JPH10212004A - Stacker crane for automated warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stacker crane for an automated warehouse preventing the machine length from becoming longitudinally long by a crane controller and cargos from coming in contact with the crane controller at the time of receiving the cargos. SOLUTION: A longitudinal pair of masts 7a, 7b provided with an elevated carriage 8 are erected on a travel base 6 extended longitudinally and provided with traveling wheels at both longitudinal ends. The travel base in the outer position of the rear side mast 7b is provided with an elevating motor 10 for elevating the carriage 8, and a traveling motor 11 for driving the traveling wheels. A crane controller C for controlling driving of the respective motors 10, 11 is provided in the outer position of the rear side mast 7b. The front side mast 7a is provided with a ladder 9.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stacker crane used for an automatic warehouse.

[0002]

2. Description of the Related Art Conventionally, an automatic warehouse is provided with a pair of left and right frame shelves, and each frame shelf is provided with a plurality of storage sections for storing loads. A running rail extending linearly is arranged between the frame shelves, and the stacker crane runs in the front-rear direction along the running rail. The stacker crane transfers and transports the load to and from each storage unit. This stacker crane has a traveling platform, a pair of masts erected on both front and rear sides of the traveling platform, and a lifting motor arranged outside the mast of the traveling platform,
It is composed of a traveling motor, a crane controller and the like. This crane controller is for controlling the crane on the stacker crane side.

[0003] The crane controller is provided on the mast on the front side, that is, on the home position side, having a remote operation panel for controlling the stacker crane on the ground side. Further, the mast is provided with a ladder used for maintenance and inspection work above the crane controller. A traveling motor and a lifting / lowering motor are provided on the traveling platform on the rear side, that is, outside the mast on the opposite position.

When the crane controller receives an operation command from the remote control panel, it supplies power to each motor based on the operation command. Thereby, the traveling motor is driven, the traveling wheels provided at the lower part of the traveling platform are rolled on the traveling rail, and the stacker crane is moved in the front-rear direction, and the lifting / lowering motor is driven. The elevating carriage provided between the masts is raised and lowered.
In this way, the lifting carriage of the stacker crane moves to the target storage section.

[0005] In order to improve the storage efficiency of the automatic warehouse, it is necessary to reduce the size of the stacker crane outside the mast in the front-rear direction and to reduce the dead space generated at the front and rear end positions of the automatic warehouse.

Therefore, according to Japanese Patent Application Laid-Open No. 6-171714, a crane controller (control panel) of a stacker crane is provided with a power unit (drive circuit) for supplying electric power to each motor and each operating unit via a power unit. And a control unit for controlling the vehicle, each unit is separated and attached to the side surface of a traveling platform. According to this, it is possible to prevent the crane controller on the home position side from protruding forward to increase the length of the stacker crane.

[0007]

However, in the stacker crane disclosed in Japanese Unexamined Patent Publication No. Hei 6-171714, since the power unit and the control control unit are mounted on the side surface of the traveling platform, the stacker crane is used when receiving a load at the home position. If the load is shifted from a predetermined position, the load may directly hit the power unit or the control unit. Further, since the crane controller is unitized for each power unit, control control unit, and the like, wiring between the units is required, and work for attaching the unit to the stacker crane for each unit is required. Therefore, there is a problem that the cost is increased and the mounting operation is complicated.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to prevent a machine length in the front-rear direction from being lengthened by a crane controller. The present invention provides a stacker crane for an automatic warehouse that does not hit a load.

[0009]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a first aspect of the present invention is directed to a pair of front and rear masts which extend up and down and are provided upright on a traveling platform having traveling wheels at both front and rear ends. In a stacker crane of an automatic warehouse equipped with a carriage that moves up and down along with the traveling platform at the position outside the one mast, a motor for lifting and lowering the carriage, and a motor for driving the traveling wheels And a crane controller for driving and controlling each motor is provided at a position outside the one mast.

According to a second aspect of the present invention, in the stacker crane for the automatic warehouse according to the first aspect, the other of the masts on which the respective motors and the controller are provided is provided on the other side. A ladder extending to both upper and lower sides was attached to the mast.

According to a third aspect of the present invention, there is provided an automatic warehouse stacker crane according to the first or second aspect,
Delivery of cargo between the automatic warehouse and the outside is performed at a terminal position on the remote operation panel side provided on the ground that communicates control signals to the controller, and the motors and the controller are opposite to the remote operation panel. Provided on the mast on the side of the end position.

According to the first aspect of the present invention, the lifting motor, the traveling motor, and the crane controller are provided outside the one mast. That is, by arranging the crane controller in the left-right direction with respect to the elevating motor and the traveling motor, the crane controller can be arranged within the longitudinal length required for installing the elevating motor and the traveling motor. it can. In addition, the crane controller can be positioned inside the left and right ends where the lifting motor and the traveling motor are installed by arranging the crane controllers in an overlapping manner. As a result, the length of the stacker crane does not increase due to the crane controller, and the load does not directly hit the crane controller when receiving the load.

