JPH0597209A - Transfer device in stacker crane - Google Patents

Abstract

PURPOSE:To provide a transfer device in a stacker crane at relatively low cost by simplifying the structure of the device. CONSTITUTION:A transfer device in a stacker crane, is composed of a moving truck 14 run and driven along a guide rail 12 almost extending throughout the whole length of a carriage 6, an arm 17, which is supported with the moving truck and is rotated and driven on the horizontal surface, and which is provided with a holding finger 22 for holding a pallet end 8a, in the marginal end, and of a plurality of pallet supporting rollers 11 provided on the upper surface of the carriage at an appropriate interval.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stacker crane for transferring a pallet containing a long material into a storage rack between a storage rack stacked in multiple stages and a lifting carriage. It relates to a mounting device.

[0002]

2. Description of the Related Art In a three-dimensional automated warehouse equipped with a stacker crane, a forklift applied type is generally used to transfer articles between a stacker crane carriage and a storage rack.

On the other hand, there are cases where it is desirable to load and unload long materials along the longitudinal direction due to layout considerations. However, in order to be able to handle a long material from the longitudinal direction of the forklift type, an extremely long fork is required, which is not realistic.

In order to make it possible to transfer the long material to the carriage from the longitudinal direction, a hook device which is driven by a chain and a driving roller conveyor are provided on the carriage, and a pallet containing the long material is provided. A structure in which a hook device is pulled onto a drive roller conveyor is disclosed in Japanese Patent Publication No. 60-42125.

[0005]

However, according to this structure, since the structure of the hook device is extremely complicated and the drive roller conveyor must be used together, the equipment cost tends to rise.

The present invention has been devised in order to eliminate such disadvantages of the prior art, and its main purpose is to:
It is an object of the present invention to provide a transfer device in a stacker crane that can be manufactured at a relatively low cost by simplifying the structure.

[0007]

SUMMARY OF THE INVENTION According to the present invention, the object of the present invention is to allow a transfer device in a stacker crane to travel along a guide rail extending over substantially the entire length of the carriage. A movable carriage to be driven, an arm supported by the movable carriage and driven to rotate on a horizontal plane, and an arm having a gripping finger for gripping the pallet end at its free end, and an appropriate gap on the upper surface of the carriage. It is achieved by having a plurality of pallet supporting rollers provided at a predetermined distance.

[0008]

According to this structure, the pallet on the storage rack can be moved by engaging the gripping finger with the pallet end and then rotating the arm and moving the arm together with the traveling carriage that is driven to travel. Pulled into the carriage,
Alternatively, the pallet on the carriage is pushed onto the storage rack.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The construction of the present invention will be described in detail below with reference to specific embodiments shown in the accompanying drawings.

FIGS. 1 and 2 show the entire structure of a three-dimensional automatic warehouse using a stacker crane according to the present invention with a part cut away. The stacker crane 1 is supported by a self-propelled carriage 3 traveling on a pair of rails 2 extending parallel to the lowest position on the ground, and a gate-shaped frame 4 erected on the self-propelled carriage 3, and The carriage 6 is guided and is vertically moved by a winch device 5 installed on the self-propelled carriage 3.

On both sides of the rail 2, a plurality of storage racks 7 are installed. The storage rack 7 is divided into a large number of storage frames 9 each capable of storing one pallet 8 in the extending direction of the rail 2 and in the vertical direction. A pallet support roller 1 for supporting the pallets 8 at appropriate intervals on the pallet loading surface of each storage frame 9.
0 is provided so that the pallet 8 can be easily taken in and out of the housing frame 9 by rolling the pallet support roller 10 (see FIG. 3).

The carriage 6 has a channel material welded structure, and a pallet support roller 11 with a flange similar to the pallet support roller 10 provided in the housing frame 9 is provided on the upper surface of the frame at appropriate intervals. Is provided,
Further, a pair of guide rails 12 extending over substantially the entire length is provided on the inner side surface thereof. A movable carriage 14 is engaged with the guide rail 12 via a flanged roller 13 (see FIG. 4). Each end of a link chain 16 hung on sprockets 15 provided at both ends and an intermediate portion of the carriage 6 is connected to the movable carriage 14, and the sprockets 15 are driven by a power source (not shown). Then, when the link chain 16 is pulled, the movable carriage 14 moves along the guide rail 12.

