JPH0664708A - Stacker crane - Google Patents

Abstract

PURPOSE:To improve the workability through a process of eliminating the waste of time required for loading cargoes by arranging pallet guide rails on both upper side and lower side so that two columns of pallets can be loaded at the same time. CONSTITUTION:A crane frame 6, which can travel along a rack, is provided with an elevation frame 13 and a horizontal moving frame which can be moved horizontally along the direction crossing at right angles with the traveling direction D1 of the crane frame 6. The crane frame is also provided with a traverser 28, which can be moved along the same direction as that the horizontal moving frame is moved along and can load/unload a pallet 66 to/from the inside of a shelf besides being provided with freely rotational fixing pieces 55, 56, and an upper pallet guide rail 25b and a lower pallet guide 25d by both of which the pallets 66 pulled in by the traverser 28 can be loaded to two columns located on an upper side and a lower side. In this way, it is not necessary to go to other places to fetch an empty pallet at each time after the pallet, loaded with a cargo, is stored in the shelf so that waste of time may be solved.

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 loading / unloading a load such as a vehicle placed on a pallet to / from a rack shelf.

[0002]

2. Description of the Related Art Conventionally, rack equipment has been used for storing loads such as vehicles, and a stacker crane is used for loading and unloading the rack of the rack equipment.

In general, the above-mentioned rack equipment has a plurality of shelves b capable of accommodating pallets a on which loads such as vehicles are placed, respectively, as shown in FIG. A plurality of rows of racks c are arranged to face each other with a required space in the left-right direction, and a stacker crane d capable of traveling in the depth direction is arranged between the racks c.

In the stacker crane d, a crane frame e is movably arranged along a traveling rail and an upper guide rail (not shown) laid in the floor and ceiling so as to extend in the depth direction. Crane frame e
A lifter f is provided so as to be able to move up and down, and a fork g that can extend and contract to the left and right sides and can support the pallet a is mounted on the lifter f.

When the rack equipment as shown in FIG. 19 is used as, for example, a parking equipment, when the vehicle as a load is loaded, the crane frame e of the stacker crane d is moved and the lifter f is moved up and down to lift the lifter f. After moving to the position of the empty shelf b, retracting the fork g to draw the pallet a of the shelf b onto the lifter f, the crane frame e is moved and the lifter f is moved up and down to lift the lifter f. Is moved to a loading / unloading port (not shown), the fork g is extended to project the pallet a toward the loading / unloading port, and the vehicle is placed on the pallet a.

After the vehicle is placed on the pallet a, the fork g is contracted so that the pallet a on which the vehicle is placed is lifted by the lifter f.
The crane frame e is pulled up, the crane frame e is moved again, and the lifter f is moved up and down, the lifter f is moved to the position of the shelf b, and the fork g is expanded and contracted to lift the pallet a on which the vehicle is placed. Store from above on the shelf b.

[0007]

However, in the rack equipment as described above, the stacker crane d temporarily picks up the pallet a of the empty shelf b and places the vehicle on the pallet a at the loading / unloading port. After that, you have to move to the position of shelf b again, so there is a lot of wasted time,
It had a problem of poor work efficiency.

In view of the above situation, the present invention aims to provide a stacker crane which can shorten the time required to store a load and improve work efficiency.

[0009]

According to the present invention, a crane frame that can travel along a rack is provided with a lifting frame.
A horizontal moving frame that can move horizontally in the elevating frame in a direction orthogonal to the traveling direction of the crane frame, and a horizontal moving frame that can move in the same direction as the horizontal moving frame and that sends a pallet into the rack shelf or pulls it out of the rack. And a pallet guide rail having two upper and lower stages for supporting the pallet pulled in by the traverser transfer means.

Further, according to the present invention, an elevating frame is provided on a fixed crane frame arranged in the vicinity of a rack, and the elevating frame is the same as a horizontal moving frame capable of horizontally moving with respect to the rack and the horizontal moving frame. A traverser having a moving means for moving the pallet into and out of the rack shelf, and two upper and lower pallet guide rails for supporting the pallet drawn by the traverser transferring means. It consists of

Further, according to the present invention, a crane frame capable of traveling along a rack is provided with a horizontal moving frame which does not move up and down but can horizontally move in a direction orthogonal to the traveling direction of the crane frame, and the same horizontal moving frame. A traverser capable of moving in the direction and having a transfer means for feeding the pallet into or out of the rack shelf,
The pallet guide rails are provided in upper and lower two stages to support the pallet pulled in by the traverser transfer means.

