JPH0680708U - Equipment for loading and unloading articles in stacker cranes - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] In a stacker crane with a moving body equipped with a swinging hook and a chain transfer mechanism, it is possible to stably load and unload the articles to be handled, and to increase the length of the articles. Minimize the overall height of the platform. [Structure] Frame 3 that can run along racks 1 and 2
A stacker crane in which a pallet 8 can be put in and taken out of a rack, and a movable body 6, 7 which can be horizontally moved in the pallet 8 in and out direction. The movable bodies 6 and 7 are provided with swinging hooks that can engage with the pallet 8 from below from the pallet 8 by swinging, and the lifting table 4 has a chain 5 and a chain that are driven in the pallet loading / unloading direction. Is equipped with a picker that can be engaged with the pallet, and with a pallet receiver 4a that is a free roller that supports the pallet 8 from below the pallet 8 when loading and unloading the pallet 8 onto and from the lift 4. 8 can be taken in and out.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a stacker crane of a three-dimensional automatic warehouse for storing steel materials, for example, and more particularly to a loading / unloading device for loading / unloading pallets to / from a rack.

[0002]

[Prior art]

 Conventionally, a three-dimensional warehouse for storing and storing various steel materials such as steel bars and steel pipes has been conventionally used. This three-dimensional warehouse is one in which items are placed on pallets and they are handled as a single unit, and a stacker crane for loading and unloading pallets to and from a rack is generally used.

An example of a three-dimensional warehouse equipped with such a stacker crane is disclosed in Japanese Utility Model Publication No. 3-110003. The method of loading and unloading articles in this three-dimensional warehouse is as follows: a drive conveyor that serves as a loading platform on a lifting platform, a movable body that is horizontally movable along the transport direction of the drive conveyor, and a swingable body. A method using a device composed of an oscillating hook is known. In this method, the swinging hook attached to the moving body hooks the article in the rack, pulls it onto the lifting platform, and then transfers it by the conveyor that is set on the lifting platform and driven in synchronization with the moving body. , To carry articles out of the rack.

[0004]

[Problems to be solved by the device]

 The above-mentioned conventional article transfer device has the following problems. First, if an error occurs in the synchronization between the moving body and the drive conveyor, an unreasonable force will act between the devices and cause a device failure. Next, since the article is moved by the frictional force generated between itself and the upper surface of the drive conveyor due to its own weight, unless the article is sufficiently retracted onto the lift table by the moving body in synchronism with the drive conveyor, only the drive conveyor is used. It cannot be retracted. However, when the stroke of the moving body becomes long, the total length of the lifting platform requires the moving body and the length of the supply device of the rocking hook drive source to the moving body plus the length of the article, which makes it necessary for a three-dimensional warehouse. There was a problem that the site space had to be wide.

The problem to be solved in the present invention is to make it possible to stably load and unload the articles to be handled in the stacker crane having the article loading and unloading mechanism, and to minimize the total length of the lifting platform relative to the length of the articles. To shorten it.

[0006]

[Means for Solving the Problems]

 The present invention is a stacker cradle that comprises a frame that can run along a rack and a lifting platform that can move up and down on the frame, and that can put a pallet in and out of the rack. A moving body that can move horizontally in the loading and unloading direction and a swinging hook that can engage with the pallet in both directions by swinging from below are provided at the tip of the moving body. A driven chain and a picker capable of engaging with the pallet are provided in the chain, and a plurality of pallet receivers are installed below the pallet so that the pallet can be supported from below when the pallet is taken in and out. It is characterized by being provided.