According to the second aspect of the present invention, the first aspect is provided.
As well as the same effect as described above, the ladder can be attached to the other mast so as to extend to the lower end of the same mast since each motor and controller are arranged on one mast side. Therefore, the operator can easily move up and down the ladder.

According to the third aspect of the present invention, the crane controller is provided on the mast on the end position side opposite to the end position on the remote operation panel side where delivery of the load to and from the outside is performed. Even if a load is mistakenly placed in the path of the stacker crane where the load is received,
The load does not directly hit the crane controller during the run.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows an automatic warehouse 1 arranged in a factory or the like. A pair of frame shelves 2a and 2b are formed on both left and right sides of the automatic warehouse 1, and a plurality of storage portions 3 for storing loads are formed in each of the frame shelves 2a and 2b. A plurality of storage portions 3 are respectively formed in a step direction extending in the up-down direction and a continuous direction extending in the front-rear direction (the direction orthogonal to the paper surface in FIG. 1). A running rail 4 is linearly laid between the frame shelves 2a and 2b in the front-rear direction. The traveling rail 4 is provided with a stacker crane 5 as shown in FIG. The stacker crane 5 includes a traveling platform 6, a pair of front and rear masts 7 a and 7 b erected on both front and rear sides of the traveling platform 6, and the masts 7 a and 7 b.
And a lifting carriage 8 that moves up and down. Further, the lifting carriage 8 is provided with a fork device F for transferring a load to the storage section 3.

A remote operation panel ROP for controlling the stacker crane 5 from the ground side is provided at a front end position (hereinafter, referred to as a home position) HP of the traveling rail 4 where delivery of goods to and from the outside is performed. Is provided. A ladder 9 extending to both upper and lower ends of the mast 7a is attached to a plurality of brackets B on the home position HP side of the front mast 7a. One of the brackets B supports an operation panel S (see FIG. 5) used for performing an emergency stop and maintenance.

A crane controller C for controlling the stacker crane 5 is provided on the rear mast 7b, on the side of the rear end position (hereinafter referred to as an "opposite position") OP of the traveling rail 4. The traveling platform 6 outside the rear mast 7b is provided with a lifting motor 10 and a traveling motor 11. further,
A running wheel 13 (see FIG. 4) hidden inside by the running base 6 is provided at a lower portion on both front and rear ends of the running base 6 so as to roll on the running rail 4.

FIGS. 3 and 4 show the mounting positions of the lifting motor 10, the traveling motor 11, and the crane controller C. FIG. The elevating motor 10 is mounted on a mounting base 6 a extending from one side (left side in FIG. 4) of the traveling base 6.
Mounted on top. A sprocket wheel 10a is attached to the output side of the motor 10, and an elevating chain A is mounted on the sprocket wheel 10a to elevate the elevating carriage 8.

The traveling motor 11 is shown in FIG.
It is attached to the right side of. More specifically, an output shaft 12a of the speed reducer 12, which is an output shaft of the traveling motor 11, is drivingly connected to a shaft 13a of one traveling wheel 13. And
A mounting plate 6b extending upward from the right side of the traveling platform 6 in FIG. 4 and the speed reducer 12 are connected to a torque arm 15 having an L-shaped side surface so that the substantially cylindrical body 14 is in a horizontal state. It is attached by. Further, the main body 14 is in a state of facing the center of the traveling platform 6.

The crane controller C includes a driving circuit for supplying electric power to the elevating motor 10, a traveling motor 1
A drive circuit for supplying power to the motor 1, a drive circuit for supplying power to the motor for the fork device F, and a control controller for controlling each drive circuit are housed in a box-shaped case 16. It is configured. In the thus configured crane controller C, the case 16 is screwed to the opposite position OP side of the rear mast 7b. The width of the case 16 in the front-rear direction is such that the case 16 does not protrude from the rear end (the left side in FIG. 3) of the traveling platform in a state where the case 16 is attached to the rear mast 7b. Further, the end in the left-right direction of the case 16 is located inside the elevating motor 10 and the traveling motor 11.

A light receiving sensor SN mounted on the home position HP side of the traveling platform 6 is connected to the control section of the crane controller C by a communication cable, and each of the drive circuits is connected to each of the motors by a power cable. 10 and 11 are respectively connected.

The stacker crane 5 constructed as described above
When a control signal indicating an operation command is transmitted as an optical signal from the remote operation panel ROP, the optical receiving sensor SN
Receives the signal and transmits the content to the control controller of the crane controller C. Then, the control controller controls each drive circuit based on the contents. Each drive circuit supplies electric power to each of the motors 10 and 11 via each power cable, and drives each operation unit.
As a result, the stacker crane 5 travels on the traveling rail 4, the lifting carriage 8 moves up and down, and the fork device F transfers the load to the storage unit 3. The operation panel S
Is connected to the control control unit in the same manner as the optical receiving sensor SN, and when an operation command for emergency stop and maintenance is transmitted from the operation panel S to the control control unit, a control path similar to the above-described control path is used. The respective operating parts are driven.

