JPS62153004A - Stacker crane - Google Patents

Abstract

PURPOSE:To contrive to shorten the time needed for taking out a bucket by arranging the constitution in such a way that a picker for lifting the bucket and a stacker for supporting the bucket lifted by the picker are provided in the upper part of the shifting device of a stacker crane, in the stacker crane for a three-dimensional warehouse. CONSTITUTION:A stacker crane shifts to the specified shelf by an instruction for taking out. The needed bucket is taken out by the use of an elevating base 7 and a fork 8. Next, a step loading device 10 is operated and a supporting device 21 for a picker 20 elevated to a position higher than the maximum number (n) of steps for loading the buckets is lowered. And when the bucket on the highest step is detected, a supporting member 23 is projected to be inserted under the bucket on the highest step. Next the supporting member 21 is elevated for lifting the bucket on the highest step. Next, the supporting member 51 of a supporting device 50 is projected to receive the bucket on the supporting device 21. By repeating this operation, the buckets are loaded on several steps and taken out. By this constitution the time for taking out can be shortened.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a stacker crane for a multi-level warehouse, and in particular,
This invention relates to a stacker crane suitable for transporting low-height loads.

[Background of the invention]

A multi-level warehouse consists of rows of shelves with a large number of shelves arranged horizontally and vertically, and stacker cranes that carry cargo into and out of each shelf. The stacker crane can run horizontally and has a lifting platform that can be raised and lowered, and the lifting platform has a fork that can carry a load and move it in and out of the shelf.

When unloading a load from a shelf, a fork is used to take the load from the shelf to the stacker crane side, and then the stacker crane is run toward the exit, and the fork is used to carry out the load at the exit.

For this reason, when multiple loads, for example, five items, are to be unloaded from each shelf in succession, the stacker crane must make five round trips between the unloading port and each shelf, resulting in multiple meals. It will require time. In addition, the number of times the fork moves back and forth is 10, which also requires a lot of time.

In addition, the stacker crane requires a large amount of travel.

To solve this problem, there is a stacker crane in which two sets of forks are arranged horizontally side by side, and the forks are selectively operated to store or unload two loads in one reciprocation. For example, it is shown in Japanese Patent Application Laid-Open Nos. 57-72503, 197-199704, and 58-26706.

This one requires two sets of forks and is expensive.

Handling even more loads at once requires more forks, which becomes more expensive.

Generally, one load is stored on one shelf. When the cargo to be stored on the shelf is small items, a large number of small items are placed in one bucket, and this bucket is stored on the shelf.

[Purpose of the invention]

An object of the present invention is to shorten the time required for unloading work using a stacker/unloader.

[Summary of the invention]

The present invention is characterized in that a picker for lifting the buckets on the transfer device is provided above the transfer device of the stacker crane, and a stocker capable of supporting the buckets lifted by the picker is provided.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

In FIG. 8, numeral 1 denotes shelves for storing loads, and a large number of shelves 1 are arranged in the traveling direction of the Metatsuka crane 2 and in the vertical direction. The shelf 1 is provided at a height capable of storing a plurality of stacked buckets 15.

1 is an entrance/exit.

The stacker crane 2 runs on rails on the floor. As is well known, the stacker crane 2 includes a frame 5 that can run, a lifting platform 7 that moves up and down, and a fork 8 installed on the lifting platform as a transfer device. The fork 8 can move forward and backward with respect to the shelf l.

Furthermore, a stacking device 10 for stacking buckets as loads is installed on the top of the lifting platform 7. The stacking device io lifts the buckets taken out from the shelf 1 with a fork 8, stacks them from below onto the bucket held above, and holds the buckets.

I digress about FIG. 9 regarding bucket 15.

The bucket 15 is used to store a large number of small items, and can be stacked. The bucket has a rectangular shape when viewed from above, and has horizontally protruding flanges 15a and 15b at its upper and lower ends, respectively. Bucket 1
When 5 are stacked, the fq at the bottom of the upper bucket 15
15b is provided so as to contact the upper collar 15a of the lower bucket 15. A support member of the stacking device IO can be inserted into the gap 16 between the upper and lower flanges 15a and 15b, as will be described later. Also, with this support member, the tsuba 1
5 A can be supported. Further, the bottom of the bucket 15 is provided with a protrusion 15c that can be inserted into the opening of the lower bucket. This protrusion 15c can prevent the buckets from shifting when stacked.

