JPH0617640B2 - Statka crane multi-level parking lot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Application of the Invention The present invention relates to a stacker crane type multilevel parking lot.

In the present invention, the entry / exit port refers to the entry / exit port. The pallet magazine has a palletizing function or a depalletizing function.

[Background of the Invention]

An example of a three-dimensional parking lot using a stacker crane is disclosed in Japanese Patent Application Laid-Open No. 51-141178. This one is provided with a large number of shelves along the traveling path of the stacker crane, and has a storage entrance and a depatitizer at one end, and a storage exit and a palletizer at the other end.

For warehousing, one pallet is supplied from the depalletizer to the warehousing port by the conveyor, and the vehicle is placed on this pallet. This on-vehicle pallet is supplied to the transfer port of the stacker crane by the roller conveyor. The stacker crane supplies this on-board pallet to the shelves.

When an issue command is issued, the in-vehicle pallet is transported to the transfer port by the stacker crane and then delivered to the output port by the roller conveyor. The pallet remaining in the delivery port is supplied to the palletizer by a conveyor.

In this way, the on-vehicle pallet is conveyed by the roller conveyor. The pallet is made of sheet metal as shown in the figure.

Various experiments conducted by the inventor have revealed that the pallet cracks relatively early. This is because if the pallet has a small thickness and the roller conveyor has a large gap between rollers,
When an on-vehicle pallet is conveyed by a roller conveyor, the pallet part on which the wheels of the vehicle are mounted is bent, but since the bending state changes with the conveyance by the roller conveyor, it is thought that the pallet will be damaged early. .

Incidentally, Japanese Utility Model Laid-Open No. 58-82981 discloses that a dolly is used as a means for transporting an on-vehicle pallet between a storage port and a transfer port of a stacker crane.

However, this article does not show the positional relationship among the entrance, exit, transfer port, palletizer, and depalletizer.

[Object of the Invention]

An object of the present invention is to facilitate the loading and unloading of a vehicle that uses a trolley as the vehicle pallet transporting means.

A second object of the present invention is to facilitate supply or recovery of pallets.

[Outline of Invention]

INDUSTRIAL APPLICABILITY The present invention provides a pallet seat on which an in-vehicle pallet is placed at each of a transfer port to and from a stacker crane and an in / out port at which passengers get in and out, and the in-vehicle pallet is placed on an elevator to move in and out and the transfer port. A trolley that travels between the pallet and the pallet is provided, and the pallet is moved between the transfer port and the loading / unloading port while the on-vehicle pallet is raised above the pallet seat by this lifting platform.
The in-vehicle pallet is transported.

According to this, in the warehousing, the dolly raises the vehicle-mounted pallet at the warehousing entrance on the elevating table and travels toward the transfer opening, and then lowers the elevating table to place the vehicle-mounted pallet on the pallet seat of the transfer opening. . Then, the dolly lowers the elevating table and returns to the entrance. When the vehicle-mounted pallet is placed on the delivery port, the dolly returns to the transfer port. Therefore, the warehousing can be carried out by using the cart, and the time required for warehousing can be shortened.

If there are multiple transfer ports, the time can be further shortened.

For the second purpose, between the loading / unloading port and the loading / unloading port, above the traveling path of the trolley and at a position higher than the vehicle mounted on the trolley, the storage portion for the stacking pallet is placed. Provide a trolley that runs between the upper part of the storage part and the upper part of the loading / unloading opening,
The picker that conveys the pallet between the storage unit and the loading / unloading port is hung from the trolley so as to be lifted and lowered.

According to this, the trolley on which the vehicle-mounted pallet is placed can be made to stand by under the storage portion, and the warehousing time can be further shortened. Further, since the empty pallet transport path and the vehicle-mounted pallet transport path can be separated, the loading / unloading can be shortened from this point as well.

Example of Invention

The present invention will be described below with reference to an embodiment shown in FIGS.

In FIG. 2, 1 is a known stacker crane,
The vehicle runs on a traveling path 4 between the shelves 5 and 6 on both sides. The stacker crane 1 is provided with a lifting platform, and the lifting platform is equipped with forks protruding to the storage shelves on both sides. The shelf groups 5 and 6 are composed of a large number of storage shelves.

Here, the stacker crane 1 and the shelving groups 5 and 6 on both sides of the stacker crane 1.
Two sets are arranged in parallel.

An entrance 10 is provided at one end of each shelf group 5, and an exit 11 is provided at the other end. The entrance 10 and the exit 11 are on the outer end side of the end of the traveling path 4.