[0007]

[Action]

 With respect to the pallet stored in the rack, it is attached to a moving body provided on the lifting table, and the lifting table is moved until the swingable swing hook reaches a slightly lower level. After that, the movable body is horizontally moved to the lower side of the pallet and the swinging hook is swung to enable the engagement with the pallet. Next, the pallet is moved to a predetermined stroke by moving the moving body into the lifting platform, and then the swing hook is operated in the standby state. When the pallet is in this state, the drive chain on the lift table is driven in the pallet retracting direction, the picker attached to the chain engages with the pallet, and the pallet is continuously pulled out on the lift table. At this time, the pallet is supported by the free roller on the lift table so that it can be freely taken in and out. Also, when transferring from the lift to the rack, the reverse operation is possible.

[0008]

Embodiments The present invention will be described below based on embodiments shown in the drawings. Fig. 1 is a front view of a three-dimensional warehouse in the present invention. FIG. 2 is a plan view showing the arrangement of the left rack and the stacker crane. FIG. 3 is a view taken along the line AA of FIG.

In the drawing, a frame 3 of a stacker crane is arranged between high-rise racks 1 and 2 arranged with a space left and right. The racks 1 and 2 each have a large depth and have a space for accommodating a large number of pallets 8 arranged in that direction, and hangers 1a and 2a for receiving the pallets 8 are provided at a constant pitch. Further, the frame 3 is provided with wheels 3b driven by an electric motor that rolls on the rails 3a so that the racks 1 and 2 can move in the depth direction (direction orthogonal to the drawing).

The frame 3 is provided with an elevating table 4 which is vertically movable. The lifting table 4 is movable with respect to the frame 3 while being maintained in a horizontal posture by a guide mechanism, and can be operated by a drive system such as an electric motor (not shown). As shown in FIG. 2, there are two rows of pallet receivers 4a for supporting a pallet 8 placed on the upper surface of the lift table 4 and supported by the pallet receivers 4a at regular intervals as shown in FIG. Deploy.

A chain 5 is circulated inside the lift table 4 at both ends as shown in FIG. Each of these chains 5 is wound around a sprocket 5a, and the chain 5 can run by connecting this sprocket to the electric motor 5b. A plurality of pickers 5c are attached to these chains 5.

At both ends of the lifting table 4, a moving body 6 supported horizontally slidably on the outside of the lifting table in the direction of loading and unloading the pallet 8 with respect to the lifting table 4 is reciprocated by a sliding electric cylinder 6a or the like. It is arranged so that it can be moved by a driving device. As shown in FIG. 2, the electric slide cylinder 6a for sliding drives the moving bodies 6 and 7 at both ends of the lifting table 4, respectively, and it is also possible to use a common electric cylinder for slide as shown in FIG.

A swinging hook 6b that engages with the pallet 8 and is swingable is axially attached to the moving body on the moving body. The swinging hook 6b is driven by a reciprocating drive device such as a hook opening / closing electric cylinder 6c. Allows swinging. As shown in FIG. 6, the swinging hook 6b can be pivotally mounted so as to swing at right angles to the direction in which the pallet 8 is pulled out, and the swinging drive device 6c can open and close the swinging hook 6b.

As shown in FIGS. 1 to 3, the pallet 8 on which the articles to be stored and stored in the racks 1 and 2 are mounted on the hangers 1a and 2a and slidable with the long member 8a. The hook members 8b and 8c located at both ends are provided, and in addition to these, horizontal members and vertical members are appropriately combined. When the pallet 8 is taken in and out, the swing hook 6b and the picker 5c are engaged with the hook members 8b, 8c of the pallet 8.

In the above structure, the work of pulling out the pallet 8 from the rack 1 as shown in FIG. 1 is performed in the following manner. First, the swing hook 6b of the moving body 6 is set in a standby state, and the stacker crane is moved and moved up and down to the position of the target pallet 8. At this time, the lifting table 4 is moved so that the rocking hook 6b becomes a level slightly lower than the level of the hook material 8b of the pallet 8. This position is also a level at which the upper surface level of the hanger of the rack 1 and the upper surface level of the free roller 4a of the lift 4 match. Next, the moving body 6 is horizontally moved below the pallet 8 by the driving device, and is moved to a position where the swing hook 6b can be engaged with the hook member 8b. The rocking hook 6b is rotated to an engageable angle by the hook opening / closing electric cylinder 6c. Then, the pallet 8 is drawn into the elevator by a predetermined stroke by moving the moving body 6 into the elevator. From this state, the swing hook 6b is returned to the standby state, so that the edge between the moving body 6 and the pallet 8 is cut once.

