KR101899488B1 - Stacker Crane With Elevating Device - Google Patents

Abstract

The present invention relates to a girder which is installed on a rail provided on both upper inner side projections of a warehouse frame and can move in the X axis direction; A trolley capable of moving on the girder in the Y-axis direction perpendicular to the X-axis on the same horizontal plane; A trolley clamp installed between the lower end of both sides of the trolley and the master upper plate of the vertical lift device; A plurality of sensors for a pallet fork, an anti-collision and safety device, a plurality of camera vision systems, and a plurality of camera vision systems installed in the vertical elevating apparatus for loading and unloading the pallet loaded with the goods in the loading space of the pallet loading rack, Wherein the lower end of the vertical lift and the carriage are spaced above the upper end of the pallet loading rack when the vertical lift is fully retracted and the carriage is positioned above the vertical center axis < RTI ID = 0.0 > A rotatable carriage rotatable about an axis; Wherein the trolley clamp receives angular information from the gyro sensor with respect to the ground surface of the carriage so that the master top plate is held horizontally and the vertical lifting device is held vertically. will be.

Description

[0001] Stacker Crane With Elevating Device [0002]

The present invention relates to a stacker crane having a vertical lift device, more particularly, to a girder which is installed on a rail provided on both upper inner side projections of a warehouse frame and can move along the X axis; A trolley capable of moving on the girder in the Y-axis direction perpendicular to the X-axis on the same horizontal plane; A trolley clamp installed between the lower end of both sides of the trolley and the master upper plate of the vertical lift device; A plurality of sensors for a pallet fork, an anti-collision and safety device, a plurality of camera vision systems, and a plurality of camera vision systems installed in the vertical elevating apparatus for loading and unloading the pallet loaded with the goods in the loading space of the pallet loading rack, Wherein the lower end of the vertical lift and the carriage are spaced above the upper end of the pallet loading rack when the vertical lift is fully retracted and the carriage is positioned above the vertical center axis < RTI ID = 0.0 > A rotatable carriage rotatable about an axis; Wherein the trolley clamp receives angular information from the gyro sensor with respect to the ground surface of the carriage so that the master top plate is held horizontally and the vertical lifting device is held vertically. will be.

Hereinafter, the background art will be described with reference to the accompanying drawings.

As the logistics distribution business continues to grow globally, there is a growing demand for the development of a pallet loading system that can increase the space utilization of existing logistics warehouses. to be. Accordingly, the pallet is stacked in a pallet stacking rack having a plurality of checkerboard pallet stacking spaces to increase space utilization.

Conventionally, a bottom rail type stacker crane has been used for stacking pallets in a pallet loading rack having a checkerboard pallet mounting space. However, such a conventional stacker crane requires a length of the master And a carriage was installed on such a master to lift and lower the pallet fork for lifting the pallet.

Conventional stacker cranes having the above-described construction have drawbacks in that manufacturing costs are increased including securing a production space and transporting costs because a master must be manufactured by lengthening the length of the master in accordance with the height of the pallet stacking rack.

In the conventional stacker crane having the above-described configuration, since the length of the master is long in accordance with the height of the pallet stacking rack, when the master moves due to the traveling of the stacker crane and the objects in the master are transferred to the pallet rack by using the pallet forks There is a problem that the shaking of the mast becomes worse.

In addition, it is not easy to realize the perpendicularity of the master when the master used for the up / down of the 1.5-ton pallet is increased above the current height. There is a lot of difficulties such as the problem of assembling the right angle of the driving part master, the strength and mechanical structure strengthening for running without a shake when the master raises and lowers the 1.5 ton pallet, and the precision problem of the master machining.

In the case of a rail-type stacker crane, the traveling rail must be installed on the floor. In this case, as the traveling length becomes longer, the floor flattening operation and the horizontal rail installation work cost increase proportionally Lt; / RTI >

In addition, in order to load and unload a 1.5-ton pallet, it is necessary to provide a turning radius for the fork to rotate. For a forklift, a radius of rotation of 3.5 meters is required, so that a carriage system that consumes a minimum amount of space for the removal of the pallet can increase the area efficiency of the pallet loading depot.

One of the other conventional stacker cranes has rails mounted on top of pallet stacking racks and a stacker crane mounted on such rails. These conventional stacker cranes are spaced between pallet stacking racks, To move to another corridor, the stacker crane travels more complicatedly and takes more time because it has to move completely out of the pallet stacking rack in one corridor between the pallet stacking racks and then move to another corridor again There was no problem.

Korean Patent Registration No. 10-0661098 (Dec. 18, 2006)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a stacker crane, which has been developed to solve the above-described problems, and which has a reduced production cost and reduced shaking during transportation.