[0012]

[Operation] The crane frame travels along the rack, the elevating frame moves up and down, and the horizontal moving frame and traverser move in the direction orthogonal to the traveling direction of the crane frame, so that loading and unloading work is performed, but the pallet moves up and down. Since it can be mounted in two stages, it is not necessary to go to another place to pick up an empty pallet after sending the pallet loaded with the load to the shelf, thus eliminating waste of time.

Further, when the crane frame is fixed close to the rack, the elevating frame moves up and down to a predetermined height, and the horizontal moving frame and the traverser move with respect to the rack to carry out the loading and unloading work. When a horizontally movable frame that does not move up and down is provided on the movable crane frame, the moving frame and the traverser move in a direction orthogonal to the rack to carry out the loading and unloading work. After sending empty pallets to the shelves, there is no need to go to another place to pick up the pallets, eliminating waste of time.

[0014]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

1 to 18 show an embodiment of the stacker crane of the present invention.

In FIG. 18, reference numeral 1 denotes a rack which is arranged on both right and left sides at appropriate intervals, and the rack 1 is vertically stacked in a plurality of stages to store a load 2 such as a vehicle. It has a plurality of shelves 3 arranged in a plurality of rows in the depth direction.

At the opposite edges of the upper ends of the left and right racks 1,
A rail 4 extending in the depth direction is laid along the rack 1, and a stacker crane 5 is hung on the rail 4 so that the stacker crane 5 can travel along the rail 4.

Details of the stacker crane 5 are shown in FIGS.
7 is shown.

As shown in FIGS. 1 to 3, the stacker crane 5 has a crane frame 6. As shown in FIG. 1, the crane frame 6 includes vertical frames 6a for elevating guides arranged at a required distance in the traveling direction D ₁ of the stacker crane 5, and rails 4 at the upper ends of the vertical frames 6a. parallel horizontal frame 6b which is mounted so as to extend in the width direction, 6b 'and, and the extending the running direction D ₁ of the stacker crane 5 both horizontal frame 6b, 6b' and horizontal frame 6c for connecting a horizontal frame 6c And a horizontal frame 6d that connects the lower ends of the vertical frames 6a to each other. As shown in FIG. 1, the crane frame 6 has a vertical frame 6a, horizontal frames 6b, 6b ', 6c,
It is formed in a window frame shape by 6d, and when viewed from the side as shown in FIG. 2, the vertical frame 6a and the horizontal frames 6b, 6b ′ are formed.
Is formed into a T shape, and when viewed in plan as shown in FIG. 3, the horizontal frames 6b, 6b ', and 6c are formed into an H shape.

On both sides of the crane frame 6 in the width direction of the horizontal frame 6b, drive wheels 7 adapted to roll on the rails 4 when the stacker crane 5 is ahead are attached, and the left and right drive wheels 7 are horizontal shafts 8. Are connected by. A traveling reduction motor 9 is mounted on the horizontal frame 6b, and an endless chain is provided on a sprocket 10 attached to the output shaft of the traveling reduction motor 9 and a sprocket (not shown) attached to the horizontal shaft 8. (Not shown) is passed over, and by driving the traveling reduction motor 9,
The drive wheels 7 can be driven.

The horizontal frame 6b 'of the crane frame 6
Driven wheels 11 adapted to roll on the rails 4 when the stacker crane 5 travels are attached to both sides in the width direction.

The crane frame 6 includes a lifting frame 1
3 are provided. The elevating frame 13 includes a vertical member 13a arranged along each vertical frame 6a in the vicinity of the front and rear vertical frames 6a, and a horizontal member 13b for connecting upper and lower ends of the front and rear vertical members 13a. As shown in FIG. 1, it is formed in a window frame shape when viewed from the front, and can be moved up and down along the vertical frame 6a of the stacker crane 5.

On the horizontal frame 6c of the crane frame 6, a lifting / lowering reduction motor 14 and the lifting / lowering reduction motor 14 are mounted.
Lifting winch drum 15 that can be driven by
One of the two lifting wire ropes 16 and 17 mounted on the lifting winch drum 15 is mounted on the horizontal frame 6b, and one lifting wire rope 16 faces the horizontal frame 6b. The rope sheave 18 is wound around the rope sheave 18 and faces vertically downward, and the rope sheave 19 mounted near the upper end of the vertical member 13a of the elevating frame 13 is wound around and faces upward. It is fixed to the lower end via a screw shaft (not shown).

