side. That is, as shown in FIG.
A first guide roller 7 that guides one end surface of the carriage 54
A plurality of guides 0 are provided at left and right positions on the side of the elevating body 66 in the vertical direction, and a second guide is provided at one end of the first carriage 54 to abut against a flange of a column 71 that is a component of the elevating body 66. Similarly, a plurality of rollers 72 are provided at left and right positions. In addition, in FIG. 8, 73 is a main guide roller for guiding the elevating body 66 provided on the guide post 85 side. The second carriage 57 has the same configuration as that of the above embodiment, so its explanation will be omitted. It should be noted that the difference from the above embodiment is its length, and in the case of this embodiment, it is set to a length on which one piece of luggage can be placed.

In the above configuration, when carrying out the rear cargo, the lift device 58 and double reach type fork device 59 are used to move the front cargo to the support table 8 of the first carriage 54.
After the first carriage 54 is pulled out upward, the first carriage 54 is raised by the vertical movement device 53, as shown by the imaginary line in FIG. 6, and the cargo on the front side is held upward at one end. Next, the second
The carriage 57 is horizontally moved to the left side, and the cargo on the rear side is moved to the support table 6 of the second carriage 57 using the same lift device 58 and double reach type fork device 59.
2. Just pull it out. Thereafter, the second carriage 57 is moved to the right side, and the first carriage 54 is lowered to store the front baggage in the rear side of the storage chamber. This case also has the same effects as the above embodiment.

Effects of the Invention As described above, according to the configuration of the present invention, when carrying out the rear baggage out of the baggage stored in the two front and rear rows, the front baggage is temporarily held on the elevating frame side of the traveling trolley. This eliminates the need for two double reach fork devices as in the past, and also eliminates the need for empty space, making it possible to reduce equipment costs and prevent a decline in storage efficiency. There is no need to run the stacker crane itself when loading and unloading cargo.

[Brief explanation of the drawing]

Figures 1 to 5 show a stacker crane according to an embodiment of the present invention, with Figure 1 being an overall side view, Figure 2 being an overall plan view, and Figure 3 being a partially cutaway plan view of a lift device. , 4th
The figure is a front view of the main parts of the moving device, FIGS. The figure is an overall side view, FIG. 7 is an overall plan view, and FIG. 8 is a horizontal sectional view of a main part. ■...Storage shelf, 2...Storage room, 3...Traveling trolley, 10...Guide column, 11...Elevating frame, 13...Elevating device, 21... ···carriage,
23...Girder member, 24...Support table, 25
... Support member, 31 ... Lift device, 32 ...
...Double reach type fork device, 33...Guide rod, 34...Lift stand, 35...Judge device, 37...Electric motor, 41...Movement device, 51...
...Traveling trolley, 52... Lifting frame, 53...
... Vertical movement device, 54 ... First carriage, 55
... horizontal movement device, 57 ... second carriage,
58...Lift device, 59...Double reach type fork device, 61.62...Support table, 63
... Girder member, 64 ... Supporting member, 65 ...
Guide post, 66... Lifting body, 69... Electric jack.

Claims (1)

[Claims] 1. A traveling trolley is disposed so as to be freely movable along the front surface of the storage shelf, and a pair of guide pillars are erected on the traveling trolley, and both guide pillars are raised and lowered via a lifting device. A frame is guided and supported so that it can be raised and lowered, and a carriage that is horizontally movable along the front surface of the storage shelf is arranged on this lifting frame. Two sets of support tables are provided, and a moving device is provided for moving the carriage on the lifting frame over a range equal to or larger than the opening width of at least one storage chamber. A lift device is arranged so as to fit between both support members of the table, and a double reach type fork device is installed on this lift device to take in and take out cargo in the storage chamber, and each support member that is a component of the carriage is provided. A stacker crane characterized in that the stacker crane is configured in a gate shape that does not interfere with the lift device and the double reach type fork device during horizontal movement of the carriage. 2. A traveling trolley is arranged so as to be freely movable along the front surface of the storage shelf, and a pair of guide columns are erected on the traveling trolley, and an elevating frame is guided to these guide columns via an elevating device so as to be freely movable up and down. A first carriage that is movable vertically along the front surface of the storage shelf is disposed on the elevating frame, and a second carriage that is movable horizontally along the front surface of the storage shelf is disposed, and each of the above-mentioned carriages , a support table consisting of a pair of left and right support members, which are constituent members in the width direction and also support both sides of the baggage, is provided, and the first carriage is moved on the elevating frame in an area that is at least the height of one piece of baggage. a vertical movement device for moving the second carriage vertically, and a horizontal movement device for moving the second carriage horizontally on the elevating frame over a range at least equal to the opening width of one storage chamber, and the first carriage A lift device is provided on the elevating frame between both support members provided on the side, and a double reach type fork device is provided on this lift device for loading and unloading cargo in the storage chamber, and the lift device is also a component of the second carriage. A stacker crane characterized in that each support member is configured in a gate shape that does not interfere with the lift device and the double reach type fork device.