JPH0638068Y2 - Stacker crane for transporting cylindrical articles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a stacker crane for transporting cylindrical articles, which travels between rack areas of a three-dimensional warehouse and stores and stores cylindrical articles in and out of a target rack.

(Prior Art) Fork devices for stacker cylindrical cranes for transferring cylindrical articles such as wire rod coils into and out of racks of a three-dimensional warehouse include (1) middle-pointing type and (II) bottom-supporting type. is there. The middle-pointing fork device of (1) above will be described with reference to FIG. 8. (a) is a retractable middle-pointing fork, (b) is a cylindrical article such as a wire coil, and (e) is a stacker crane. The middle cage type fork (a) is mounted on the elevator cage side member (e) so as to be rotatable around the center of rotation (c), and the middle cage type fork (a) is attached. The cylindrical article (b) supported by the middle-pointing fork (a) is swung around the swivel center (c) and is expanded and contracted so that a desired rack bar (not shown) is provided in the left and right rack areas (d). ) Or from the same rack bar.

Further, in the above-mentioned (II) bottom-supporting fork device, the slide fork provided at the bottom of the lifting cage is expanded and contracted so that the cylindrical article supported on the tip of the slide fork can be stored in the intended rack bar in the rack area. ， Issued from the same rack bar.

(Problems to be solved by the device) The middle-point fork device (see FIG. 8) of (1) above is
Since the cylindrical article is supported in the middle position, it is not necessary to consider the fall of the cylindrical article, but when entering and exiting the rack areas on the left and right, it is necessary to rotate the forks, and the cycle time of entry and exit Lengthen. Further, the passage width of the stacker crane needs to be a cylindrical article + α, which causes a problem of reducing the space efficiency of the three-dimensional warehouse.

In the above-mentioned (II) bottom-supporting fork device, there are a case where a dedicated pallet is used and a case where a cylindrical article is directly loaded. However, in the above, in addition to complicating the pallet at the time of loading and unloading, A dedicated pallet is required, which increases the cost. In addition, in the above, when a cylindrical article having a long axial length with respect to the outer diameter is loaded upright on the fork (with the axis extending in the vertical direction), only a small external force is applied to the cylindrical article. However, there is a problem that the cylindrical article falls over, and also when a cylindrical article having a short axial length with respect to the outer diameter is loaded on the fork, it is likely to fall over.

(Means for Solving Problems) The present invention addresses the above problems. When traveling between rack areas of a three-dimensional warehouse and stopping at a target position,
In a stacker crane for transporting cylindrical articles through a lifting cage to and from a rack bar at a target position, a pair of left-side lower support slide forks that support the lower tubular surface of the cylindrical article with an inclined surface at the tip. And a pair of right-sided lower support slide forks, a pair of left-side stabilizers and a pair of right-side stabilizers that support the upper cylindrical surface of the cylindrical article by the inclined surface of the tip, a left-side lifting device and a right-side lifting device. Then, the pair of left and right lower support slide forks are installed at the lower left and right positions of the elevating cage so that they can be expanded and contracted in the front-rear direction by respective drive mechanisms, and the left and right elevating devices are installed at the upper left and right positions of the elevating cage. At the same time, a pair of left and right stabilizer forks is attached to each of the lifting devices by the drive mechanism to support the lower slide slide. The present invention relates to a stacker crane for transporting cylindrical articles, which is characterized by being installed so that it can be expanded and contracted in the front-rear direction in synchronism with the work. Even if they are present, these cylindrical articles can be securely held by the pair of left and right stabilizer forks and the pair of left and right lower support slide forks so as not to fall. Further, loading and unloading of cylindrical articles can be performed for each designated cylindrical article. Also, the loading / unloading cycle time can be shortened. Further, the present invention aims to provide a stacker crane for transporting cylindrical articles that can improve the space efficiency of a three-dimensional warehouse.

(Function) The stacker crane for transporting cylindrical articles of the present invention is configured as described above, and when the stacker crane travels between the rack areas of the three-dimensional warehouse and stops at the target position,
The elevator cage is moved up and down to face the target rack bar, and then the pair of left and right lower support slide forks and the pair of left and right stabilizer forks are operated in the extending direction, and the tip of each fork is suspended on the rack bar. The two cylindrical articles that are being supported are moved up and down, and then the lifting gauge is raised to support the lower cylindrical surface of each cylindrical article by the tip inclined surfaces of the pair of left and right lower support slide forks. Then, the left and right lifting devices are operated to lower the pair of left and right stabilizer forks, and the upper cylindrical surface of each of the cylindrical articles is supported by the tip inclined surfaces of the pair of left and right stabilizer forks to form the cylindrical shape. Hold the product so that it does not fall from the top and bottom. At that time, if the diameters of the cylindrical articles are different, the lifting devices lower the stabilizer forks by a distance corresponding to the different diameters of the cylindrical articles. Next, the elevating cage is raised to separate the center hole of each cylindrical article from the hook bar, and then each pair of left and right lower support slide forks and left and right stabilizer forks are operated in the contracting direction to move each cylindrical article into the elevating cage. Then, the stacker crane is moved to a predetermined position, and each cylindrical article is unloaded. In addition, warehousing is performed in the reverse order of the above.

