JPH09278118A - Stacker crane - Google Patents

Stacker crane

Info

Publication number
JPH09278118A
JPH09278118A JP8352696A JP8352696A JPH09278118A JP H09278118 A JPH09278118 A JP H09278118A JP 8352696 A JP8352696 A JP 8352696A JP 8352696 A JP8352696 A JP 8352696A JP H09278118 A JPH09278118 A JP H09278118A
Authority
JP
Japan
Prior art keywords
load
stacker crane
loading
shelves
rack
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP8352696A
Other languages
Japanese (ja)
Inventor
Noboru Oyamada
昇 小山田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP8352696A priority Critical patent/JPH09278118A/en
Publication of JPH09278118A publication Critical patent/JPH09278118A/en
Granted legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To provide a stacker crane which can reduce the labor of the operation, and can reduce the working time extensively. SOLUTION: In a stacker crane which runs on a rail 3 laid to a passage between the rack lines where shelves are formed in a multistage and a multiline form, and stored the cargoes on a load-carrying platform in the shelves, or takes out the cargoes in the shelves, by vertically moving the load-carrying platform 17 along masts 15, two sets of forks 8a and 8b; and a palletizer robot 11 which consists of a pickup mechanism such as an adsorption cap 11a and an elevating device 11b to pick up the cargoes on the load-carrying platform, and moving mechanism of a running device 11c, a lateral moving device 11f, and the like, to move the positions of the picking up cargoes; are provided.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【発明の属する技術分野】本発明は、ラックへの荷の格
納・取出し機能の向上を図ったスタッカクレーンに関す
るものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stacker crane having an improved function of storing and taking out a load from a rack.

【0002】[0002]

【従来の技術】自動格納設備などに設置された多段,多
列のラック棚内に荷を格納し、或いは棚内の荷を取り出
す場合にスタッカクレーンが使用される。図4にスタッ
カクレーンの配置例を、図5及び図6に従来のスタッカ
クレーンの構成を示す。
2. Description of the Related Art A stacker crane is used to store or take out a load in a rack rack of multiple stages or multiple rows installed in an automatic storage facility or the like. FIG. 4 shows an example of the layout of stacker cranes, and FIGS. 5 and 6 show the configuration of a conventional stacker crane.

【0003】図示のように、多列に設置されたラック2
とラック2の間の通路4にはそれぞれレール3が敷設さ
れ、その各レール3上にスタッカクレーン1が走行自在
に設置される。
As shown in the drawing, the racks 2 installed in multiple rows
Rails 3 are laid in the passages 4 between the racks 2 and the racks 2, and the stacker cranes 1 are movably installed on the rails 3.

【0004】従来のスタッカクレーン1は、車輪10を
介してレール3上に設置される車体9,車体9上に立設
された1対のマスト5,1組のフォーク8を内蔵し、昇
降装置(図示せず)によりマスト5に沿って昇降する荷
台7などで構成され、搬出入装置21によって搬入され
た荷aを荷台7上に載置してレール3上を走行し、また
昇降装置によって荷台7を上昇させ、フォーク8を作動
して目標番地のラック棚2a内に荷aを格納し、或いは
棚2a内の荷aを取り出して搬出する。尚、図6中2b
は柱を示す。
The conventional stacker crane 1 incorporates a vehicle body 9 installed on rails 3 via wheels 10, a pair of masts 5 standing upright on the vehicle body 5 and a set of forks 8 and is equipped with a lifting device. It is composed of a loading platform 7 or the like that moves up and down along the mast 5 by (not shown), and the load a loaded by the loading / unloading device 21 is placed on the loading platform 7 to travel on the rails 3 and also by the lifting device. The loading platform 7 is raised and the forks 8 are operated to store the load a in the rack shelf 2a at the target address or take out the load a from the shelf 2a and carry it out. In addition, 2b in FIG.
Indicates a pillar.