Details of the stacking device 10 will be explained with reference to FIGS. 1 to 7.

The stacking device 10 consists of a picker who lifts the upper bucket of a plurality of buckets on the fork 8 upward, and a stocker who holds the bucket lifted by the picker.

The picker and stocker racks are attached to four pillars 41 erected on the lifting platform 7 on both sides of the fork 8. 4
The upper ends of the circular pillars 41 of the books are connected by a square frame 42.

The stocker consists of a space 47 above a support device suspended from the frame 42 via a mounting seat.

The space 47 is a space for storing stacked pallets. The direction of movement of the fork 8 between the support devices (indicated by arrow X)
The bait is located at the rear end of each. A pair of front and rear support devices (equipment),
50 is provided with two supporting members 51 for supporting the collar 15a' of the bucket 15.

The support member 51 can move forward and backward in the horizontal direction with respect to the bucket 15. Means for this purpose are provided in the support device. This means may be provided such that the support member 51 is provided so as to move linearly in the horizontal direction, or provided so that it is provided so as to rotate in a horizontal direction, or 1. It can be configured either by being provided so that it can pivot in the vertical direction, or by being provided so that it can pivot in the vertical direction. This is known from pallet magazines. In this embodiment, the support member 51 is designed to move in the horizontal direction.

In FIG. 4, a simple limit switch is provided on the upper surface of the support member 51, which is turned on when the collar 15a is placed on it. The E7 switch 8 can detect whether one bucket 15 is loaded. Although the limit switch & may be installed on each support member 51, it is installed on at least two support members 51. In particular, it is preferable to install it on one support member 51 of the support device j50 on one end side and on one support member 51 of the support device blade on the other end side. especially,
It is preferable to attach it to support members 51.51 at diagonal positions.

Let me explain about the picker. The picker group includes a support device 21 that supports the pi 15 a of the bucket 15,
Vertical movement bag 1it3 for vertically moving this support device 4
It consists of ゜.

Support device! 21 are located on the left and right sides of the fork 8, respectively.
It supports the collar 15a in a direction perpendicular to the moving direction of the fork 8. Each support portion F121 is provided with two support members for supporting the collar 15a of one packet 15. The support member n can move forward and backward with respect to the bucket 15. The means for moving the support member Z forward and backward is the same as in the case of the support member Z described above.

In FIG. 5, a limit switch U is provided on the upper surface of the support member n, which is turned on when the collar 15a is placed on it. Limit switch Sae can detect the presence or absence of one bucket. The other configuration is the same as that of the limit switch 47. In this embodiment, the explanation will be given assuming that the support member Z moves in the horizontal direction.

A pair of photoelectric switches 6 are installed on the left and right support devices 21, and are used to detect the position of the uppermost bucket among the buckets 15 on the fork 8.

When the support device 21 is lowered and the photoelectric switch 5 detects that light is blocked by the bucket 15, the support member n protrudes.

The support device 21 is moved up and down by a threaded rod 31 attached to the up and down movement device. A fixed nut is attached to the support device 21. Both ends of the support device j21 in the horizontal direction are guided by pillars 411.

The threaded rod 31 connects the gear box of the frame 42 and the lifting platform 7.
It is mounted vertically and rotatably. The gearbox style and the rest are connected to the shaft.

The gearbox A is connected to the motor vane via a speed reducer R. The gearbox has a bevel gear that changes the direction of the output shaft. The pair of support devices 21, 21 are moved up and down by the operation of the motor.

Next, regarding the installation height of each device of the stacking device η10,
This will be explained from Figure 6.

If the maximum number of buckets that can be stored on the shelf 1 is n (it is plural) and the height when stacked is Ll, then the height Ll from the top surface of the fork 8 to the bottom surface between the support devices is equal to the height Ll of the fork 8. In order to scrape so that n buckets can be carried out, the bucket 15 is thicker than the above. If it is located below the lower surface of the support device (equipment), the height Ll will be up to the bottom surface of the bucket 15.