The other lifting wire rope 17 faces the horizontal frame 6b 'side, is wound around a rope sheave 20 mounted on the horizontal frame 6b', and hangs downward to make a vertical member of the lifting frame 13. It is wound around a rope sheave 21 attached near the upper end of 13a and faces upward, and its end is fixed to the lower end of the horizontal frame 6b 'via a screw shaft 22.

Horizontal guide rollers 23 and 24, which are adapted to roll along the vertical frame 6a of the crane frame 6 when the elevating frame 13 moves up and down, are in phase with each other above and below the vertical member 13a of the elevating frame 13. It is attached by shifting 90 degrees.

A horizontal member 13b below the lifting frame 13
A horizontal guide frame 25 is disposed on the upper portion as shown in detail in FIGS. Thus, the horizontal guide frame 25 is a pair of left and right extending in a direction (moving direction) D ₂ orthogonal to the traveling direction D ₁ of the stacker crane arranged near each vertical member 13a of the elevating frame 13. Upper horizontal member 25a and a pair of left and right upper pallet guide rails 2 attached to the wedge portion of the upper horizontal member 25a and extending along the upper horizontal member 25a have an angle-shaped cross section.
5b, a pair of left and right lower horizontal members 25c, which are arranged below the upper horizontal member 25a at a required interval and extend parallel to the upper horizontal member 25a, and which are attached to the wedge portions of the lower horizontal member 25c and are lower horizontal. A pair of left and right lower pallet guide rails 25d each having an angle-shaped cross section extending along the member 25c are required in the longitudinal direction of the upper and lower horizontal members 25a, 25c so as to connect the upper horizontal member 25a and the lower horizontal member 25c. A vertical member 25e mounted at intervals,
The lower horizontal member 25c is placed and fixed on the lower horizontal member 13b of the elevating frame 13, whereby the horizontal guide frame 25 is fixed and supported by the elevating frame 13, and each vertical member 25e is shown in FIG. As shown in the enlarged view, a plurality of guide rollers 26 whose rotation axis extends parallel to the traveling direction D _{1 of the} stacker crane are rotatably attached.

The guide roller 26 mounted on the horizontal guide frame 25 is attached to the traveling direction D _{1 of the} stacker crane.
A horizontal moving frame 27 is attached so that it can move in the moving direction D ₂ . That is, the horizontal movement frame 27, a pair of left and right horizontal member having a cross section extending and moving direction D ₂ with d shape as shown in FIG. 7 27a
And a horizontal member 2 for connecting the left and right horizontal members 27a to each other.
7b, the guide roller 26 is fitted in a groove on the outer side of the horizontal member 27a, and between the horizontal members 27a and 27b,
A traverser 28 that can move in the same direction as the horizontal moving frame 27 is stored.

The traverser 28 includes a traverser frame 28a extending in the traveling direction D ₁ of the stacker crane, and traverser carriages 28b attached to both longitudinal ends of the traverser frame 28a.
A plurality of freely rotatable guide rollers 29 whose rotation axis extends parallel to the traveling direction D _{1 of the} stacker crane are attached to both left and right sides of the horizontal stack frame 27. The traverser 28 is supported by the horizontal moving frame 27 by being fitted to be rolled.

A horizontal shaft 30 extending in the traveling direction D ₁ of the stacker crane is rotatably supported on the lower surface of the horizontal guide frame 25, and is mounted on the sprocket 31 attached to the horizontal shaft 30 and the upper surface of the horizontal guide frame 25. An endless chain 34 is stretched around the sprocket 33 attached to the horizontal movement reduction motor 32.

Sprockets 35 and 36, which are rotatable in parallel with the sprocket 31, are attached to the front and rear ends of the horizontal guide frame 25 in the moving direction D ₂ of the lower horizontal member 25c (see FIG. 8). As shown in the enlarged view of FIGS. 9 and 10, two chain fixing blocks 37 are fixed to each of the left and right sides of the lower surface of the horizontal member 27a near the middle portion in the longitudinal direction, and as shown in FIGS. The chain 39, which is wound around the sprockets 35 and 36 and is stretched between the sprockets 35 and 36, is wound around a sprocket 40 whose lower moving part is attached to the horizontal shaft 30, and both ends of the upper moving part are As shown in FIG. 9 and FIG.
It is fixed to each chain fixing block 37 via 8.