The end of the road 4 is surrounded by a fence 15. Inlet 10, Outlet
11, a platform is provided on the left and right of the pallet of the section for passengers to get on and off, and is surrounded by a fence 16 to form a room. 17
Is an occupant door, and 18 is a vehicle gate that moves up and down. 20 is a roadway.

In FIG. 1, the first-stage storage shelves on the second and third rows of the shelving group 5 have transfer ports 22 and 23 for warehousing. Similarly, the first-stage storage shelves on the 4th and 5th lines are the transfer ports 24 and 25 of the delivery port.

The number of rows is counted from the end of the shelf group on the side of the entrance 10. The number of steps is counted from the bottom. Here, a shelf group of 6 rows and 5 stages is shown.

The warehousing entrance 10, the transfer openings 22, 23, 24, 25 and the warehousing exit 11 are provided with pallet seats 27 for mounting on-vehicle pallets. Height of each pallet seat 27, especially entrance 10 and exit 11
The height of the pallet seat 27 of the
The road surface and the road 20 are substantially at the same height. As shown in FIG. 3, the pallet seats 27 are provided at four points on the front, rear, left and right at each position of the storage entrance 10 and the like, and these four pallet seats form one pallet seat. The pallet seats 27 of the entrance 10 and the exit 11 are provided at the front and rear ends so that the pallet 30 will not be lifted by the traveling of the vehicle 31. Further, the pallet seat on the entrance side of the entrance port 10 and the pallet seat on the exit side of the exit port 11 connect the left and right. Transfer port 22
The ~ 25 pallet seats 27 are attached to the pillars forming the storage shelves.

Below the entrance 10 to the exit 11 is a traveling path 35 on which a trolley 33 for warehousing and a trolley 34 for unloading travel. Trolley 3
3 and 34 run on a rail 36. The dolly 33 for warehousing is the entrance 1
The in-vehicle pallet is transported from 0 to the transfer port 22 or the transfer port 23. The dolly 34 for unloading exits from the transfer port 24 or transfer port 25.
Carry on-board pallets up to 11.

Supply of electric power for traveling the carriages 33, 34 is performed by a known means such as a trolley wire installed below the carriages.

In FIG. 4, the trucks 33 and 34 are provided with jacks 39 for raising and lowering the frame 38. The width of the jack 39 in the left-right direction is smaller than the space between the pallet seats 27 in the left-right direction. The pedestal 38 is provided smaller than the space formed by the four pallet seats 27. The trolleys 33 and 34 can carry an on-vehicle pallet and run between the pallet seats 27.
Car pallets can be transferred to and from 27.

In FIG. 1, reference numeral 40 is a depalletizer for supplying the pallet of the storage section 41 to the storage port 10. The storage section 41 is located above the first row and the first row of the shelf group 5. The storage section 41 has a pallet seat 42 for supporting the stacked pallets. The mounting position of the pallet seat 42 is at the upper part of the pillar of the first stage so that the truck 33 on which the vehicle-mounted pallet is placed can pass. The height of the first-stage storage rack is sufficiently larger than the height of the second-stage storage rack. The pallet seats 42 are provided at the front and rear ends of the first row.

In order to illustrate the components of the depalletizer 40, the first
The figure is larger than it actually is.

The depalletizer 40 mainly includes a storage unit 41, a picker 43 for holding the uppermost pallet of the storage unit 41, a trolley 44 that moves while moving the picker 43 up and down, and a girder 45 on which the trolley 44 travels. The girder 45 is supported by the column group 46 of the shelf group 5 and the entrance 10. The trolley 44 travels from the storage section 41 to the storage entrance 10, and lowers the picker 43 to the position of the pallet seat 27.

A palletizer 40a collects the pallet remaining in the delivery port 11 into the storage section 41a. The storage section 41a is located above the first row of the sixth row of the shelf group 5. The storage portion 41a has a pallet seat 42a for supporting the stacked pallets. The mounting position of the pallet seat 42a is the upper part of the first-stage pillar so that the carriage 34 on which the vehicle-mounted pallet is placed can pass. The pallet seats 42a are provided at the front and rear ends of the sixth row.

The configuration of the palletizer 40a is substantially the same as the configuration of the depalletizer 40. However, the functions are different. For example, the picker 43 of the depalletizer 40 grabs the uppermost pallet of the storage section 41 and supplies it to the entrance 10 while the picker 43a of the palletizer 40a supplies the exit 11 to the entrance.
The pallet is grabbed and supplied to the storage portion 41a. Therefore, the depalletizer 40 will be mainly described below. The palletizer 40a is indicated by adding "a" to the number of the depalletizer 40.