It is another object of the present invention to provide a stacker crane capable of adjusting the stacking height by the addition of a master when the stacking number of stacks is increased.

It is still another object of the present invention to provide a stacker crane capable of pallet loading without having to horizontally lay the floor and construct a rail.

Another object of the present invention is to provide a stacker crane that realizes minimization of space between racks.

It is still another object of the present invention to provide a stacker crane capable of automatically adjusting a perpendicularity of a running part and a master when deformation due to wear of dust and rails in use.

It is a further object of the present invention to provide a stacker crane capable of ensuring collision prevention and safety of the carriage.

It is a further object of the present invention to provide a stacker crane capable of rapidly moving to a desired corridor location between pallet loading racks.

The present invention has the following features in order to achieve the above object.

A stacker crane having a vertical lift device of the present invention includes a girder installed on a rail provided on both inner side projections of an upper side of a warehouse frame and movable along the X axis; A trolley capable of moving on the girder in the Y-axis direction perpendicular to the X-axis on the same horizontal plane; A trolley clamp installed between the lower end of both sides of the trolley and the master upper plate of the vertical lift device; A plurality of sensors for a pallet fork, an anti-collision and safety device, a plurality of camera vision systems, and a plurality of camera vision systems installed in the vertical elevating apparatus for loading and unloading the pallet loaded with the goods in the loading space of the pallet loading rack, Wherein the lower end of the vertical lift and the carriage are spaced above the upper end of the pallet loading rack when the vertical lift is fully retracted and the carriage is positioned above the vertical center axis < RTI ID = 0.0 > A rotatable carriage rotatable about an axis; Wherein the trolley clamp receives angular information from the gyro sensor with respect to the ground surface of the carriage so that the master top plate is held horizontally and the vertical landing gear is held vertically.

The vertical lift device is provided with a master top plate protruding from the upper surface of the hook portion and connected to the lower surface of the master top plate and hooked to a hook of a crane connected to the lower side of the trolley, And a lower end of the trolley and a top end of the master top plate are connected to each other.

The multi-stage master can be vertically stretched and telescoped.

Each master of the multi-stage master has a protrusion (10-1b) protruding to a position aligned with the right end of the carriage.

The vertical lift device is a plurality of robot arms connected to each other by joints and capable of vertically moving up and down in a joint motion manner.

And the carriage is mounted on the lowermost robot arm among the plurality of robot arms.

A plurality of pallet rack row position sensors provided on the girders and a plurality of pallet rack lateral position sensors provided on the rails, wherein the pallet rack row position sensors are provided on the girders, And the carriage can be rotated after the vertical lift device is extended to a desired position.

According to the present invention, it is possible to reduce the manufacturing cost and reduce the sway during transportation, and to adjust the stacking height by increasing the number of stacks when the stacking layer is increased, to mount the pallet without the need of horizontal and rail work on the floor, And it is possible to adjust automatically when the squareness of the running part and the master is deformed due to the wear of the dust and the rail during use and to prevent the carriage from crashing and to secure the safety of the carriage, There is an effect that it is possible to provide a stacker crane capable of moving quickly to the position.

FIG. 1 is a side view of a stacker crane according to an embodiment of the present invention, in which pallets are stacked in a pallet loading rack in a state in which a multi-stage master shrinks and extends. FIG.
Fig. 2 is a front view of the stacker crane of Fig. 1 showing the pallet stacked on the pallet stacking rack in a state in which the multi-stage master shrinks and extends. Fig.
Figure 3 is a bottom view of Figure 1 of a multi-stage master.
Fig. 4 is a top view of the carriage of Fig. 1 showing a side view of the carriage and a front view of the carriage, respectively, together with drawings showing the carriage in the leftward, forward, and rightward directions;
Fig. 5 is a front view of the upper trolley of Fig. 1 showing a state of being combined with a multi-stage master.
Figure 6 is a side elevation view of the upper trolley of Figure 1 showing a state of engagement with a shrunken multi-stage master.
7 is a front view of the upper trolley of Fig. 1 showing a state of engagement with an extended multi-stage master.
Fig. 8 is a side view of the upper trolley of Fig. 1 showing a state of engagement with an extended multi-stage master.
9 is a top view of a type 1 or 2 warehouse in which a stacker crane of another embodiment having a plurality of robot arms connected to each other by a joint and capable of vertically ascending and descending in a joint motion manner is installed.
10A and 10B are a front view and a side view of a stacker crane of another embodiment having a robot arm installed in the warehouse of FIG.
FIG. 11 is a view showing a state in which a plurality of robot arms of the embodiment shown in FIGS. 9 and 10 move in a vertical downward position by articulating to release a pallet loaded in a corresponding loading space of a loading rack.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. For the sake of convenience, the size, line thickness, and the like of the components shown in the drawings referenced in the description of the present invention may be exaggerated somewhat. The terms used in the description of the present invention are defined in consideration of the functions of the present invention, and thus may be changed depending on the user, the intention of the operator, customs, and the like. Therefore, the definition of this term should be based on the contents of this specification as a whole.