Since the supporting member 51 of the supporting device blade is loaded with N buckets 15 stacked in buckets 15, which is equal to or less than the above-mentioned n, the height L3 of the space 47 from the supporting member 51 to the bottom surface of the frame 42 is The height is set larger than the stacking height of N pieces.

The range in which the support device 21 can be moved up and down will be explained. Support device 2
1 support member n is the lowest bucket 1 on the fork 8.
It is possible to move up and down between a position H1 slightly below the collar 15a of No. 5 and a position H2 slightly below the support member 51 of the support device (equipment). Furthermore, the support device can be stopped at each location between H1 and H2. The threaded rod 31 is provided with a thread in the above-mentioned lifting range.

m 6 rm d, 60.61.62.63.6
41! Support device position iI'! ? This is a proximity switch for detecting , and is installed on the mounting seat θ. The mounting seat is attached to the frame 42 and the lifting platform 7. Each proximity switch has a cabinet.

They are installed in the order of 61, 62, 63, and 64 from bottom to top. 67 is a metal piece attached to the gripping device 21 for operating each proximity switch. The installation and location of each proximity switch will be described in detail below.

The proximity switch ω is as shown in FIGS. 6 and 7(A),
The supporting member n is located at a position where it can be protruded or retracted into the gap 16 of the lowermost bucket 15 placed on the fork 8. That is, the proximity switch ω is provided at a position to stop the supporting portion Murata at the Hl position.

The proximity switch 61 moves the support device 21 so that the support member n is located above the maximum height of the stacked buckets and below the height L2, as shown in FIG. 7(B). It is something that makes it stop. The stopping point is the support device 21
In the standby position, the support member is retracted.

When the stacked buckets are placed on the support member field as shown in FIG. The position of the support device 4 is detected so that it can be moved backward.

The proximity switch group detects the position of the support device force so that the support member n can be extended or retracted from the gap 161 of the lowermost bucket 15 resting on the support member 6, as shown in FIG. 7CD). It is something to do.

Opening the proximity switch detects the position of the support device 21 so that the support member 6 can be protruded or retreated with respect to the gap 16 of the lowest bucket 15 placed on the support member n, as shown in FIG. 7(E). It is something to do.

The operation of such a configuration will be explained.

First, take out one bucket from each shelf,
A case will be described in which the bucket is taken out of the warehouse as the first bucket.

Each shelf 1 stores a maximum of n buckets stacked in layers. The contents of each bucket stored on one shelf (for example, the type of one part) are the same.

However, the contents are different for each shelf.

Now, for example, if N types of parts a, b, m, n are required, the central control unit selects the part a.

b... Shelves A, B... that store m and n.
...Instructs stacker crane 2 to take out one bucket each from M and N.

This will be explained below with reference to FIGS. 1O (A) and (B).

When it is requested to take out n types of buckets, the stacker crane 2 is always moved to a predetermined shelf where the buckets to be taken out are located in step Fl. Parts a, b, c・
When unloading the parts in the following order, first, the stacker crane 2 is moved to the shelf l where the part a is located. The central controller remembers which parts are on which shelves.

In step F3, the stacker crane 2 uses the lifting platform 7 and the fork 8 to take out the stacked buckets 15 from the shelf l. Then, the number of operations of the fork 8 is counted.

Next, stack! Activate J-equipment 10.

Lt', in step F5, the support device 21 of the picker, which has been raised above the maximum number n of stacked buckets I5, is lowered. This is done by driving motor A.

When the pair of support devices 21 is lowered, the photoelectric switch 5 installed thereon is shielded from light by the bucket 15 at the top. When the photoelectric switch 5 is at 0FFL, the support member is provided in a gap that can be inserted into the gap 16 of the bucket 15, so that the support member protrudes. This is preferably done by stopping the lowering of the support member. Next, when the support device 21 is raised, the uppermost bucket is lifted by the support member 23I. The above is shown in steps F7 to F9.

Immediately after step F9, in step Fil.
Check whether the limit switch provided on the support member 51 of the support device (equipment) is turned on.