Details of the depalletizer 40 will be described with reference to FIGS. FIG. 8 shows a state in which the pallet is supported.

The trolley 44 is mounted on the girder 45 with two wheels 50 provided at each of four points on the front, rear, left and right. The girder 45 consists of two I-shaped steels. A motor 51 for traveling is attached to two wheels 50 located on a diagonal line. The wheel 50 suspends a frame 55 via a seat 54. On the top of the frame 55,
A hoisting device consisting of 56, speed reducer 57 and drum 58 is installed. Four ropes 60 are fed out from the drum 58 to the front, rear, left and right, and are picked up via the sheave 61 provided on the frame 55.
43 is hanging. When the drum 58 is rotated forward, 4 ropes
60 is paid out.

Pipes 63 having enlarged bottom ends are attached to four points on the lower, front, left and right sides of the frame 55. Meanwhile, the frame of the picker 43
On the upper surface of 65, four rods 66 having small diameter tips are erected.
When the picker 43 rises, the rod 66 enters the pipe 63.

Pallet seats 67 that support the pallet 30 are suspended horizontally at four points on the front, rear, left, and right of the rectangular frame 65 of the picker 43. Reference numeral 68 denotes its rotation shaft, which penetrates the guide cylinder 69 and the frame 65 and projects upward. The rotating shaft 68 is suspended. The tube 69 is fixed to the frame 65. A lever 70 is attached to the upper end of the rotary shaft 68. The levers 70, 70 of the two rotary shafts 68, 68 on both sides in the width direction of the frame 65 are connected by links 71, 71. Cylinder devices for driving 73, 73 parallel to the links 71, 71, respectively
Is installed. The rod of the cylinder device 73 is attached to one end of a horizontally rotatable link 74. The other end of the link 74 is connected to the link 71. Center pin of link 74
75 is provided on the frame 65. Fig. 7 shows pallet seat 67
Shows the state in which is retracted. When the rod of the cylinder device 73 is projected, the pallet seat 67 projects.

In FIG. 8, a cylinder 69 at one end in the length direction of the picker 43,
A pair of photoelectric switches 78 for detecting the presence or absence of the pallet 30 are installed on the side surface of 69. When the switch 78 detects the light blocking due to the lowering of the frame 65, the lowering of the frame 65 is stopped and the pallet seat 67 projects toward the pallet 30. Explaining the mounting positions of the switch 78 and the pallet seat 67, when the switch 78 detects light blocking,
A pallet seat 67 is provided so that it can be projected into a gap 80 between the uppermost pallet of the stacked pallets and the second pallet from the uppermost pallet. As a result, the top pallet of the stacking pallet and the pallet of the delivery port 11 can be lifted.

The switch 78 and the rotary shaft 68 are provided outside the end of the pallet 30 in the width direction.

A reinforcing plate 30a is provided on the back surface of the pallet 30 so as to contact the lower pallet 30. As a result, the gap 80 is obtained.

The pallet seat 67 is provided with a limit switch 82 for detecting the presence or absence of a pallet. Limit switch 82
The lever 83 extends from below the pallet seat 67 through the opening 84 to the upper surface and extends horizontally. This limit switch is attached to two pallet seats 67 located diagonally.

When the picker 43 on which the pallet is placed is lowered and the limit switch 82 detects that the pallet is off, it means that the pallet has been landed on the loading port 10 or the uppermost pallet of the stacked pallets. This stops the lowering of the picker 43 and retracts the pallet seat 67.

The power supply for driving the trolley 44 and the like are performed by a known means such as a trolley wire provided in parallel with the girder 45.

In FIG. 3, the platform 86 of the entrance 10 and the exit 11 is provided with a recess 87 into which the pallet seat 67 of the picker 43, the rotary shaft 68 and the like can be inserted. Thereby, the pallet 30 can be supplied or collected.

The warehousing operation will be described.

A stacking pallet is stored in the storage section 41 of the depalletizer 40. The trolley 44 stops on the first row, and the picker 43 is lowered using the hoisting device. When the photoelectric switch 78 detects light blocking, the picker 43 is stopped from descending, and the cylinder device 73 is used to cause the pallet seat 67 to project into the gap 80. Next, if the picker 43 is raised, one pallet 30 can be lifted. With the rod 66 in the pipe 63,
The motor 51 is used to drive the vehicle toward the entrance 10.