(Embodiment) Next, the stacker crane for conveying cylindrical articles according to the present invention
This will be described with reference to an embodiment shown in FIGS. First, the stacker crane will be explained with reference to Figs. 3 and 4. (27) is a floor surface, (28) is a traveling rail laid on the floor surface (27),
(31) is a guide rail attached to the ceiling, (26) is a stacker crane structure, (29) is a wheel attached to the lower part of the same structure (26), and (32) is an upper part of the same structure (26). With the guide roller attached, the guide roller (32) rolls on the guide rail (31), and the wheel (29) rolls on the traveling rail (28). It is designed to run between the left and right rack areas (15) (16). Further, (25) is the back wall surface of the rack areas (15) and (16) on the left and right sides, (13) is a plurality of rack bars mounted in multi-rows and multiple rows on each back wall surface (25), and (33) is the stacker crane. Guide rail provided on the structure (26), (10) is a lifting cage, (34) is a guide roller attached to the lifting cage (10), and the guide roller (34) is the guide rail (33).
Is in contact with. Further, (35) is a hoisting device installed in the lower part of the structure (26) of the stacker crane, and (36) is the hoisting cage from the hoisting device (35) through a sheave provided in the upper part of the structure (26). When the hoisting device (35) is driven by the hoisting wire attached to (10), the hoisting wire (36) is hoisted or unwound, and the elevator cage (10) moves up and down along the structure (26). It is supposed to do.

Next, the lower support slide fork (1) will be described with reference to Figs. 1, 2, 6, and 7. The lower support slide fork (1) is composed of left and right solid fork fixing parts (1a) at the bottom of the lifting cage (10). , The left and right fork middle parts (1b), the frame (44) connecting the respective fork middle parts (1b), the left and right fork tip parts (1c), and the frame connecting the respective fork end parts (1c) (45) and the middle part of each fork (1b)
A guide roller (21b) slidably supporting each fork fixed portion (1a) side, and a guide roller (21d) slidably supporting the fork tip end portion (1c) to the fork middle portion (1b) side, The motor (48) installed on the frame (44), the speed reducer (49) installed on the frame (44), the rack teeth (46) provided upward on the frame (43), and the frame The rack teeth (47) provided downward on (45), the drive pinions (50) (50) meshing with the respective rack teeth (46) (47), and the respective drive pinions (50)
It is composed of an idle gear (50 ') interposed between the drive pinion (50) and the drive pinion (50) via the speed reducer (49) to drive the motor (48). The part (1b) and each fork tip part (1c) are adapted to expand and contract in the front-back direction. In addition, an inverted octagonal inclined surface (1c ') is formed on the upper part of the pair of left and right forks (1c), and the lower cylindrical surface of the cylindrical article (9) is formed on each inclined surface (1c). The cylindrical article (9) is stably supported from below by contacting with 1c '). In this embodiment, there are two sets of the above-mentioned bottom support slide forks (1) in the lower part of the lifting cage (10). The drive device such as the motor (48), the speed reducer (49) and the drive pinion (50) may be replaced with another drive means such as a hydraulic cylinder.

Next, the stabilizer fork (4) will be described with reference to FIGS. 1, 2, and 5. The stabilizer fork (4) is supported by a pantograph-type lifting device (23) so that it can be lifted and lowered on the upper part of the lifting cage (10). Left and right fork fixing parts (4a)
And the frame (4a) connecting the fork fixing parts (4a)
0), the left and right fork middle portions (4b), the frame (41) connecting the fork middle portions (4b), the left and right fork tip portions (4c), and the fork tip portions (4c). A frame (42) to be connected, a guide roller (22b) slidably supporting each of the fork middle portions (4b) to the fork fixing portion (4a) side, and a fork tip portion (4c) of the fork middle portion (4c). It has a guide roller (22d) slidably supported on the 4b) side, and the lift cylinder (24) of the lifting device (23) operates in the expanding and contracting direction, and the lifting device (23) expands and contracts in the vertical direction. As the stabilizer fork (4) moves up and down, and the fork middle part (4b) and fork tip (4c) are actuated by the same drive device as the lower support slide fork (1), so that it can expand and contract in the front-back direction. Has become. The stabilizer forks (4) are also provided in two sets above the lifting cage (10).