【0005】[0005]

【発明が解決しようとする課題】例えば、図4に示すよ
うに、ラック2の棚2a1 ,2a2 ,2a3 内にそれぞ
れ品種の異なる荷aが格納されており、この各棚からそ
れぞれ荷を取り出し、1−セットにして搬出する場合、
従来のスタッカクレーンでは、先ず、スタッカクレーン
1を棚2a1 位置まで走行させて荷台を目標棚2a1
で上昇させ、所定の荷を取り出して荷台に載置した後、
クレーン1を搬出口まで走行させて搬出入装置21に積
み、以下、棚2a2 ,2a3 の荷についても同様の操作
を繰り返して品種の異なる複数の荷を取り揃えた後、搬
出入装置21によって搬出する。荷を格納する際は、上
記と逆の操作を繰り返す。
For example, as shown in FIG. 4, loads a of different types are stored in the shelves 2a 1 , 2a 2 and 2a 3 of the rack 2, and the loads a from these shelves are respectively stored. When taking out, carrying out in 1-set,
In conventional stacker crane, firstly, the stacker crane 1 is run up to the shelf 2a 1 position increases the loading platform to the target shelf 2a 1, after mounting in the carrier removed a predetermined load,
The crane 1 is moved to the carry-out port and loaded on the carry-in / carry-out device 21, and thereafter, the same operation is repeated for the loads on the shelves 2a 2 and 2a 3 to collect a plurality of loads of different types, and then the carry-in / carry-out device 21 is used. Carry out. When storing the load, the reverse operation to the above is repeated.

【0006】このように、従来のスタッカクレーンにあ
っては、複数箇所の棚に対する荷の取出し又は格納に当
たって、クレーンの往復移動など同じ操作を繰り返し行
う必要があり、操作に手間がかかって所要時間が長くな
るという問題点があった。
As described above, in the conventional stacker crane, it is necessary to repeatedly perform the same operation such as the reciprocating movement of the crane when taking out or storing the load to and from the shelves at a plurality of places, which requires time and labor. There was a problem that it becomes longer.

【0007】そこで、本発明の目的は、操作の手間が少
なくなって作業時間を大幅に削減できるスタッカクレー
ンを提供することにある。
SUMMARY OF THE INVENTION An object of the present invention is to provide a stacker crane which requires less labor for operation and can significantly reduce working time.

【0008】[0008]

【課題を解決するための手段】前記目的を達成するため
に、本発明に係るスタッカクレーンは、棚が多段,多列
に形成されたラック列間の通路に敷設されたレール上を
走行し、マストに沿って荷台を昇降させて、荷台上の荷
を棚内に格納し、或いは棚内の荷を取り出すスタッカク
レーンにおいて、前記荷台に、2組のフォークと、荷台
上の荷を取り上げる取上げ機構、取り上げた荷を位置移
動させる移動機構より成る荷移し替えロボットとを装備
したことを特徴とする。
In order to achieve the above object, a stacker crane according to the present invention travels on a rail laid in a passage between rack rows in which shelves are formed in multiple stages and rows, In a stacker crane, which lifts and lowers a loading platform along a mast to store the loading on the loading platform in a shelf or takes out the loading from the rack, in the loading platform, two sets of forks and a lifting mechanism for picking up the loading on the loading platform , A load transfer robot including a moving mechanism for moving the picked load to a position.

【0009】[作用]前記構成によれば、ラック位置の
異なる複数のラック棚内の荷を取り出し、セットにして
搬出する場合、先ず、クレーンを走行して第1の棚位置
で停止し、荷台を所定高さまで上昇した後、一方のフォ
ークで棚内の荷を載置台毎取り上げて荷台位置に移動
し、次いで荷移替えロボットの取上げ機構でこのフォー
ク上の荷を取り上げ、更に移動機構によって位置移動さ
せてもう一方のフォーク上に移し替える。荷の取上げが
終わった前のフォーク上の載置台は元の棚内に返納す
る。次に、クレーンを第2,第3・・・の棚位置へ順次
移動した後、一方のフォーク及び荷移し替えロボットに
よって同様の操作を行って第2,第3・・・棚内の荷を
順次もう一方のフォーク上に積み上げ、こうして所定の
荷の取出しが完了すると、クレーンを搬出口まで走行さ
せた後、もう一方のフォークにより複数の荷をセットに
して搬出する。荷を複数の棚内に格納する際は上記と逆
の操作によって行う。
[Operation] According to the above construction, when the loads in a plurality of rack shelves having different rack positions are taken out and carried out as a set, first, the crane is run and stopped at the first shelf position, and then the loading platform is loaded. After raising to a predetermined height, one fork picks up the load in the shelf for each loading platform and moves it to the loading platform position, then the loading mechanism of the load transfer robot picks up the load on this fork and moves it by the moving mechanism. Move and transfer to the other fork. The loading table on the fork before picking up the cargo is returned to the original shelf. Next, after sequentially moving the crane to the second, third, ..., Shelf positions, the same operation is performed by one of the forks and the load transfer robot to load the second, third, ... When the cranes are sequentially stacked on the other fork, and the predetermined load is thus removed, the crane is moved to the carry-out port, and then the other fork is set to carry out the plurality of loads. When storing a load in a plurality of shelves, the procedure is the reverse of the above.