FIG. 6 is a side view of the upper trolley of FIG. 1 showing a state of engagement with a shrunk multi-stage master, and FIG. 7 is a front view of the upper trolley of FIG. 1 showing a state of engagement with an extended multi-stage master.

FIG. 1 is a side view of a stacker crane according to an embodiment of the present invention, in which pallets are stacked in a pallet loading rack in a state in which a multi-stage master is contracted and elongated, 1 is a front view of the stacker crane of Fig. 1, and Fig. 3 is a bottom view of Fig. 1 of a multi-stage master.

1 to 3, a stacker crane having a vertical lift device according to an embodiment of the present invention includes a girder 90; A trolley 70; Master (10-1; 10-2); And a carriage (20).

The girder 90 is installed on a rail provided on both upper inner side projections of the warehouse frame and can move in the X axis direction. The trolley 70 is moved in the Y axis direction perpendicular to the X axis on the same horizontal plane on the girder 90 And the crane hook 60 is provided on the lower side of the trolley 70. In the present embodiment, the girder 90 is moved in the X axis and the trolley 70 is moved in the Y axis direction perpendicular to the X axis. In the example, it is also possible that the girder 90 moves in the Y-axis and the trolley 70 moves in the X-axis direction perpendicular to the Y-axis. These X and Y axes are located on the same horizontal plane.

FIG. 5 is a front elevation view of the upper trolley of FIG. 1 showing a state of engagement with a multi-stage master, FIG. 6 is a side elevation view of the upper trolley of FIG. 1 showing a state of engagement with a shrunk multi- 1 is a front view of the upper trolley of FIG.

5 to 7, the crane hook 60 is disposed below the trolley 70, and the master 10-1 (10-2) has the hook portion 10-1c protruding upward from the upper surface thereof, The crane hook 60 is hooked to the hook portion 10-1c and the upper portion of the master upper plate 10-1a is connected to the lower portion of the master upper plate 10-1d. A trolley clamp 80 is disposed between both sides of the plate 10-1a and both sides of the trolley 70 so that the master top plate 10-1a and the trolley 70 are tightly engaged. Therefore, the trolley 70 is configured to be firmly connected to the master 10-1 (10-2) by hooking engagement of the crane hook 60 and the hook 10-1c. The trolley clamp 80 is provided between the lower end of both sides of the trolley 70 and the vertical lift device.

In this embodiment, only two masters in the manner that the master 10-1 and the master 10-2 extend and retract into the master 10-1 are illustrated and described in the embodiment, A multi-stage master may be installed. These multi-stage masters can be telescopically stretched and retracted vertically.

FIG. 4 is a top view of the carriage of FIG. 1 showing a side view of the carriage and a front view of the carriage, together with drawings showing the carriage in the leftward, forward, and rightward directions, and FIG. 1 is a side view of the upper trolley of Fig. 1; Fig.

1, 4 and 8, the master 10-1 has a projection 10-1b protruding up to a position vertically aligned with the right end of the carriage 20, so that the multi- The protruding portion 10-1b may be spaced apart from the rack 50 by a distance corresponding to the protruding portion 10-1b. It has the property to prevent it, but it also helps prevent it. Accordingly, when the multi-stage master is retracted, the master top plate 10-1a, the master 10-1, and the protrusion 10-1b are formed in a "C" shape, so that the pallet fork and pallet can enter therein. In addition, the protrusion 10-1b also serves to mount the cover in case the dropping drops are dropped on the pallet.

The master 10-2 also has a protrusion similar to the protrusion 10-1b protruding up to a position vertically aligned with the right end of the carriage 20 so that the multi- Such a protrusion can prevent the master 10-2 from being worn out at a high speed in addition to the above-mentioned functions. Accordingly, when the multi-stage master is extended, the protrusion 10-1b and the master 10-2 and the protrusion on the lower side have a "C" shape, so that the pallet fork and the pallet can enter therein.