Next, the part of the support plate (6) attached to the fork tip portion (4c) of the stabilizer fork (4) will be explained with reference to FIG. 5. (7) shows the support plate (6) for each fork tip portion (4).
Pin attached to the bottom surface of c) so that it can rotate in the vertical direction,
(37) is a bracket protruding laterally from the side surface of each fork tip (4c), and (38) is a rod.
The lower end of 8) is pivotally supported on the tip of the support plate (6) by a pin (not shown) parallel to the pin (7), and the upper part of the rod (38) is provided on the bracket (37). It penetrates through the open hole. Also, (39) is the rod (3
The limit switch operation member fixed to the upper end of 8)
The limit switch operating member (39) supports the rod (38) and the support plate (6) so as not to move downward. Further, (8) is a spring interposed around the rod (38) between the bracket (37) and the support plate (6), and (12) is a limit switch mounted on the bracket (37). (24) operates in the extending direction, the stabilizer fork (4) descends, and the support plate (6) is supported on the fork tips (1c) of the bottom support slide forks (1) to form a cylindrical article ( When contacting the cylindrical upper surface of 9), the support plate (6) rotates upward about the pin (7) while compressing the spring (8), and the rod (38)
And the limit switch actuating member (39) collides with the limit switch (12), and a load signal is sent from the limit switch (12) to the lift cylinder (24) to stop the lift cylinder (24) from operating in the extension direction. It has become. The left and right support plates (6) are attached to the left and right fork tips (4c) in an eight shape, and each support plate (6) is attached to the upper cylindrical surface of the cylindrical article (9). Contact,
The cylindrical article (9) is stably supported from above. In addition, the stabilizer fork (4) and the lower support slide fork (1) form a cylindrical article (9).
It is necessary to adjust the pressure of the hydraulic oil supplied to the lift cylinder (24) in order to hold the lift cylinder (24) so that it is not plastically deformed or damaged.
There is an automatic pressure regulator in the hydraulic circuit, but this automatic pressure regulator is not shown.

Next, the operation of the stacker crane for transporting cylindrical articles shown in FIGS. 1 to 7 will be specifically described. The operation of the stacker crane for transporting the cylindrical article will be described by taking the shipping operation as an example. When the stacker crane receives the payout command,
It travels to the target rack bar (13) position, the lifting cage (10) moves up and down, and the lifting cage (10) faces the target rack bar (13). When it is confirmed that the elevator cage (10) has stopped, the lower support slide fork (1) and the stabilizer fork (4) operate synchronously in the extending direction, and each fork tip portion of the lower support slide fork (1) ( 1c) moves below the cylindrical article (9) suspended and supported by the rack bar (13), and the fork tips (4c) of the stabilizer forks (4) are located above the cylindrical article (9). Moving. Next, the elevating cage (10) rises, and the upper surface (upside-down eight-shaped upper surface) of each fork tip portion (1c) of the lower support slide fork (1) comes into contact with the lower cylindrical surface of the cylindrical article (9). Then, the lifting device (23) extends downward, the stabilizer forks (4) descend, and the eight-shaped support plates (6) (6) (6) (6) provided on the fork ends (4c) of the stabilizer forks (4). ) Contacts the upper cylindrical surface of the cylindrical article (9), and the supporting plates (6) of the same are springs (8).
The rod (38) and the limit switch actuating member (39) rise as the pin (7) rotates while compressing the pin (7), and the limit switch actuating member (39) abuts against the limit switch (12) to cause the limit switch (12) to come into contact with the limit switch. A load signal is sent from (12) to the lift cylinder (24), and the operation of the lift cylinder (24) in the extension direction is stopped. In this state, that is, when the cylindrical article (9) is sandwiched between the lower support slide fork (1) and the stabilizer fork (4), the elevating cage (10) rises, and the central hole of the cylindrical article (9). The surface is separated from the rack bar (13), and the cylindrical article (9) is supported by the lower supporting slide fork (1) and the stabilizer fork (4), and then the lower supporting slide fork (1) and the stabilizer fork (4). Operate synchronously in the contracting direction, the cylindrical article (9) is taken into the elevator cage (10) (in the stacker crane), and then the stacker crane travels to a predetermined position to 9) is unloaded and unloaded.
In addition, warehousing is performed in the reverse order of the above.