【0010】[0010]

【発明の実施の形態】以下、本発明に係るスタッカクレ
ーンを実施例に基づいて詳細に説明する。
BEST MODE FOR CARRYING OUT THE INVENTION A stacker crane according to the present invention will be described below in detail based on embodiments.

【0011】[実施例]図1は本スタッカクレーンの要
部斜視図で、図2及び図3は動作手順を示す説明図であ
る。
[Embodiment] FIG. 1 is a perspective view of a main portion of the stacker crane, and FIGS. 2 and 3 are explanatory views showing an operation procedure.

【0012】図1に示すように、本スタッカクレーン
は、車輪20を介してレール3上に走行自在に設置され
た車体19と、該車体19上に立設された1対のマスト
15と、昇降装置(図示せず)によりマスト15に沿っ
て昇降する荷台17と、該荷台17上に間隔をおいて設
置された2組のフォーク8a,8bと、同じく荷台17
上に設置されたパレタイザロボット(荷移し替えロボッ
トとしての)11とを主たる構成要素としている。
As shown in FIG. 1, this stacker crane has a vehicle body 19 movably installed on a rail 3 via wheels 20, and a pair of masts 15 erected on the vehicle body 19. A loading platform 17 that is moved up and down along the mast 15 by a lifting device (not shown), two sets of forks 8a and 8b installed on the loading platform 17 at intervals, and the loading platform 17 as well.
A palletizer robot (as a load transfer robot) 11 installed above is a main component.

【0013】フォーク8a,8bは、どちらもラック棚
内の荷を取り出してその上面に載置し、或いは載置した
荷を棚内又は搬出入装置(図示せず)に移動させる機能
を有する。
Each of the forks 8a and 8b has a function of taking out a load from the rack shelf and placing it on the upper surface thereof, or moving the placed load to the rack or to a loading / unloading device (not shown).

【0014】また、パレタイザロボット11は横行レー
ル11e,該横行レール11e上に設置されて横行装置
11fを備えた走行レール11d,該走行レール11d
上に取り付けられ、昇降装置11bを備えた吸着カップ
11a,該吸着カップ11aを走行レール11dに沿っ
て移動する走行装置11c等より成り、フォーク8a上
の荷を吸着カップ11aで吸着して昇降装置11bで持
ち上げた後、走行装置11c及び横行装置11fによっ
て荷を移動させ、隣のフォーク8b上に移し替える(又
はフォーク8b上の荷をフォーク8a上に移し替える)
ことができる。
Further, the palletizer robot 11 has a traverse rail 11e, a traveling rail 11d installed on the traverse rail 11e and provided with a traverse device 11f, and the traveling rail 11d.
It is composed of a suction cup 11a mounted on the top and a lifting device 11b, a traveling device 11c that moves the suction cup 11a along a traveling rail 11d, and the like, and sucks a load on the fork 8a by the suction cup 11a to lift the device. After being lifted by 11b, the traveling device 11c and the traverse device 11f move the load and transfer it onto the adjacent fork 8b (or transfer the load on the fork 8b onto the fork 8a).
be able to.

【0015】次に、図2及び図3によって本スタッカク
レーンによる荷の取出し手順を説明する(図4参照)。
図2の(a)に示すように、ラック位置の異なる棚2a
1 ,2a2 ,2a3 に格納された品種の異なる荷a1
2 ,a3 を取り出す場合(ここでは、棚2a 2 の荷a
2 の取出しについて示す)、先ず、スタッカクレーン1
をラック棚2a 2 位置まで走行して停止し、次いで荷台
17を棚2a2 高さまで上昇させた後、フォーク8aを
作動して棚2a2 内の荷a2 をパレット13毎取り上げ
て荷台17内に移動する。
Next, referring to FIG. 2 and FIG.
The procedure for taking out the load by the lane will be described (see FIG. 4).
As shown in FIG. 2A, shelves 2a having different rack positions are provided.
1, 2aTwo, 2aThreeLoads of different varieties stored in1,
aTwo, AThreeWhen taking out (here, shelf 2a TwoLoad a
TwoFirst, the stacker crane 1 is shown.
Rack shelf 2a TwoDrive to position and stop then load platform
17 for shelf 2aTwoAfter raising to the height, fork 8a
Operates on shelf 2aTwoInner load aTwoPick up every pallet 13
And moves into the loading platform 17.