1 to 8, the carriage 20 includes a pallet fork 30, 30 ', 30 "installed in a vertical elevating device for loading and unloading a pallet 40 on which goods are loaded, A plurality of camera vision systems for sensing the angle of the carriage 20 with respect to the ground, and a gyro sensor for sensing the angle with the ground. According to this configuration, the trolley clamps 80, 80 ', 80 " The master top plate 10-1a can be held horizontally and the masters 10-1 and 10-2 can be held vertically by receiving angular information with respect to the ground.

The carriage 20 is mounted on the inner surfaces of both side walls of the master 10-2 at the bottom of the masters 10-1 and 10-2 so that the pallet 40 for lifting and lowering pallet forks 30 And the carriage 20 is a rotatable carriage that can rotate around a vertical axis. The shape of the carriage 20 is rectangular when viewed from the top, but the present invention is limited to this. But may be formed in various shapes such as square, square, and the like.

In this embodiment, when the master 10-1 (10-2) is fully retracted, the lower end of the master 10-1 (10-2) and the carriage 20 are positioned at the upper end of the pallet stacking rack 50 So that it can quickly move to the desired corridor location between the pallet loading racks 50. [0050]

1 and 4, the pallet fork 40 has a left end fixed to the inner wall of the carriage 20, a part of the lower side disposed on the bottom surface of the carriage 20, So that the pallet on which the object is loaded can be lifted and lowered according to the ascending and descending movement of the carriage 20. The elevated pallet for loading the object is supported by the girder 90, Or by the movement of the trolley 70, into one of the tiled loading spaces of the loading rack 50.

Hereinafter, the operation and effect of the present invention will be described.

In the case where stacking racks 50 having checkered stacking spaces are spaced apart in the lateral and longitudinal directions and the gaps between the stacking racks 50 form corridors in the lateral and longitudinal directions, 10-2 between the corridors by the movement of one or more of the trolleys 90 and 90.

When the stacker crane having the vertical lift device according to the embodiment of the present invention reaches the target position, the carriage 20 is lowered to extend the master 10-2 from the master 10-1. When the master 10-2 is completely extended from the master 10-1, the pallet fork 40 is used to move the pallet for carrying articles from the pallet fork 40 to the pallet 50 of the loading rack 50 by the movement of the girder 90 or the trolley 70. [ To the desired loading space among the loading spaces of the load space.

The master 10-2 is retracted into the master 10-1 and the pallet fork 40 is used to fasten the pallet to the girder 90 or the trolley 70, To the loading space at a higher position than the loading space. By repeating this process, it is possible to load all the goods pallets in the checkerboard loading spaces of the loading rack 50.

As described above, when the pallet is completely loaded, the stacker crane having the vertical lift device of the present invention can be transported while the master 10-2 is retracted into the master 10-1, It is possible to secure an effect of reducing the shaking of the master.

9 is a top view of a type 1 or 2 warehouse in which a stacker crane according to another embodiment is provided with a plurality of robot arms which are connected to each other by joints and can vertically ascend and descend in a joint motion manner. FIGS. 10A and 10B are views 11 is a front view and a side view of a stacker crane according to another embodiment having a robot arm installed in a warehouse of the present invention. And the pallet loaded in the loading space is to be delivered.

In the embodiment shown in Figs. 9 to 11, a plurality of robot arms 10-1 ', 10-2', 10-1 ', 10-1' 10-2 "are used and the carriage 20 is mounted on the robot arm on the lowermost side and the projection 10-1b is not shown, the pallet rack row position sensor 51 and the pallet rack lateral position sensor 52, 1 to 8, except that it is provided with the second embodiment of the present invention.

Figure 11 shows a carriage 20 in which a robot arm (e.g., 10-1 ', 10-2'; 10-1 ", 10-2"), similar to the embodiment of Figures 1-8, The pallet fork 30 ', 30 "for raising and lowering the pallet 40, which is mounted on the robot arm at the lowest position among the pallets 40 and loaded with the article, can be taken in and out of the loading space in the loading racks 50', 50" The carriage 20 is a rotatable carriage that is rotatable about a vertical axis. The shape of the carriage 20 is a rectangle when viewed from the top, but the present invention is not limited thereto. The carriage 20 may have various shapes such as a square, .

9, a pallet rack thermal position sensor 51 and a pallet rack lateral position sensor 52 are shown. These pallet rack thermal position sensors 51 and pallet rack lateral position sensors 52 Pallet stacking of stacker cranes including trolleys 70 ', 70 "and masters 10-1', 10-2 '; 10-1", 10-2 "connected to the trolleys 70', 70" The exact position between the racks can be grasped. The stacker crane according to the present embodiment is capable of loading and unloading the pallet at the precise position of the pallet stacking racks 50 'and 50 " And the pallet rack lateral position sensor 52 can be installed in the embodiment of Figures 1 to 8. Here, the pallet rack lateral position sensor 52 is provided between the master top plate 10-1a and the master 10-1 Or the robot arm 10-1 ', 10-1' '. However, the present invention is not limited to this, and if the position of the pallet rack of the present invention in the lateral and the longitudinal direction of the pallet rack can be grasped, Lt; / RTI > may be installed in any of the components of FIG.