(Effect of the Invention) As described above, the stacker crane for transporting cylindrical articles of the present invention moves the elevator cage up and down when the stacker crane travels between the rack areas of the three-dimensional warehouse and stops at the target position. The pair of left and right lower support slide forks and the pair of left and right stabilizer forks are operated in the extending direction so as to oppose the target rack bar, and the front end of each fork is suspended and supported by the rack bar. Move the cylindrical article to the vertical position and then raise the lifting gauge to support the lower cylindrical surface of each cylindrical article by the tip inclined surfaces of the pair of left and right lower support slide forks, and then move the left and right lifting devices. The pair of left and right stabilizer forks are actuated to descend, and the upper cylindrical surface of each cylindrical article is moved to the inclined surface of the tip of each pair of left and right stabilizer forks. The above-mentioned cylindrical articles are clamped so as not to fall from above and below. At that time, if the diameters of the cylindrical articles are different, the lifting devices lower the stabilizer forks by a distance corresponding to the different diameters of the cylindrical articles. Next, the elevating cage is raised to separate the center hole of each cylindrical article from the hook bar, and then each pair of left and right lower support slide forks and left and right stabilizer forks are operated in the contracting direction to move each cylindrical article into the elevating cage. Then, the stacker crane is moved to a predetermined position, and each cylindrical article is unloaded. In addition, warehousing is performed in the reverse order of the above.

That is, the stacker crane for transporting cylindrical articles of the present invention is
Each pair of left and right stabilizer forks is supported by the left and right lifting devices so that they can be raised and lowered. If the diameter of each cylindrical article is different, each lifting device will move each stabilizer fork by a distance corresponding to a different diameter of the cylindrical article. Because it will lower
Even if the diameters of the cylindrical articles are different, the cylindrical articles can be reliably sandwiched by the pair of left and right stabilizer forks and the pair of left and right lower support slide forks so as not to fall.

The left fork system (lower supporting slide fork and stabilizer fork and lifting device) and the right fork system (lower supporting slide fork, stabilizer fork and lifting device) can be operated independently and can be used to store cylindrical articles. Delivery can be performed for each designated cylindrical article.

In addition, there is no need to turn the forks, and the cycle time for loading and unloading can be shortened. In addition, there is no need to turn the forks, and there is no need to widen the passage width of the stacker crane, which has the effect of improving the space efficiency of the three-dimensional warehouse.

[Brief description of drawings]

FIG. 1 is a front view of a lifting cage of a stacker crane for transporting cylindrical articles according to the present invention, taken along the line II of FIG.
2 is a side view taken along the line II-II in FIG. 1, FIG. 3 is a front view showing the entire stacker crane, and FIG. 4 is a side view taken along the line IV-IV in FIG. 5 and 5 are enlarged front views showing a part of the stabilizer forks, FIG. 6 are enlarged front views showing the lower support slide forks, and FIG. 7 is taken along the line VII-VII in FIG. FIG. 8 is a side view and FIG. 8 is an explanatory view showing an outline of a fork provided in a lifting cage of a conventional cylindrical article transport stacker crane. (1) …… Lower support slide fork, (1c) …… The tip of lower support slide fork (1), (1c ′) …… Inclined surface, (4) …… Stabilizer fork, (4c) …… Stabilizer fork (4) ) Tip, (6) ... Support plate,
(9) …… Cylindrical article, (10) …… Lift cage, (13)
...... Rack bar, (23) (24) …… Lifting device.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Eiji Kondo, 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd. Hiroshima Shipyard (72) Creator: Akio Soma 1 Emitsu Emitsu, Hachimanto-ku, Kitakyushu, Fukuoka Prefecture -1-1 Inside Yawata Works (72), Nippon Steel Co., Ltd. (72) Mitsuo Shimizu 1-1-1 Edamitsu, Hachiman-to-ku, Kitakyushu, Kitakyushu, Fukuoka 1-1-1 Inside Yawata Works (56) References Special Open Sho 61-174004 (JP, A) Open Sho 59-26406 (JP, U) Open Sho 56-84506 (JP, U)

Claims (1)

[Scope of utility model registration request] 1. A stacker crane for transporting a cylindrical article, which travels between rack areas of a three-dimensional warehouse and stops at a target position when a cylindrical article is loaded into and unloaded from a rack bar at the target location via an elevator cage. A pair of left side lower support slide forks and a right side pair of lower side support slides for supporting the lower cylindrical surface of the cylindrical article by the inclined surface of the tip,
A left-side pair of stabilizer forks and a right-side pair of stabilizer forks that support the upper cylindrical surface of the cylindrical article by the inclined surface of the tip, a left-side lifting device and a right-side lifting device, and each of the left and right pair of lower support slides. The forks are installed at the lower left and right positions of the elevating cage so that they can be expanded and contracted in the front-rear direction by respective drive mechanisms, and the left and right elevating devices are installed at the upper left and right positions of the elevating cage, and the left and right of each elevating device A cylindrical crane for conveying a cylindrical article, wherein each pair of stabilizer forks is installed by the drive mechanism so as to be able to extend and contract in the front-rear direction in synchronization with the lower support slide fork.