Next, the characteristic effects of the present embodiment as described above will be described below. (1) In the present embodiment, the crane controller C is attached to the rear mast 7b on the side of the opposite position OP where the lifting motor 10 and the traveling motor 11 are provided. When the case 16 is attached to the mast 7b, the width of the case 16 does not protrude from the rear end (the left side in FIG. 3) of the traveling platform. Therefore, the crane controller C does not increase the length of the stacker crane 5 in the front-rear direction. That is, the machine length outside the front mast 7a on the home position HP side can be made shorter.

(2) In this embodiment, since the crane controller C does not increase the length of the stacker crane 5 in the front-rear direction, the dead space generated at the front-rear end position of the automatic warehouse 1 can be reduced. it can. As a result, the storage efficiency of the automatic warehouse 1 can be improved.

(3) In this embodiment, the end of the crane controller C in the left-right direction is located inside the lifting motor 10 and the traveling motor 11. Therefore, even when the load is displaced from the predetermined position at the time of receiving the load at the home position HP or the like, the load can be transferred to the crane controller C.
There is no direct hit.

(4) In the present embodiment, the crane controller C is mounted on the rear mast 7 of the opposite position OP side.
b. Therefore, even when a load is erroneously placed within the lateral traveling width of the stacker crane 5 near the traveling rail 4 on the home position HP side where the load is received, and the stacker crane 5 moves forward, The load does not directly hit the crane controller C.

(5) In the present embodiment, the crane controller C is adjacent to the lifting motor 10 and the traveling motor 11, and is provided with the rear mast 7b on the opposite side of the opposite position OP.
Mounted on Therefore, a large-diameter power cable used to supply electric power to the lifting motor 10 and the traveling motor 11 can be shortened. as a result,
Power cable costs are reduced. Furthermore, since the communication cable connected from the optical receiving sensor SN and the operation panel S to the crane controller C on the home position HP side is a cable for transmitting only the operation command, a thin cable may be used, and the cost required for the total cable is reduced. .

(6) In the present embodiment, the crane controller C is mounted on the rear mast 7 of the opposite position OP.
b, the ladder 9 attached to the front mast 7a on the home position HP side is
It can be extended to the lower end of a. Therefore, the worker can easily move up and down the ladder 9 in maintenance and inspection work.

The above embodiment may be modified and implemented as follows. In the above-described embodiment, the crane controller C is mounted on the rear mast 7b. However, for example, the crane controller C may be mounted on an upper mounting surface of the traveling platform 6 avoiding the sprocket wheel 10a and the lifting / lowering chain A. It may be attached to. However, the rear end (left side in FIG. 3) of the case 16 of the crane controller C does not go out of the end of the traveling platform 6, and the left and right ends of the case 16 are the lifting motor 10 and the traveling motor. It must be inside the motor 11. Even in this case, the same effect as in the above embodiment can be obtained.

In the above embodiment, the light receiving sensor SN
Is mounted on the home position HP side of the traveling platform 6 and is connected to the control control unit of the crane controller C. However, an operation command signal from the remote operation panel ROP may be transmitted to the control control unit.
Light receiving sensor SN is used in case 1 of crane controller C.
6 and so on.

[0031]

As described above in detail, according to the first aspect of the present invention, the crane controller does not increase the length of the machine in the front-rear direction, and the load does not hit the crane controller when receiving the load. Absent.

According to the second aspect of the invention, the same effect as the first aspect can be obtained, and a ladder extending along the lower end of the mast can be attached. According to the third aspect of the present invention, even if a load is erroneously placed in the traveling path of the stacker crane on the side where the load is received, the load does not directly hit the crane controller during traveling.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating an automatic warehouse according to an embodiment.

FIG. 2 is a side view showing the stacker crane according to the embodiment.

FIG. 3 is a main part side view showing the stacker crane according to the embodiment.

FIG. 4 is a front view showing a main part of the stacker crane according to the embodiment.

FIG. 5 is an essential part front view showing a control panel in the embodiment.

[Explanation of symbols]

Reference numeral 6: carriage, 7a: front mast, 7b: rear mast, 8
… Carriage (elevating carriage), 9… ladder, 10… motor for elevation, 11… motor for traveling, 13… traveling wheel, C…
Crane controller, ROP ... Remote operation panel.

Claims (3)

[Claims] 1. A stacker crane for an automatic warehouse having a carriage extending up and down and moving up and down along a pair of front and rear masts standing on a traveling platform provided with traveling wheels at both front and rear ends, wherein an outer position of the one mast is provided. The traveling platform is provided with an elevating motor for elevating the carriage and a traveling motor for driving the traveling wheels, and a crane controller for driving and controlling each motor at a position outside the one mast. Stacker crane in an automated warehouse. 2. The stacker crane for an automatic warehouse according to claim 1, wherein the other mast erected on the opposite side to one mast on a side where the motors and controllers are provided includes:
Stacker crane for automatic warehouse with ladders extending to both upper and lower sides. 3. A stacker crane for an automatic warehouse according to claim 1, wherein the transfer of the load between the automatic warehouse and the outside is performed by a remote operation provided on the ground for exchanging control signals with the controller. A stacker crane for an automatic warehouse, wherein the motor and the controller are provided at a mast at a terminal position opposite to the remote operation panel.