JPH078483Y2 - Stacker crane picking device - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention extracts a case (or pallet) from a shelf (rack) arranged in multiple rows and multiple rows in a cash handling machine of a financial institution or a safe deposit box, The present invention relates to a picking device of a stacker crane for transferring and loading.

[Prior Art] For a given shelf board in a shelf board arranged in multiple stages and multiple rows,
To remove, transfer, and load a case containing cash or valuables, a stacker crane that can elevate and traverse the loading unit of the case in front of the shelf board, and a case unloader mounted on this stacker crane. A picking device which is a driving device is required.

Conventionally, the picking device of the stacker crane is shown in FIG.
As shown in FIGS. 7 and 8, a hook-shaped hooking metal fitting 8 ′ for pulling out the case 2 is provided on the front surface of the case 2, and a hook fixing shaft 11 extending from the case taking-out drive device 10 is provided. The hook (tip piece) 11a formed at the tip end is hooked with the hook metal 8 ', and the case removing motor 12
The hook drive belt 13 driven by the hook fixed shaft 11
The case 2 to move the shelf 21
It is composed of a mechanism that is pulled out from. The case 2 pulled out along the loading unit side case guide 17 is loaded on the loading unit 7 and is transported to a target location. After the end of use, the case 2 to be returned goes through a process reverse to the above, and the front surface of the case 2 is pushed by the hook (tip piece) 11a and loaded on the shelf board 21.

When the case take-out drive unit 10 tries to take out the next case 2 '(see FIG. 5), it drives the hook swinging motor 14 at the front end of the loading unit 7, and the spline shaft 15 attached to the motor shaft. By rotating a predetermined angle, the hook swing link 16 at the end of the spline shaft 15,
As a result of pushing down the hook fixing shaft 11, the hook (tip piece) 11a swings (descends) from the position shown by the solid line in FIG. 7 to the position shown by the phantom line, and the hook type hook provided on the front surface of the case 2 is hooked. The engagement with the metal fitting 8'is released. In this state, the case removing motor 12 is operated to temporarily retract the hook fixing shaft 11 to a position where the hook (tip piece) 11a does not interfere with the hook-type hooking metal fitting 8 ', and then the stacker. The loading unit 7 is moved up and down and moved laterally by the crane 1 (see FIG. 5, which will be described later) to reach a predetermined shelf plate position. Then, the case unloading motor 12 is operated again to finely move (advance) the loading unit 7, and the hook oscillating motor 14 is operated to push up the hook fixing shaft 11, and the hook-shaped hooking metal fitting 8'and the hook (tip). Hook the piece) 11a. Thereafter, similarly to the above, by driving the case take-out motor 12 and moving the hook fixing shaft 11 in the direction of arrow a, the case 2 is pulled out from the shelf board 21 and conveyed to a desired place.

[Problems to be Solved by the Invention] The conventional stacking crane picking device described above is
After storing the case from the loading unit 7 on the shelf board 21,
When the stacking unit 7 is moved up and down and traversed by the stacker crane 1, if the hook-shaped hooking metal fitting 8'and the hook (tip piece) 11a are moved in a hooked state, they interfere with each other. The swinging motor 14 is driven to rotate the spline shaft 15 by a predetermined angle, and the hook-shaped hooking metal 8 '
After lowering the hook fixing shaft 11 to a position where the hook (tip piece) 11a is disengaged,
Had to move back after moving backward, which was a drawback of complicated operation. That is, every time the loading unit 7 is moved up and down and moved laterally, the hook (tip piece) 11a is oscillated, and the control device becomes complicated accordingly, which causes a problem in reliability. In addition, it takes time to transfer the loading unit 27, which is inefficient and leads to high cost.

The present invention solves the above-mentioned drawbacks of the prior art, and the hook metal fittings on the front of the case at the storage position on the shelf plate and the hooks at the tips of the hook fixing shafts do not have to be released from the hooked state. An object of the present invention is to provide a picking device for a stacker crane that can move a loading unit up and down and move laterally.