As shown in FIGS. 6 and 17, sprockets 41 and 42 are rotatably mounted parallel to the sprockets 35 and 36 at the front and rear ends of the horizontal member 27a in the moving direction D ₂ of the horizontal moving frame 27. As shown in the enlarged view of FIG. 10, two chain fixing blocks 43 and 44 are fixed to the left and right of the upper horizontal member 25a of the horizontal guide frame 25 in the vicinity of the substantially middle portion in the longitudinal direction. As shown in FIG. 3, the chains 45 and 46 wound around the sprockets 41 and 42 are the horizontal moving frame 2
7 in the moving direction, one end of which is fixed to the chain fixing blocks 43 and 44 through screw shafts 47 and 48, and the other end of which is fixed to the traverser carriage 28b of the traverser 28 through chain fixing blocks 49 and 50. When the horizontal moving frame 27 moves by the distance L, the traverser 28 can move by a distance of 2L.

As shown in FIGS. 11 and 12, the rotation axis is the moving direction D of the traverser 28 at a required interval in the longitudinal direction of the traverser frame 28a of the traverser 28.
_Two horizontal shafts 51 and 52 parallel to 2 are bosses 53 and 54.
Is fitted onto the outer circumference of the bosses 53, 54, and the horizontal shafts 51,
Engagement pieces 55 and 56 projecting in the radial direction of 52 are attached.

The sprocket 5 attached to the output shaft of the rotation reduction motor 57 mounted on the traverser frame 28a.
8 and a sprocket 59 attached to the horizontal shaft 51 are stretched by an endless chain 60, and a sprocket 61 attached to the horizontal shaft 51 and a sprocket 62 attached to the horizontal shaft 52 are hung by an endless chain 63. It has been passed.

The traverser frame 28a has a horizontal shaft 5
Limit switches 64 and 65 are arranged so as to be located in the vicinity of 1, and the orientation of the engagement piece 55 can be detected by the cam portion of the boss 53 when the engagement piece 55 rotates.

In FIG. 1, 66 is a pallet with a guide roller 67 drawn on the upper and lower pallet guide rails 25b and 25d on the horizontal guide frame 25 attached to the elevating frame 13, and 68 in FIG. 2 is a horizontal guide. Frame 25
It is a reinforcement brace.

The rack 1 by the stacker crane 5 described above.
When loading / unloading a load 2 into / from the rack 3, for example, when loading the load 2 from the loading / unloading port provided in the rack 1 on the stacker crane 5 and transporting it and storing it on the predetermined rack 3 of the rack 1, Follow the procedure below.

That is, the pallet 66 is not drawn into the upper pallet guide rail 25b of the horizontal guide frame 25,
When the empty pallet 66 is in an empty state and the engaging pieces 55 and 56 attached to the traverser 28 are vertically downwardly engaged with the empty pallet 66 from the upper surface, the empty pallet 66 is placed on the lower pallet guide rail of the horizontal guide frame 25. 25d in advance, the horizontal moving frame 27 and the traverser 28 are positioned so as not to project from the horizontal guide frame 25 to the rack 1 side, and the traveling reduction motor 9 is driven to drive the drive wheels 7 via the horizontal shaft 8. To drive. Therefore, the stacker crane 5 travels along the rail 4 toward the loading / unloading port side of the rack 1. When the elevating frame 13 is not in the predetermined position near the lower limit with respect to the crane frame 6 during this traveling, the elevating speed reducing motor 14 is driven to rotate the elevating winch drum 15, and the elevating wire rope 16 is moved. , 17 are extended to lower the elevating frame 13 to a predetermined position.