ON indicates that the bucket 15 is placed on the support member 51, and OF'F indicates that the bucket 15 is not placed on the support member 51. In this case, since the fork 8 is operating for the first time, the bucket 15 is not placed on the support member 51, and the limit switch S is at OF and F L.
The process moves to step F15. When the support device 21 supporting one bucket is raised, the proximity switch diagram is activated in step F15.

Next, in step F17, the lifting of the support part rJI121 is stopped, the support member 51 of the support device (material) is made to protrude, and the gap 1 of the bucket 15 lifted by the support device 21 is
Insert the support member 51 into 6. Next, when the support device 21 is lowered, all the buckets rest on the support member 45.

Then, by turning on the proximity switch 63, the support member n is moved backward, allowing the support member n to be lowered. Above are steps F17-F
It is shown at t9.

Next, in step F20, if it is necessary to take out the bucket from this shelf again, the process moves to step F7i.

If re-extraction is not necessary, the process moves to step F21.

Proximity switch 61 is turned on by descending support device 21
Then, the support device 1j21 is stopped. Then, the bucket on which the fork 8I is placed is returned to its original shelf using the fork 8 and the lifting platform 7. Above is step F
21 to F23.

Step F23 can be performed after step F20.

Baiting step 20 is performed by commands from the central controller.

If there is no bucket on fork 8, move to F21,
Further, step F23 is not performed.

Next, in step F25, the number of times the bucket is taken out is checked, and if it is less than N times, the process returns to step F1.

The operation for taking out the two buckets is the same as described in @ from steps F1 to F11. In step Fll, since the second bucket is being taken out, the bucket is placed on the supporting device, and the eye switch group is turned on.

Therefore, the process moves to step F27.

In step F27, when the support device 21 on which the bucket 15 is placed rises, the bucket 15 placed on the support device 50 is pushed up by the bucket 15.

Therefore, the limit switches between the support devices are turned off. After this OFF straw predetermined time t3 (step F29), the support member 51 is moved backward (step F31). During this predetermined time tl, the support member 51 is moved with the limit switch group separated from the collar 15a of the bucket 15. It's for a reason.

Next, the process returns to step F15 and the stacking operation is performed as described above.

This will be repeated from now on.

As described above, once N buckets have been taken out, the process moves to step F35 in step F25, and the unloading operation is performed. That is, the stacker crane 2 is started to move toward the loading/unloading port 3, and the bucket 8 of the support device (equipment) is moved.
Start the work to put it in.

In step F37, the support device 21 located at the bottom is raised, and the support member n is made to protrude by turning on the proximity switch mortar. By raising the support member device, the N buckets of the support member 51 are transferred to the support member n. Then, by turning on the proximity switch, the lifting of the supporting member device is stopped and the supporting device 51 is moved backward. Next, by lowering the support device 21, N buckets can be supplied to the fork 8. The above is shown in step F37.

Next, the proximity switch 60 is moved by the lowered support device 21.
is turned on, the bucket on the support device 21 is moved to the fork 8
Since the robot has landed on the floor, the descending of the support device 21 is stopped and the support member Z is moved backward. This means that N buckets have been placed on the fork 8. Next, the support device 21 is raised to the position of the proximity switch 61 and stopped. In addition, the N buckets on the fork 8 are delivered to the entry/exit port 3 using the fork 8 and the lifting platform 7.

The above is shown in steps F45 to F53.

As described above, the bucket has the upper support part R50 and the lower support device 21 as supporting means for the bucket. Only the lower support device t21 moves up and down. The buckets of the support device 21 are lifted at first (this one bucket is lifted) and then at the end, multiple buckets are lifted.In general, the time required to lift the first bucket is longer. , during lifting operation,
This allows the power consumption of the motor of the support device 21 to be reduced.

In addition, since the support device 21 provided with the photoelectric switch 5 is lowered and the photoelectric switch 5 blocks light, the support member device is made to protrude, so the number of stages of buckets on the fork 8 and the height of each bucket change. In other words, even if the position of the topmost bucket changes when stacked, the position of the topmost bucket can be accurately detected, and the topmost bucket 15
It is something that can be lifted. This eliminates the need for a height detection device for the support device 21, and also eliminates the need for the central control device to calculate the height based on the number of stages of buckets, etc., which can be easily performed.