When the trolley 44 arrives at the entrance 10, the picker 43 is lowered. The pallet of the picker 43 is the pallet seat of the entrance 10
When placed on 27, the pallet 30 is the pallet seat 67 of the picker 43.
The limit switch 82 is turned off. This OFF stops the lowering of the picker 43 and retracts the pallet seat 67. Next, the picker 43 is raised, and after the rise is completed, the picker 43 is returned to the first row. Picker
For No. 43, hold the pallet while holding it.

The occupant who has placed the vehicle on the pallet 30 of the storage entrance 10 dismounts and then issues a storage command. When there is a storage instruction, the truck 33 waiting at the bottom of the loading slot 10 lifts the gantry 38 with the jack 39 and lifts the vehicle-mounted pallet. After the vehicle-mounted pallet is lifted up from the pallet seat 27, it travels toward the transfer ports 22 and 23. If the transfer ports 22 and 23 are empty, the vehicle travels to the transfer port 23. If the transfer port 23 has an in-vehicle pallet, the transfer port 22
Drive up to. If there are in-vehicle pallets in both transfer ports 22 and 23, stand by at the first line. When it stops at the transfer ports 22 and 23, the gantry 38 is lowered and the in-vehicle pallet is received as a pallet seat.
Put it on 27. The trolley 33 returns to the entrance 10 in that state.

The on-vehicle pallets at the transfer ports 22 and 23 are transferred to the storage shelves by the stacker crane 1.

The delivery will be described.

When a stacking instruction is issued, the stacker crane 1 carries out the in-vehicle pallet from the storage shelf to the transfer ports 24 and 25. Transfer port 24, 25
If there is no on-vehicle pallet, it will be delivered to the transfer port 25. If there is an on-vehicle pallet at the transfer port 24, the stacker crane 1 waits until this on-vehicle pallet is unloaded by the trolley.

The in-vehicle pallets put out at the transfer ports 24 and 25 are pallet seats.
Mounted on 27. The dolly 34 raises the pedestal 38 with the jack 39 and lifts the on-vehicle pallet. Then, trolley 34 exit
Drive toward 11.

When the vehicle exits from the exit port 11 and there is a command, the palletizer 40a starts the pallet collecting operation. Since this uses the depalletizer 40 as a palletizer, it will be briefly described. In the following description, the depalletizer
An explanation will be given by adding "a" to the 40 part number.

At the exit port 11, the picker 43a is lowered. When the switch 78a detects light shielding, the picker 43a is stopped from descending and the pallet seat 67a is projected. next,
The picker 43a is raised and the rod 66a is run toward the sixth row with the rod 66a in the pipe 63a. When it reaches the sixth line, the picker 43a is lowered. Pallet seat 67a
When it is detected that the limit switch 82a of the pallet is OFF, it indicates that the pallet of the pallet seat 67a is placed on the upper part of the pallet of the storage section 41a. Therefore, the picker 43a is stopped from descending and the pallet seat 67a is descended. . Next, the picker 43a is raised and made to stand by.

When a predetermined number (for example, 6) of pallets are stored in the storage section 41a, the stacker crane 1 conveys them to an empty storage rack. When the pallet disappears from the storage part 41 of the depalletizer 40,
The stacker crane 1 supplies stacked pallets from the storage shelf or the storage section 41a.

As described above, warehousing and warehousing can be performed without using a conveyor that conveys an in-vehicle pallet. Therefore, the plate thickness of the pallet can be reduced.

In addition, the carriages 33 and 34 are provided with a pedestal that can be raised and lowered, and the entrance 1
Since the pallet seat 27 is provided at the 0, the delivery port 11, and the transfer ports 22 to 25, the warehousing can be performed quickly.

In addition, the entrance 10 (the exit 11) and the transfer openings 22, 23 (24, 25)
Since the pallet magazine storage section 41 (41a) is provided in the upper part of the passage of the vehicle-mounted pallet between and, and the picker that travels between this storage section 41 (41a) and the storage entrance 10 (exit opening 11) is provided. The pallets can be easily supplied (recovered), and the stacked pallets can be easily supplied (unloaded).

In the above-described embodiment, the warehousing and the warehousing are performed by the carriages 33 and 34, but either one may be performed by the conveyor as before.

Therefore, in the present invention, the entry / exit port refers to the entry or exit port, and the pallet magazine refers to the depalletizer or palletizer.