When the stacker crane 5 is stopped in front of the loading / unloading port, the horizontal movement reduction motor 32 is driven. Then, the chain 39 that is stretched between the sprockets 35 and 36 is driven via the sprocket 33, the chain 34, the sprocket 31, the horizontal shaft 30, and the sprocket 40, so that the horizontal moving frame 27 is pulled by the chain 39. , The stacker crane 5 moves in the direction D ₂ orthogonal to the traveling direction D ₁ and moves forward. Further, the traverser 28 is moved by the movement of the horizontal moving frame 27 so that the chain 4
It is pulled by 5 or 46 and moves in the same direction as the horizontal moving frame 27 by twice the moving distance of the horizontal moving frame 27. That is, the traverser 28 moves in the same direction as the horizontal moving frame 27 at a speed twice the moving speed of the horizontal moving frame 27 (see FIG. 17). For this reason,
The empty pallet 66 is pushed by the engaging pieces 55 and 56 provided on the traverser 28, and the guide roller 67 rolls the lower pallet guide rail 25d to be sent to the shelf 3 at the loading / unloading port of the rack 1. .

When the empty pallet 66 is sent to the shelf 3 at the loading / unloading port by the traverser 28, the reduction motor 5 for rotation is rotated.
Drive 7 Then, the horizontal shaft 51 is rotated through the sprocket 58, the chain 60, and the sprocket 59, and the vertical downward facing engaging piece 55 is rotated by the rotation of the horizontal shaft 51 to be disengaged from the upper surface of the pallet 66, and to be horizontally oriented. The rotation of the horizontal shaft 51 causes the horizontal shaft 52 to rotate via the sprocket 61, the chain 63, and the sprocket 62. The rotation of the horizontal shaft 52 causes the vertically downward engaging piece 56 to rotate.
Rotates to separate from the upper surface of the pallet 66 and becomes horizontal.

When the engaging pieces 55, 56 are horizontal, the horizontal movement reduction motor 32 is rotated in the reverse direction to move the chain 39 in the direction opposite to the direction described above. Then, the horizontal moving frame 27 is pulled back by the chain 39 to return to the original position of the horizontal guide frame 25, and the traverser 28 is pulled back by the chain 46 to move back to the original position of the horizontal guide frame 25. Return to. In this case, the retreat distance of the traverser 28 is twice the retreat distance of the horizontal moving frame 27.

Horizontal movement frame 27 and traverser 28
Is returned to the original position of the horizontal guide frame 25, the elevator speed reduction motor 14 is driven to drive the elevator wire rope 16,
17 is slightly fed out, and the elevating frame 13 is further lowered by the horizontal moving frame 27 and the traverser 28 being located on the lower surface of the pallet 66.

When the elevating frame 13 descends to a predetermined position, the horizontal moving reduction motor 32 is driven again to move the horizontal moving frame 27 forward and the horizontal moving frame 27.
The traverser 28 is moved forward by the horizontal movement frame 2
7 and the traverser 28 are placed at the loading / unloading port and fed to the lower surface of the pallet 66 on which the load 2 is loaded, and the rotation reduction motor 57 is driven. For this reason, the horizontal shafts 51 and 52 rotate, and the engaging pieces 55 and 56 also rotate, vertically upward, and engage with the lower surface of the pallet 66 on which the load 2 is mounted.

When the engaging pieces 55, 56 are engaged with the lower surface of the pallet 66 on which the load 2 is mounted, the horizontal moving reduction motor 32 is driven to retract the horizontal moving frame 27 and the horizontal moving frame 27 causes the traverser to move. 28 is retracted, and the horizontal moving frame 27 and the traverser 28 are returned to the original position of the horizontal guide frame 25. Therefore, the pallet 66 on which the load 2 is mounted has the engagement pieces 55, 56.
Is pulled by the rack 3 from the loading / unloading port to a predetermined position on the upper pallet guide rail 25b of the horizontal guide frame 25.

When the pallet 66 on which the load 2 is loaded is pulled into a predetermined position on the upper pallet guide rail 25b of the horizontal guide frame 25, the traveling reduction motor 9 is driven to cause the stacker crane 5 to store the load 2. Is moved along the rail 4 to a certain row, and the elevating reduction motor 14 is driven to raise the elevating frame 13 to a step on the shelf 3 for storing the load 2.

If there is an empty pallet 66 on the shelf 3 where the load 2 is to be stored, the rotating reduction motor 57 is driven with the lifting frame 13 stopped slightly above and the engaging pieces 55, 56 is rotated from the vertically upward state to the horizontal position, is removed from the lower surface of the pallet 66, and the horizontal movement reduction motor 32 is driven to advance the horizontal movement frame 27 and the traverser 28 toward the shelf 3 to a predetermined position. For this reason, the pallet 66 loaded with the load 2 is not attached to the stacker crane 5
While being held by the upper pallet guide rails 25b of the horizontal guide frame 25, the horizontal moving frame 2
7 and traverser 28 are empty pallets 66 in shelf 3.
Is sent to the upper surface of.