Generally, the buckets 15 are all provided with the same π width. However, the capacity of the bucket may vary depending on the size of the parts to be placed inside.

In the present invention, by providing a limit switch on the support member 51, the retraction timing of the support member portion is determined. Therefore, even if the buckets have different ears, they can be easily stacked and shipped.

Now, the buckets with different contents are a, b, c, and d.

e, f, and among these buckets a, b, and f have low crystallinity (, buckets c, d, and e have high heights. Then, from the top, a, b, c, d, It is assumed that the items are stacked in the order of e and f and then delivered.

This case will be explained with reference to FIG. FIG. 12 shows a state in which the buckets C are stacked on the support device (materials) and the bucket d is about to be lifted from the fork 8. Since the lowering position of the support device 21 is determined by the photoelectric switch 3 as described above, it is possible to lift the bucket d even if it is high.

On the other hand, the support part f? Since the bucket C, which has a large height, is suspended from the support member 51 of the Z50, the position where the bucket d lifted by the support device 21 pushes up the bucket C is lower than in the case of the buckets C and b. However, since the limit switch group detects that the bucket C has risen due to contact with the bucket d and moves the support member 51 backward, even if the height of the bucket suspended from the support member 51 changes, the stacking It is possible.

When the support member 51 is not provided with a group of limit switches,
For example, it is necessary to provide proximity switches such as proximity switches 61-B. It is necessary to provide the proximity switches in a number corresponding to the type of bucket height. Furthermore, the central control device is required to determine which proximity switch instruction to select for operation of the support member 51, which is complicated.

The combination of buckets where a = f is not limited to the above.

Next, the warehousing operation will be explained. There are two cases regarding stock receipt:

The first is that when there are no buckets on one shelf, N
This is a method of replenishing buckets. This receives N stacked buckets from the loading/unloading port 3 and stores them as they are on an empty shelf.

The second method is to replenish buckets when there are fewer than N buckets on one shelf. Do this during a suitable free time. This is to receive N stacked buckets from the loading/unloading port 3, stack the missing number of buckets on top of the buckets taken out from the shelf, and return them to the original shelf.

Regarding the warehousing operation, only the first method described above can be performed.

For reference, the operation will be explained with reference to FIGS. 11(A) and 11(B) in a case where the configuration is such that the second method can be performed.

In step F61, N buckets are received by the fork 8 from the storage entrance 3 using the fork 8 and the lifting platform 7.

Next, the support device t21 is lowered, and the proximity switch ω is
N stops the lowering of the support device 21, and
The support member field is made to protrude. Then, the support device 4 is raised. When the proximity switch example is turned on due to the rise of the support device f21, the rise of the support device f21 is stopped and the support member 51 is made to protrude.

Next, when the support device 4 is lowered, the stacked pallets are placed on the support member 51. The above is shown in steps F63 to F71.

When the proximity switch 63 is turned on by lowering the support device 21, the support member field is retreated and the proximity switch 63 is turned on.
1 stops the lowering of the support device 21. The above is shown in steps F73 to F76.

Next, in steps F77 to F79, the crane 2 is moved to a predetermined shelf 1 to be replenished, and the bucket is taken out from the shelf.

Next, start replenishing the bucket. First.

The support device 21 is raised and the support member is projected by turning on the proximity switch. And the O of the proximity switch
The N port stops the rising and at the same time causes the support member 51 to retreat. This moves the stacked pallets to the support member B. Next, the support device 21 is lowered, and the proximity switch 62
The support member 51 is made to protrude by turning ON. As a result, the buckets in the second and higher stages from the bottom remain on the support member 51, and the buckets in the first stage descend together with the support device. The above is shown in steps F81-F91.

When the support device 21 carrying one bucket is lowered, that bucket rests on the topmost bucket on the fork 8.

Therefore, the limit switch A of the support member n is turned OFF. After a predetermined time t2 from this OFF, the lowering of the support device n is stopped and the support member is moved back. Then, the support device 21 is raised. This means that one bucket has been refilled above the bucket of the fork 8.

The above is shown in steps F93 to F97.