A swivel arm 17 is provided above the movable carriage 14.
Is provided. The swivel arm 17 is used for the moving carriage 1.
4 is fixed to the upper end of a main shaft 19 supported by a bearing boss 18 fixed to the motor 4, and the electric motor 2 via a reduction gear 20
1, the reciprocating swivel drive is performed in the angular range of 180 degrees (see FIG. 5).

A gripping finger 22 composed of a pair of short rollers is attached to the free end of the revolving arm 17. The gripping finger 22 is rotationally driven in a vertical plane by a rack / pinion mechanism 24 that is reciprocally driven by an air cylinder 23 or the like, and its angle is set between an upward opening state and a substantially lateral opening state. It is supposed to change.

Next, the operating procedure of the above embodiment will be described.

The pallet 8 on which a bundle M of steel bars, which has been cut into a certain size and bound by a predetermined amount, is loaded is received on the carriage 6 at a loading place outside the warehouse, and the self-propelled carriage 3 travels, and The carriage 6 is raised to move the pallet 8 to a predetermined position of the housing frame 9.

Here, the storage rack 7 on the right side of FIG.
Assuming that the pallet 8 is stored in the carriage 6, first, the movable carriage 14 is moved to the left side of the carriage 6 and the gripping fingers 22 are set at an angle opened laterally, and then the swing arm 17 is moved leftward. Turn. Next, the gripping finger 22 is rotated from the side to the top to rotate the pallet 8
The horizontal crosspiece 8a at the left end of is gripped. From this state, drive the sprocket 15 and apply a traction force to the link chain 16,
The moving carriage 14 is moved to the right. Then palette 8
Is pushed out of the carriage 6 by the engagement with the gripping fingers 22 and pushed into the housing frame 9. At this time,
Since the pallet support roller 11 on the carriage 6 and the pallet support roller 10 on the storage frame 9 are at the same level, the pallet 8 can be smoothly transferred between the pallet support rollers.

When the moving carriage 14 reaches the moving end,
The swivel arm 1 so that the gripping finger 22 faces the right side.
The pallet 8 is pushed into the storage frame 9 by turning 7 (see FIG. 6).

When the pallet 8 is taken out from the storage frame 9, the procedure may be reversed, and since the moving carriage 14 can be moved symmetrically, the same procedure is performed for the left and right storage racks 7. The pallets 8 can be loaded and unloaded.

[0020]

As described above, according to the present invention, since the pallet is gripped by the arm that pivots on the horizontal plane, the pallet can be moved in any direction of the carriage. Further, since the pallet can be moved smoothly only by providing the rolling roller with the flange on the carriage and the rack, the pallet transfer device can be simplified. Moreover, since the portion requiring power is reduced as much as possible and the coupling mechanism with the pallet is simple in structure, there is a great effect in reducing equipment cost and achieving simplification of maintenance.

[Brief description of drawings]

FIG. 1 is a plan view showing a three-dimensional automatic warehouse to which the present invention has been applied with a part cut away.

FIG. 2 is a front view of the same.

FIG. 3 is a partially enlarged view of a housing frame.

FIG. 4 is a side view of a pallet transfer device.

FIG. 5 is a plan view of the same.

FIG. 6 is a front view of the same.

[Explanation of symbols]

 1 Stacker crane 2 Rail 3 Self-propelled trolley 4 Gate type frame 5 Winch device 6 Carriage 7 Storage rack 8 Pallet 8a Side rail 9 Storage frame 10/11 Pallet support roller 12 Guide rail 13 Flanged roller 14 Moving trolley 15 Sprocket 16 Link chain 17 swivel arm 18 bearing boss 19 main shaft 20 reduction gear 21 electric motor 22 gripping finger 23 air cylinder 24 rack / pinion mechanism

Claims (1)

[Claims] 1. A transfer device in a stacker crane for transferring a pallet containing a long material into a storage rack between a storage rack and a lifting carriage that are stacked in multiple stages. A movable carriage that is driven to run along a guide rail that extends over substantially the entire length of the carriage, and a grip that is supported by the movable carriage and is driven to rotate on a horizontal plane and that grips the pallet end. A transfer device for a stacker crane, comprising: an arm provided with fingers at its free end, and a plurality of pallet support rollers provided on the upper surface of the carriage at appropriate intervals.