Horizontal movement frame 27 and traverser 28
Is fed to the upper surface of the empty pallet 66 on the shelf 3, the rotation reduction motor 57 is driven to vertically engage the engaging pieces 55 and 56 to engage with the upper surface of the empty pallet 66, and the horizontal movement deceleration is performed. Horizontally moving frame 27 by driving electric motor 32
And the traverser 28 is returned to the predetermined position of the horizontal guide frame 25. Therefore, the empty pallet 66 is
It is pulled by 5, 56 and drawn into the lower pallet guide rail 25d of the horizontal guide frame 25 in the stacker crane 5.

When the empty pallet 66 is drawn into the lower pallet guide rail 25d, the rotating reduction motor 57 is driven to rotate the engaging pieces 55 and 56 from vertically downward to vertically upward. As a result, the engaging pieces 55, 56 are disengaged from the upper surface of the pallet 66 from above the lower pallet guide rail 25d and engage with the lower surface of the pallet 66 on which the load 2 on the upper pallet guide rail 25b is mounted. Further, in parallel with these operations or after the completion of these operations, the elevating reduction motor 14 is driven to further lower the elevating frame 13 so that the pallet 66 carrying the load 2 can be fed into the shelf 3.

When the elevating frame 13 is located at a predetermined height, the horizontal movement reduction motor 32 is driven to advance the horizontal movement frame 27 and the traverser 28 into the shelf 3. Therefore, the upper pallet guide rail 2 of the horizontal guide frame 25
Pallet 66 loaded with load 2 held on 5b
Is moved forward by the guide roller 67 rolling on the upper pallet guide rail 25b, and is fed to the rail provided on the shelf 3.

When the pallet 66 on which the load 2 is loaded is sent to the shelf 3, the vertical reduction engaging electric motor 57 is used to rotate the vertically upward engaging pieces 55 and 56 to remove it from the lower surface of the pallet 66 and bring it to a horizontal state. The horizontal movement reduction motor 32 is driven to return the horizontal movement frame 27 and the traverser 28 to the predetermined positions on the horizontal guide frame 25, and the rotation reduction motor 57 is driven to make the engaging pieces 55 and 56 face downward, and the lower pallet. Pallet 66 mounted on the guide rail 25d
Engage the upper surface of.

When the engaging pieces 55, 56 are engaged with the upper surface of the empty pallet 66 on the lower pallet guide rail 25d, the elevating reduction motor 14 is driven to lower or raise the elevating frame 13 and the traveling reduction motor. 9 to drive the stacker crane 5 to travel along the rail 4, convey the empty pallet 66 mounted on the lower pallet guide rail 25d of the horizontal guide frame 25 to the loading / unloading port of the rack 1, and perform the procedure described above. The empty pallet 66 is sent to the loading / unloading port, and the above-described procedure is repeated thereafter.

Since the procedure for unloading the load 2 stored on the shelf 3 of the rack 1 is only the procedure substantially the reverse of the procedure for warehousing, detailed description will be omitted.

In the above description, when the pallet 66 on which the load 2 is loaded is stored in the shelf 3, first, the empty pallet 66 on the shelf 3 is pulled into the lower pallet guide rail 25d by the engaging pieces 55 and 56. , The pallet 66 on which the load 2 is mounted is pushed into the shelf 3 with the engaging pieces 55, 56 facing downward, but it may be operated as follows.

That is, first, an empty pallet 6 on the shelf 3
6 by means of engaging pieces 55, 56 for lower pallet guide rail 25
Once retracted to d, the engaging pieces 55, 56 are once leveled and the traverser 28 is returned to a predetermined position. Then, the elevating frame 13 is lowered by one stage of the pallet 66, and then the traverser 28 is horizontally moved, and then, The load 2 may be stored in the shelf 3 by engaging the engaging pieces 55, 56 with the lower surface of the pallet 66 on which the load 2 is mounted so as to face upward and advancing the traverser 28 toward the shelf 3. .