When the exit port 11 is bright and the switch 78a cannot be used, a limit switch may be provided below the platform 86 of the exit port 11 to make the switch 78a unnecessary.

Although the pedestals of the carriages 33 and 34 are provided so as to be able to move up and down, the pallet seat 27 may be able to move up and down.

The structure of the pallet seats 67, 67a of the pickers 43, 43a may be any structure as long as the pallet can be attached and detached. For example, if the top surface of the pallet has holes, a twist lock pin that fits into the holes can be used, such as a spreader on a container crane.

A linear car can be used as the carriage.

〔The invention's effect〕

INDUSTRIAL APPLICABILITY The present invention provides a pallet seat on which a vehicle-mounted pallet is placed at each of a transfer port to and from a stacker clay and a loading / unloading port through which an occupant moves up and down. A trolley that travels between and is provided, and the pallet is moved between the transfer port and the loading / unloading port while the on-vehicle pallet is lifted above the pallet seat by this lifting platform, and the on-vehicle pallet is transported. A dolly can be used for loading and unloading, and loading and unloading can be performed quickly.

[Brief description of drawings]

FIG. 1 is a vertical sectional view of a stacker crane type multi-level parking lot according to an embodiment of the present invention, FIG. 2 is a sectional view taken along line AA of FIG. 1, and FIG.
1 is a plan view of the storage entrance of FIG. 1, FIG. 4 is a front view of the trolley of FIG. 1, FIG. 5 is a side view of a depalletizer of one embodiment of the present invention, and FIG. 6 is of FIG. Plan view, FIG. 7 is B of FIG.
-B sectional view, FIG. 8 is a right side view of FIG. 5, and FIG.
FIG. 10 is a vertical sectional view of the pallet seat in the figure, and FIG. 10 is a plan view of FIG. 1 ... Stacker crane, 4 ... Traveling path, 5,6 ... Shelves, 10 ... Inlet, 11 ... Outlet, 22-25 ... Transfer,
27 …… Pallet seat, 40 …… Depalletizer, 40a ……
Palletizer, 41, 41a ... Pallet storage, 43, 43
a ... picker, 44,44a ... trolley, 45,45a ... girder

Claims (3)

[Claims] 1. A shelf group having a large number of storage shelves, a stacker crane that travels along the shelf group and transfers an on-vehicle pallet to and from the storage shelves, and the shelf in the traveling direction of the stacker crane. It is placed on the end side of the group and is provided at a position where the vehicle pallet can be transferred between the loading / unloading port having a pallet seat for mounting the vehicle pallet and the stacker crane in the shelf group. A transfer port having a pallet seat for mounting an in-vehicle pallet, and a traveling path below the pallet seat between the loading / unloading port and the transfer port. The trolley is configured to travel with the vehicle-mounted pallet raised above the pallet seat when the vehicle-mounted pallet is placed on the elevator pedestal, and when the vehicle-mounted pallet is not placed on the elevator pallet. That than Tsu door seat to travel in a state that is lowered, the stacker crane multistory parking lot which is characterized in. 2. A stacker crane type multi-stored parking in the stacker crane type multi-storey car park according to claim 1, wherein a plurality of transfer ports are provided along the traveling direction of the stacker crane. Parking lot. 3. A shelf group having a large number of storage shelves, a stacker crane that travels along the shelf group and transfers an on-vehicle pallet between the storage shelves, and the shelf in the traveling direction of the stacker crane. It is installed on the end side of the group, and has a loading / unloading port having a pallet seat for mounting a vehicle-mounted pallet, and is provided at a position where the vehicle-mounted pallet can be transferred between the stacker crane in the shelf group, A transfer port having a pallet seat for mounting an on-vehicle pallet, and a traveling path lower than the pallet seat between the loading / unloading port and the transfer port, and equipped with a lifting platform. A stacking pallet is provided so that it can be transferred between the carriage and the stacker crane in the shelving group, and the stacking pallet is provided above the traveling path of the carriage and at a position higher than the vehicle mounted on the carriage. Stacked And a trolley that runs between the upper part of the storage part and the upper part of the loading / unloading port so that the pallet can be lifted and lowered, and the pallet is transported between the storage part and the loading / unloading port. The trolley comprises a picker, and the trolley travels while the vehicle-mounted pallet is raised above the pallet seat when the vehicle-mounted pallet is placed on the elevator pedestal. A stacker-crane-type multi-storey car park, which is characterized by driving while being lowered from the seat.