[Means for Solving the Problems] As a concrete means for achieving the above-mentioned object, the present invention provides a shelf board arranged in multiple rows and a plurality of rows, a case housed inside the shelf board, and a case stacking case. Stacker crane for moving the loading unit for use in the X direction and the Y direction to transfer it to a predetermined shelf position, and a case unloading for loading or unloading a case on the loading unit A drive device, a hook fixing shaft extending from the case unloading drive device, a case hooking hook provided at the tip of the drive shaft, a hook for fixing the case, and a hook provided on the front surface of the case. Picking device for stacker crane consisting of hook fixing shaft and hooks with notches and openings in X and Y directions so that hooks can be inserted vertically and horizontally It is intended to propose.

[Operation] The stacker crane moves the loading unit in the X direction and Y direction.
When moving in the direction, the hook fixing shaft extending from the drive device for removing the case and the hook for hooking the case at the tip of the hook fixing shaft are inserted into the notches and openings provided in the hook metal fittings on the front of the case, You can move freely.

[Embodiment] An embodiment of the present invention will be described in detail below with reference to FIGS. 1 to 5.

5 (a) and 5 (b) each show a perspective view of a stacker crane equipped with the picking device 30 according to the present invention.

FIG. 5 (a) is an example in which a plurality of shelves 21 having a plurality of stages are arranged in the lateral direction and the stacker crane 1 is mounted on a traveling rail 22 laid on the floor surface in front of the shelves 21. Running rail 22
The traveling frame 3 travels on the upper side by driving the traveling motor 4. A vertical frame 5 is erected on the traveling frame 3, and a loading unit 7 that can be vertically moved by a vertical motor 6 is provided on the vertical frame 5. Stacker crane 1
It is composed of the traveling frame 3 and the loading unit 7. The loading unit 7 is equipped with a case unloading drive unit 10. From this case unloading drive unit 10, a hook fixing shaft 11 extends, and a hook 11a (FIG. 1) formed at the tip of the hook fixing shaft 11 is provided. A so-called picking device 30 that is hooked with a hooking metal 8 provided on the front surface of the case 2 and pulls out the case 2 to the front side is configured.

FIG. 5 (b) is different from FIG.
This is an example in which the stacker crane 1 is mounted on the frame 20 by providing a plurality of 1, 21 adjacent to each other. The case 2 is housed in a predetermined shelf 21 'of the frame 20. In the front part of frame 20,
Sliding contact with a slide rail 23 provided at the front edge of this frame 20,
An elevating frame 24 that is moved up and down by the elevating motor 6 is provided. A loading unit 7 that can reciprocate in the row direction of the shelf plates 21, 21 by a traverse motor 25 is mounted on the lifting frame 24.
Is provided. The stacker crane 1 is composed of the elevating frame 24 and the loading unit 7, and after elevating and traversing the loading unit 7 to a predetermined shelf 21 position,
The mechanism for removing the case 2 by the picking device 30 is the same as in the case of FIG. 5 (a).

1, 2, and 3 show a plan sectional view, a side sectional view, and a front sectional view of the picking device 30. The picking device 30 includes a hook metal fitting 8 provided on the front surface of the case 2.
And a case take-out drive device 10 for taking out or loading the case 2 on the shelf board 21. The case take-out drive device 10 includes a hook fixing shaft 11 having a hook 11a for hooking the case 2 at its tip, a case take-out motor 12, and a hook drive belt 13. On the other hand, case 2
There is a hook 8 for pulling out this case 2 to the front.
Is provided, and the hook metal 8 is hooked on the hook 11a formed at the tip of the hook fixing shaft 11 in the case taking-out drive device 10 and is driven by the case taking-out motor 12. By moving the hook fixing shaft 11 along the guide rail 18 in the direction of arrow a,
The case 2 is pulled out from the shelf board 21.

The drive device 10 for taking out the case loads the case 2 on the loading unit 7, and along the loading unit side case guide 17,
The retracted end, that is, the loading unit 7 is pulled out to a position where it can be moved in the left-right direction and the up-down direction. Then, after the stacker crane (FIG. 5) is operated to move the stacking unit 7 up and down and move laterally, the case 2 is transported to a target place by a not-shown directing device or the like. Case 2, which should be returned after use, goes through the procedure reverse to the above,
The front surface of the case 2 is pushed by the hook 11a and loaded on the shelf board 21.