In the embodiment of the present invention, the case where the elevating frame is provided on the crane frame traveling along the rack has been described. However, the crane frame may be fixed or the elevating frame may be provided or the crane frame may travel. The crane frame may be provided with a horizontal moving frame that does not move up and down, and the case where the pallet is fed into the shelf or taken out from the shelf using the engaging pieces has been described. It is also possible to put it in and out of the shelf by
Although it may be carried out by a chain conveyor, the stacker crane travels along the rails installed at the top of the rack, but it can also be carried out by running on the rails laid on the ground surface. If there are no empty racks on the shelves where the items should be stored, it is possible to take in empty pallets as appropriate in the middle of the movement of the horizontal guide frame from the loading / unloading port to the shelves where the items should be stored. Of course, various changes can be made without departing from the scope of the present invention.

[0055]

According to the stacker crane of the present invention, in any one of claims 1, 2 and 3, the pallet guide rails are provided on the upper and lower sides so that the pallets can be mounted respectively on the two pallets at the same time. Therefore, it is not necessary to store the loaded pallets on the shelves and then to pick up the empty pallets to another place each time, which saves time and improves work efficiency. It has an excellent effect of doing.

[Brief description of drawings]

FIG. 1 is a front view of an embodiment of a stacker crane of the present invention.

FIG. 2 is a view taken along the line II-II in FIG.

3 is a III-III direction arrow view of FIG. 1. FIG.

FIG. 4 is a front view of a portion of a horizontal guide frame and a horizontal moving frame attached to a lifting frame applied to the stacker crane of the present invention.

5 is a view taken in the direction of the arrows VV in FIG.

6 is a VI-VI direction arrow view of FIG. 4. FIG.

FIG. 7 is a view taken in the direction of arrow VII-VII in FIG.

8 is a VIII-VIII direction arrow view of FIG. 6;

FIG. 9 is an enlarged view of a portion of a screw shaft that connects a chain for traveling a horizontally moving frame and a traverser.

FIG. 10 is a view on arrow XX in FIG.

FIG. 11 is a front view of a traverser applied to the stacker crane of the present invention.

12 is a view taken in the direction of arrow XII-XII in FIG.

13 is a view taken in the direction of arrow XIII-XIII in FIG.

FIG. 14 is an enlarged cross-sectional view of the XIV section of FIG.

15 is a view as seen in the direction of arrow XV-XV in FIG.

16 is a view taken in the direction of arrow XVI-XVI in FIG.

FIG. 17 is a side view for explaining the principle of the mechanism for moving the horizontal moving frame and the traverser in the stacker crane of the present invention.

FIG. 18 is a side view of rack equipment to which the stacker crane of the present invention is applied.

FIG. 19 is a perspective view of rack equipment to which a conventional stacker crane is applied.

[Explanation of symbols]

1 rack 3 shelves 6 crane frame 13 lifting frame 25b upper pallet guide rail (pallet guide rail) 25d lower pallet guide rail (pallet guide rail) 27 horizontal moving frame 28 traverser 55, 56 engaging piece (transfer means) 66 pallet D ₁ Traveling direction

Claims (3)

[Claims] 1. A crane frame that can travel along a rack is provided with an elevating frame, and the elevating frame can horizontally move in a direction orthogonal to the traveling direction of the crane frame, and the horizontal moving frame. A traverser that can move in the same direction and has a transfer means for feeding the pallet into the rack shelf or withdrawing the pallet from the shelf, and two upper and lower pallet guide rails that support the pallet drawn by the traverser transfer means A stacker crane characterized by being composed of: 2. An elevating frame is provided on a fixed crane frame arranged close to the rack, and the elevating frame is provided with:
A horizontal moving frame that can move horizontally with respect to the rack, a traverser that has a moving means that can move in the same direction as the horizontal moving frame, and that sends a pallet into the rack shelf or pulls it out of the rack, and a traverser transfer. A stacker crane comprising two upper and lower pallet guide rails for supporting a pallet pulled in by means. 3. A crane frame that can travel along a rack, a horizontal movement frame that does not move up and down but that can horizontally move in a direction orthogonal to the traveling direction of the crane frame, and a horizontal movement frame that moves in the same direction as the horizontal movement frame. A traverser having a transfer means for obtaining and sending the pallet into or out of the shelf of the rack, and a top and bottom 2 for supporting the pallet drawn by the transfer means of the traverser.
A stacker crane comprising a tiered pallet guide rail.