Next, the elevated support member n is stopped by the proximity switch 61. In this state, it is checked whether the limit switch is ON or not. If the limit switch is ON''C, there are buckets to be replenished, so the first step is to decide whether or not to replenish.The necessity of replenishment is determined by the data stored in the central controller (the number of buckets in each shelf and the number of buckets in each shelf). The central controller determines this based on the height (height). If replenishment is necessary, the process moves to step F81 and the replenishment operation is repeated.
99 to F105.

If replenishment is not required in step F105, the bucket on the fork 8 is returned to the original shelf in step F107. Thereafter, the process moves to step F77, and the replenishment operation to the next shelf is started.

In step Fl 03, if the limit switch 47 is OFF, the bucket on the fork 8 is returned to the original shelf 1 and then moved to the entrance/exit 3. Above is step F1
13. It is shown in F115.

As described above, since the limit switch is provided on the support member n for bucket replenishment, it is possible to detect that the bucket to be refilled has landed on the bucket on the fork 8 by the second limit switch. be. For this reason, the fork 8
Even if the height of the upper bucket is undefined, it can be refilled.

Further, a height detection device is not required, and a central control device can be easily constructed.

In the first embodiment, a fork is used as a device for transferring the bucket between the shelf and the stacker crane, but a conveyor may also be used. The bucket may also be of any other shape (for example, a container with a lid).

In FIG. 7A6, a photoelectric switch 70 provided above the support member field is used to allow two buckets to be lifted at once by the support member n. 71 is a mounting seat. When the photoelectric switch 70 blocks light, the concave support member n of the second bucket from the top is provided so as to be in a position of 1".Other constructions are the same as in the previous embodiment.

As a means for lifting and lowering the picker, for example, the picker may be coupled to an endless vertically provided lobe, and the picker may be moved up and down by moving the rope.

The support device 1i21 can be provided in the moving direction of the fork 8, and the support devices can be provided in the vertical direction.

〔Effect of the invention〕

According to the present invention, since the stacker crane is provided with a stacking device, it is possible to collect and unload the required number of buckets from each shelf.

This can shorten the time required for shipping. Furthermore, since the stacking device includes a picker that raises and lowers the buckets and a stocker that holds the buckets lifted by the picker, the electric power required to drive the picker when lifting the buckets can be reduced.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a stacking device according to an embodiment of the present invention, and FIG.
The figure is a horizontal 1tli side view of the stacking device shown in FIG. 1, FIG. 3 is a longitudinal sectional view of the stacking device lt shown in FIG. 1, FIG. 4 is a perspective view of the support device, and FIG. 5 is a perspective view of the support device. Figure 6 is a diagram explaining the installation of each device of the stacking device, Figure 7 is a diagram explaining the installation position of each device of the stacking device,
A) to (B) are diagrams explaining the mounting position of the proximity switch of the stacking device, the lower 8 diagram is a front view of a multi-story warehouse equipped with a stacker crane according to an embodiment of the present invention, and Figure 9 is a diagram showing the position of the stacker crane. Longitudinal cross-sectional view. (A) and (B) in FIG. 10 are flowcharts of shipping work according to an embodiment of the present invention, and (A) and (B) in FIG.
1 is a flowchart of replenishment work according to an embodiment of the present invention. FIG. 12 is an explanatory diagram for explaining the present invention in detail. l...Shelf, 2...Stacker crane,
7... Lifting platform, 8... Fork, lO
...Stacking device, 15...Bucket, beauty...
...Picker, 21...Support device, n...
...Support member, Sae...Limit switch, 6...Photoelectric switch, 30...Vertical movement device, 31...Threaded rod, cutting ...Stocker, (fund)...Support device, 51...
Support member, jumper...limit switch, 60.
61.62.63゜11 Figure 3 7 Fang 7 Figure/j15/ σd 18 Figure 410 Figure (A) Figure 10 (B)

Claims (1)

[Claims] 1. A transfer device installed on a lifting platform to transfer stacked buckets to and from a shelf, and a support member that is movable forward and backward and capable of supporting the buckets when protruding; A picker that moves up and down while supporting the bucket between the bottom bucket of the stacked buckets on the transfer device and above the top bucket; A stacker crane comprising a support member slightly below the lifting range of the picker and a stocker capable of supporting buckets stacked on the support member.