【0016】次いで、パレタイザロボット11を作動し
てフォーク8a上のパレット13上に積まれた荷a2
取り上げて移動し、隣のフォーク8b上の載置台14上
に移し替える[図2の(b),図3の(c)参照]。
Then, the palletizer robot 11 is operated to pick up and move the load a 2 loaded on the pallet 13 on the fork 8a and transfer it to the mounting table 14 on the adjacent fork 8b [see FIG. 2]. (B), refer to (c) of FIG. 3].

【0017】一方、荷a2 の取上げが終わったフォーク
8a上のパレット13は、その場でフォーク8aにより
元の棚2a2 内に返納される[図3の(d)参照]。
On the other hand, the pallet 13 on the fork 8a for which the load a 2 has been picked up is returned to the original shelf 2a 2 by the fork 8a on the spot [see (d) of FIG. 3].

【0018】そして、棚2a2 内の荷a2 の取出しが完
了すると、スタッカクレーン1を順次ラック棚2a1
置及び2a3 位置へ移動させた後、上記と同様の手順に
よって棚2a1 内の荷a1 及び棚2a3 内の荷a3 を順
次取り出して荷台17のフォーク8b上に積み上げる
[図3の(c)参照]。
[0018] Then, when complete extraction of the load a 2 in the shelf 2a 2, after moving sequentially to the rack shelf 2a 1 position stacker crane 1 and 2a 3 position, in shelf 2a 1 by the same procedure as above sequentially taking out a load a 1 and load a 3 in the shelves 2a 3 stacked on the fork 8b of the loading platform 17 [shown in FIG. 3 (c) reference.

【0019】こうして、予定されたすべての荷の取出し
が完了してフォーク8b上に積み上げられると、スタッ
カクレーン1を搬出口へ走行させた後、フォーク8bを
作動して1−セットの荷を載置台14毎搬出入装置21
へ積み替えて搬出する[図3の(e)参照]。
Thus, when all the planned loads are completed and stacked on the forks 8b, the stacker crane 1 is moved to the carry-out port, and then the forks 8b are operated to load one set of loads. Loading / unloading device 21 for each table 14
It is transferred to and carried out [see (e) of FIG. 3].

【0020】品種の異なる複数の荷と複数の棚へ格納す
る際は、上記と逆の手順により、同様にスタッカクレー
ンを1−往復させるだけですべての格納作業を完了させ
ることができる。
When storing in a plurality of loads of different types and a plurality of shelves, all the storing operations can be completed simply by reciprocating the stacker crane 1-back by the procedure reverse to the above.

【0021】尚、本発明は、上記実施例に限定されず、
荷移し替えロボットとしてのパレタイザロボットの構造
変更等各種変更が可能なことは言うまでもない。
The present invention is not limited to the above embodiment,
It goes without saying that various changes such as the structure change of the palletizer robot as the load transfer robot can be made.

【0022】[0022]

【発明の効果】以上説明したように本発明によれば、ラ
ック位置の異なる複数の棚から荷を取り出す際、荷台上
の一方のフォークによって棚内の荷を取り出し、荷移し
替えロボットによって同じく荷台上の他方のフォーク上
に移し替え、この操作を各棚毎に順次行って所定の荷を
他方のフォーク上に積み上げた後、スタッカクレーンを
走行して搬出口へ移動し、1−セットで搬出することが
できる( 荷を複数の棚へ格納する際は逆の手順による)
ので、スタッカクレーンを1−往復させることによって
すべての作業が完了するようになり、操作の手間が少な
くなって作業時間が大幅に減少するという効果が有る。
As described above, according to the present invention, when a load is taken out from a plurality of shelves having different rack positions, one of the forks on the bed is used to take out the load from the shelf, and a load transfer robot is also used to load the same bed. Transfer to the other fork above and perform this operation for each shelf in sequence to stack the specified load on the other fork, then move the stacker crane to the carry-out port and carry out in one set. Yes (reverse procedure when storing loads on multiple shelves)
Therefore, all the work can be completed by reciprocating the stacker crane 1-reciprocally, and there is an effect that the labor of the operation is reduced and the work time is significantly reduced.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明に係るスタッカクレーンの一実施例を示
す要部構成斜視図である。
FIG. 1 is a perspective view of a main part configuration showing an embodiment of a stacker crane according to the present invention.