Next, when the chain 5 is driven to travel by the electric motor 5b, the picker 5c attached to the chain 5 eventually engages with the hook material 8b and moves the pallet 8 onto the lift table 4. The pallet 8 is supported by its own weight on the lift table 4 by the free roller 4a, and is pulled in by the picker 5c. The pallet 8 drawn into the lift table is stopped at a predetermined position by a stopper device 9 which can move up and down for the purpose of preventing escape and positioning. The stopper is moved in the vertical direction as described in the present embodiment to stop it by hitting the hook member 8b, or by pressing the long member 8a from below or on both sides with brake shoes (not shown) to stop. Is also possible. A slide bush may be used instead of the free roller 4a.

When the pallet 8 on the lift table 4 is to be stored in the rack 1, first, the pallet 8 is pushed into the rack 1 to a predetermined position by the picker 5c attached to the chain 5, and then the movable body 6 is moved. It can be moved to the storage position in the rack 1 by changing the engagement with the attached swing hook 6b. Since the operation is the reverse of the operation of pulling out from the rack 1, detailed description will be omitted.

[0018]

[Effect of device]

 In the present invention, since the pallet is engaged and pulled in by the picker in the lift table, the stroke of pulling the pallet into the lift table by the swinging hook of the moving body may be up to the stroke limit of the picker, and the stroke of the moving body is short. Therefore, the size of the drive source supply device for the moving body is limited and the total length of the lifting table is not determined. Therefore, it is sufficient to allow a slight allowance for the total length of the lifting platform relative to the total length of the pallet. In addition, it is not necessary to perform retraction by the moving body and retraction by the picker at the same time, and there is no interference between devices due to error in retraction speed, and pallets can be taken in and out smoothly.

[Brief description of drawings]

FIG. 1 is a front view showing an outline of an embodiment of an article loading / unloading device for a stacker crane according to the present invention.

FIG. 2 is a schematic plan view of a stacker crane including the rack at the left side in FIG.

FIG. 3 is a view on arrow AA of FIG.

FIG. 4 is a front view of a moving body attached to the lifting platform of the present invention.

FIG. 5 is a front view of a chain and a picker unit attached to the lifting table of the present invention.

FIG. 6 is a three-dimensional view of the swing hook of the present invention.

FIG. 7 is a front view of a moving body according to the present invention.

FIG. 8 is a front view showing a conventional technique.

FIG. 9 is a front view of a lifting table according to the related art.

[Explanation of symbols]

 1, 2 racks 1a, 2a hangers 3 frames 3a rails 3b wheels 4 lifts 4a pallet receivers (free rollers) 5 chains 5a sprockets 5b electric motors 5c pickers 6,7 moving bodies 6a sliding electric cylinders 6b swing hooks 6c for opening and closing hooks Electric cylinder 8 Pallet 8a Long material 8b, 8c Hook material 9 Stopper

Claims (1)

[Scope of utility model registration request] 1. A stacker crane comprising a frame that can run along a rack and a lifting platform that can move up and down on the frame, and a pallet that can be loaded and unloaded into and from the rack. A moving body that can move horizontally in the loading and unloading direction and a swinging hook that can engage in the loading and unloading direction with respect to the pallet from below are mounted on the tip of the moving body, and the lifting platform drives in the pallet loading and unloading direction. The chain and the picker capable of engaging with the pallet are provided in the chain, and a plurality of pallet receivers are provided so that the pallets can be supported from below the pallet when loading and unloading the pallet on the lift table. A device for loading and unloading articles in a configured stacker crane.