9 to 11, trolley clamps 80 'and 80 " are provided between the lower ends of the trolleys 70' and 70 " on both sides and the master upper plate 10-1a. 10-2 '; 10-1 ", 10-2 "connected to the lower surface of the master top plate 10-1a connected to the trolley via the upper and lower arms 80 and 80 & And is performed by joint motion of a plurality of robot arms. For example, if the robot arms are folded together by joint movement, the stacker crane of the present invention will relatively rise from the ground, and if the folding is small, the stacker crane of the present invention will descend relatively toward the ground. When the carriage 20 is positioned at a desired position in the vertical direction by the joint motion of the robot arms, the pallet forks 30 'and 30' 'in the carriage 20 are put in and out of the pallet stacking racks 50' and 50 ' And operation effects are the same as in Figs.

 While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. .

10-1, 10-2; 10-1 ', 10-2'; 10-1 ", 10-2 ": master
10a: joint 10-1a: master upper plate
10-1b: protruding portion 10-1c:
20: carriage 30, 30 ', 30 ": pallet fork
40: pallet 50: loading rack
60, 60 ', 60 ": crane hook 70, 70', 70": trolley
80, 80 ', 80 ": Trolley clamp 90, 90', 90": Girder

Claims (7)

Girders (90, 90 ', 90 ") mounted on rails provided on both upper inner side projections of the warehouse frame and capable of moving in the X axis;
A trolley (70, 70 ', 70) capable of moving on the girders (90, 90', 90 ") in the Y-axis direction perpendicular to the X-axis on the same horizontal plane;
Trolley clamps (80, 80 ', 80 ") connected to the lower ends of both sides of the trolleys (70, 70', 70);
A vertical elevating device connected to the lower end of the trolley clamps 80, 80 ', 80 ";
The pallet forks 30, 30 ', 30 "for loading and unloading the pallet 40 mounted on the vertical lifting and lowering apparatus in the loading space of the pallet loading racks 50, 50', 50" And a carriage (20) including a plurality of sensors for a safety device, a plurality of camera vision systems, and a gyro sensor for sensing an angle with the ground,
When the vertical lift device is fully retracted, the lower end of the vertical lift device and the carriage 20 are spaced apart from the upper ends of the pallet stacking racks 50, 50 ', 50 "
The carriage 20 is a rotatable carriage that is rotatable about a vertical central axis;
The trolley clamps 80, 80 ', and 80 "receive angle information from the gyro sensor and the ground surface of the carriage 20 to maintain the master top plate 10-1a horizontally, ≪ / RTI >
The vertical lift device includes:
The master upper plate 10-1a has a hook portion 10-1c projecting upward from the upper surface thereof and is connected to the lower surface of the master upper plate 10-1a. A crane hook 60 connected to the lower side of the trolley 70 is hooked and a lower end of both sides of the trolley 70 and the upper end of the master upper plate 10-1a are connected by the trolley clamp 80, (10-1, 10-2)
The multi-stage masters 10-1 and 10-2 can be vertically stretched and telescoped,
Each master of the multi-stage master has a protrusion 10-1b projecting to a position aligned with the right end of the carriage 20,
Characterized in that the master top plate (10-1a) and the master (10-1) and the protrusions have a "C" shape when the multi-stage master is retracted so that the pallet fork and pallet Stacker crane with lift. delete delete delete The method according to claim 1,
The vertical lift device is a plurality of robot arms 10-1 ', 10-2', 10-1 ', 10-2''that are connected to each other by a joint 10a and can vertically ascend and descend in a joint motion manner And a vertical lift device for lifting the stacker crane. 6. The method of claim 5,
Characterized in that the carriage (20) is provided on the lowermost robot arm among the plurality of robot arms (10-1 ', 10-2'; 10-1 ", 10-2" crane. The method according to claim 1,
Further comprising a plurality of pallet rack column position sensors (51) provided on the girders (90, 90 ', 90 ") and a plurality of pallet rack lateral position sensors (52) provided on the rails, wherein the pallet rack column position sensor 51) and the pallet rack transverse position sensor (52), the carriage (20) can be rotated after the vertical lift device is extended to a desired position. The vertical lift device crane.

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