Hook 11a locked to the locking metal fitting 8 on the front of the case 2
Is at the position indicated by the solid line in FIGS. 1 and 2 when the case 2 is taken out, and is also at the position indicated by the phantom line at the tip when the case 2 is inserted. When the device 10 next tries to take out the case 2 ′, the case taking-out motor 12 is driven to slightly move (retract) the hook fixing shaft 11 until the position of the virtual line in the middle is reached. Here, as shown in an enlarged view in FIG. 4, a hook fixing shaft 11 of the drive device 10 for taking out the case and a hook 11a at its tip end are vertically and horizontally provided on the hook metal 8 provided on the front surface of the case 2. The notch 8a and the opening 8b are formed in the X direction and the X direction so that the loading unit 7 can be freely inserted, and the loading unit 7 can freely traverse and ascend and descend at the position of the hook metal 8 on the front surface of the case 2. Therefore, if the position of the case 2 ′ (FIG. 5) to be taken out next is in the same row, the loading unit 7 is raised or lowered as it is, and if it is in a different row, the loading unit 7 is moved laterally and then raised or lowered. It can be transferred to the position of the shelf board 21.

When the loading unit 7 has reached the position of the target shelf board 21, when the case extracting drive device 10 is operated and the hook fixing shaft 11 is retracted at that position, the hook 11 a causes the hook 11 a to be hooked on the front surface of the case 2 ′. Then, the case 2'is loaded and is transported to the intended place in the same manner as described above.

[Advantages of the Invention] According to the picking device of the stacker crane of the present invention having the above-described configuration, the hook metal fitting X provided on the front surface of the case is
Since the notch and the opening are formed in the Y-direction and the Y-direction, when the case is loaded on the shelf board and the loading unit is transferred to the position of the next shelf board, the hook fixing shaft extending from the case taking-out drive device is used. Since the case locking hook provided at the tip of the case can be freely moved vertically and horizontally by being inserted into the notch and the opening, the loading unit can be moved up and down and traverse as it is at the position where the case is stored. .

Therefore, when the loading unit is moved from the storage position of the case to the shelf board to the position of the next shelf board, the hook metal fitting on the front surface of the case and the hook (tip piece) at the front end of the hook fixing shaft are temporarily set. It is possible to eliminate the drawback of the prior art that the hooked state has to be released. As a result, there is no need to install a hook swinging motor, spline shaft and hook swinging link in the conventional device, one drive system can be reduced, and reliability is improved. And
A control device associated with the swinging motion of the hook (tip piece) is not required, and the loading unit can be quickly transferred. Therefore, there is an effect that work efficiency is improved and cost is reduced.

[Brief description of drawings]

1, 2, and 3 are a plan sectional view, a side sectional view, and a front sectional view showing a picking device for a stacker crane according to the present invention, and FIG. 4 is a latching member provided on the front surface of a case. FIG. 5 (a) and 5 (b) each show a perspective view of a stacker crane equipped with the above-mentioned picking device. FIG. 6, FIG. 7 and FIG. 8 are a plan sectional view, a side sectional view and a front sectional view of a conventional picking device for a stacker crane. 1 ... Stacker crane 2 ... Case, 3 ... Traveling frame 4 ... Traveling motor, 5 ... Vertical frame 6 ... Lifting motor, 7 ... Loading unit 8 ... Latch metal fitting 8a ... Notch, 8b ... Opening 10 ... Case removal drive device 11 … Hook fixed shaft, 11a… Hook 12… Case removal motor 13… Hook drive belt 17… Loading unit side case guide 18… Guide rail, 20… Frame 21… Shelf 22… Travel rail, 23… Slide rail 24… Lift Frame, 25 ... Traverse motor 30 ... Picking device

Claims (1)

[Scope of utility model registration request] 1. A shelf board (21) arranged in multiple stages and a plurality of rows, a case (2) housed inside the shelf board, and a loading unit (7) for loading the case in X and Y directions. Stacker crane (1) that moves and transfers to a specified shelf position
And the loading unit (7) is equipped with the shelf (2
A drive device (10) for taking out the case (2) for taking out or loading the case (2) with respect to 1), a hook fixing shaft (11) extending from the drive device for taking out the case, and a case hooking provided at the tip thereof. Hooks (11a) and the stacker crane (1) provided on the front surface of the case (2)
A notch (8a) and an opening (8b) are formed in the X and Y directions so that the hook fixing shaft (11) and the hook (11a) can be vertically and horizontally inserted when the loading unit (7) is moved by Picking device for stacker crane consisting of hooks (8).