【図2】同じく動作手順を示す説明図である。FIG. 2 is an explanatory diagram showing an operation procedure of the same.

【図3】同じく動作手順を示す説明図である。FIG. 3 is an explanatory diagram showing an operating procedure of the same.

【図4】スタッカクレーンの配置例を示す説明図であ
る。
FIG. 4 is an explanatory view showing an arrangement example of a stacker crane.

【図5】従来のスタッカクレーンの側面図である。FIG. 5 is a side view of a conventional stacker crane.

【図6】同じく正面図である。FIG. 6 is a front view of the same.

【符号の説明】[Explanation of symbols]

1 スタッカクレーン 2 ラック 2a1 ,2a2 ,2a3 棚 3 レール 4 通路 11 パレタイザロボット 13 パレット 14 載置台 15 マスト 17 荷台 19 車体 20 車輪 21 搬出入装置1 stacker crane 2 racks 2a 1 , 2a 2 , 2a 3 shelves 3 rails 4 passages 11 palletizer robot 13 pallet 14 mounting table 15 mast 17 loading platform 19 vehicle body 20 wheels 21 loading / unloading device

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】 棚が多段,多列に形成されたラック列間
の通路に敷設されたレール上を走行し、マストに沿って
荷台を昇降させて、荷台上の荷を棚内に格納し、或いは
棚内の荷を取り出すスタッカクレーンにおいて、前記荷
台に、2組のフォークと、荷台上の荷を取り上げる取上
げ機構、取り上げた荷を位置移動させる移動機構より成
る荷移し替えロボットとを装備したことを特徴とするス
タッカクレーン。
1. A rack travels on a rail laid in a passage between rack rows formed in multi-stages and multi-rows, and a loading platform is moved up and down along a mast to store the load on the loading platform in the rack. Alternatively, in the stacker crane for taking out the load in the shelf, the loading platform is equipped with two sets of forks, a loading mechanism for picking up the loading on the loading platform, and a loading transfer robot including a moving mechanism for moving the loaded loading position. A stacker crane characterized by that.
JP8352696A 1996-04-05 1996-04-05 Stacker crane Granted JPH09278118A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8352696A JPH09278118A (en) 1996-04-05 1996-04-05 Stacker crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8352696A JPH09278118A (en) 1996-04-05 1996-04-05 Stacker crane

Publications (1)

Publication Number Publication Date
JPH09278118A true JPH09278118A (en) 1997-10-28

Family

ID=13804938

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8352696A Granted JPH09278118A (en) 1996-04-05 1996-04-05 Stacker crane

Country Status (1)

Country Link
JP (1) JPH09278118A (en)

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CN105416945A (en) * 2015-12-02 2016-03-23 国网浙江省电力公司湖州供电公司 Goods taking and placing device and goods carrying equipment with same
WO2017081368A1 (en) * 2015-11-13 2017-05-18 Konecranes Global Corporation Shelf system comprising movable shelves
JP6223631B1 (en) * 2016-10-27 2017-11-01 三菱電機株式会社 Work transfer device
CN110550366A (en) * 2019-09-05 2019-12-10 珠海格力智能装备有限公司 Warehousing method and warehouse system based on double-station stacker

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JP2013133221A (en) * 2011-12-27 2013-07-08 Daifuku Co Ltd Article storage equipment
JP2014009089A (en) * 2012-07-02 2014-01-20 Tsubakimoto Chain Co Low temperature storage system
WO2017081368A1 (en) * 2015-11-13 2017-05-18 Konecranes Global Corporation Shelf system comprising movable shelves
US10717600B2 (en) 2015-11-13 2020-07-21 Konecranes Global Corporation Shelf system comprising movable shelves
CN105416945A (en) * 2015-12-02 2016-03-23 国网浙江省电力公司湖州供电公司 Goods taking and placing device and goods carrying equipment with same
CN105416945B (en) * 2015-12-02 2017-09-08 国网浙江省电力公司湖州供电公司 Goods fetching device and the cargo handling equipment using the device
JP6223631B1 (en) * 2016-10-27 2017-11-01 三菱電機株式会社 Work transfer device
US10583568B2 (en) 2016-10-27 2020-03-10 Mitsubishi Electric Corporation Workpiece conveying device
CN110550366A (en) * 2019-09-05 2019-12-10 珠海格力智能装备有限公司 Warehousing method and warehouse system based on double-station stacker

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