KR20150032412A - a stacker crane - Google Patents

a stacker crane Download PDF

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Publication number
KR20150032412A
KR20150032412A KR20130111639A KR20130111639A KR20150032412A KR 20150032412 A KR20150032412 A KR 20150032412A KR 20130111639 A KR20130111639 A KR 20130111639A KR 20130111639 A KR20130111639 A KR 20130111639A KR 20150032412 A KR20150032412 A KR 20150032412A
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KR
South Korea
Prior art keywords
stacker crane
rail
wire rope
master
traveling
Prior art date
Application number
KR20130111639A
Other languages
Korean (ko)
Inventor
임정규
Original Assignee
현대로템 주식회사
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Publication date
Application filed by 현대로템 주식회사 filed Critical 현대로템 주식회사
Priority to KR20130111639A priority Critical patent/KR20150032412A/en
Publication of KR20150032412A publication Critical patent/KR20150032412A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The present invention relates to a stacker crane, and more particularly, to a stacker crane, in which a master is formed to be raised and lowered in a multi-stage so as to adjust the height thereof, so that even if an upper structure protrudes from an automatic warehouse, And to a stacker crane capable of achieving loading and unloading. The construction of the stacker crane includes: a traveling section that moves in association with a running rail installed on the floor; A main master installed in the traveling unit and having a wiper drive unit for widening and lowering the wiper blade; An up / down master connected to the main master to move up and down so as to adjust the height so as to prevent interference with the upper structure; And a control unit.

Description

A stacker crane

The present invention relates to a stacker crane, and more particularly, to a stacker crane, in which a master is formed to be raised and lowered in a multi-stage so as to adjust the height thereof, so that even if an upper structure protrudes from an automatic warehouse, And to a stacker crane capable of achieving loading and unloading.

Generally, an automatic warehouse is a rack for storing products, parts, etc., which is a shelf for arranging, storing, and storing articles, and is especially used for three-dimensional use in a computer-controlled warehouse. , A stacker crane for stocking or shipping parts, etc. is used.

That is, such a stacker crane is one of the components of the automatic warehouse, and is composed of a control device (sequence and computer) for controlling the stacker crane and receives goods and parts from the loading car according to a schedule command from the computer, Rack, or when a departure order is issued in accordance with a schedule command from a computer, the product, part, etc., are extracted from the designated rack and delivered to a delivery truck.

However, the conventional stacker crane can be moved in the X-axis, Y-axis, and Z-axis directions as well as being rotatable at the same time, as can be seen in Patent Registration No. 10-0661098 (registered on Dec. 18, 2006) However, since the guide rail for moving in the Y axis direction is installed near the ceiling of the automatic warehouse while maintaining the vertical state of the master, the stacker grains can be placed on the pillars of the building or the like There is a problem in that the system for dividing and installing the stacker crane should be applied, so that the reduction in the number of stacked products and the increase in cost can not be suppressed.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a stacker crane capable of preventing the stacker crane from interfering with a pillar or protrusion of an automatic warehouse The present invention provides a stacker crane capable of quickly and easily loading and unloading products, parts, and the like without dividing the stacker crane.

In order to achieve the above object, according to the present invention, there is provided a stacker crane comprising: a traveling part coupled to a traveling rail installed on a floor; A main master installed in the traveling unit and having a wiper drive unit for widening and lowering the wiper blade; An up / down master connected to the main master to move up and down so as to adjust the height so as to prevent interference with the upper structure; And a control unit.

The traveling portion includes a guide roller formed on both sides of the intermediate portion as spacing on both sides of the guide portion, a slider having rolling rollers rolling at both sides along the side surface of the rail, a motor serving as a power source, And driving means comprising a running roller rolling on an upper surface of the rail.

The main master is characterized by comprising a pillar rail in the form of a profile of aluminum, a support frame in which the upper part supports the upper part of the pillar rail to form a right vertical state, and a lifting and lowering driving part .

The elevating and lowering master includes an elevating rail in the form of an aluminum profile, a first elevating body coupled to both outer sides of the elevating rail and equipped with a moving roller to move up and down, And a second lifting body coupled to inner side surfaces of both sides and equipped with a moving roller for lifting and lowering operation.

The up-and-down driving unit is composed of a motor serving as a power source for forward and reverse rotations, and a wire rope receiving wheel for winding a first wire rope coupled to the motor so as to be orthogonal to the axis of the motor to support the wire rope.

And the pillar rails are installed on the rack side to maintain the vertical state of the stacker crane.

The traveling roller is made of urethane nylon so as to prevent noise generation during rolling operation and to help smooth and smooth movement.

And the first and second lifting bodies are raised and lowered in multiple stages.

As described above, according to the present invention, it is possible to smoothly and promptly achieve the arrival or departure of a part or product with a single stacker crane without interference even when the column or upper structure of the area where the automatic warehouse is installed is not interfered .

In addition, since the present invention does not require any improvement work on the upper structure, the stacker crane can be applied to an automatic warehouse of various conditions and environments.

1 is a view showing a partially disassembled state of a stacker crane according to the present invention.
Fig. 2 is a view showing the coupling state of Fig. 1. Fig.
3 is a view showing a state of raising and lowering the ascending and descending masters 300 of FIG.
4 is a schematic view illustrating a frontal state of a stacker crane according to a preferred embodiment of the present invention.
5 is a schematic view of a side view of a stacker crane according to a preferred embodiment of the present invention.
FIG. 6 is a schematic plan view of a stacker crane according to a preferred embodiment of the present invention. FIG.
FIG. 7 is a schematic view illustrating a use state of a stacker crane according to a preferred embodiment of the present invention installed in a rack.
FIG. 8 is a schematic view showing a state where a stacker crane according to a preferred embodiment of the present invention loads a product or part while avoiding an interference part. FIG.

Hereinafter, a preferred embodiment of a stacker crane according to the present invention will be described in more detail with reference to the accompanying drawings.

Hereinafter, the same reference numerals will be used to denote the same or similar elements in all of the following drawings, and repetitive descriptions will be omitted. The following terms are defined in consideration of the functions of the present invention. It should be interpreted as meaning.

As shown in FIGS. 1 to 8, the present invention is roughly divided into a traveling unit 100, a main master 200, and a lifting / lowering master 300.

The driving unit 100 includes a slider 110 and a driving unit 120. The slider 110 is coupled to an upper portion of a convex driving rail 130 installed at the bottom of the automatic warehouse And reciprocates forward and backward in conjunction with the operation of the driving means (120).

The slider 110 includes a first wire rope 410 and a second wire rope 420 on both sides of the first wire rope 410 and the second wire rope 420, A pair of guide rollers 111 each having a semicircular groove 111a for supporting the guide rails 410 are provided at both ends of the rails 130. At both ends of the rails 130, More than one pair of rolling rollers 112 made of, for example, urethane nylon (MC Nylone) is formed to facilitate the movement.

A pair of brackets 113 are provided between the guide roller 111 and the rolling roller 112 so as to firmly mount the main master 200 on the upper surface of the slider 110 They are installed at mutually spaced intervals.

A rope receiving hole 113a for receiving the first wire rope 410 is formed at both sides of the lower portion of the bracket 113 in the width direction.

A pair of first wire rope supporting wheels 114 for receiving and supporting the first wire rope 410 at positions which are coaxial with the rope receiving holes 113a are provided behind the respective brackets 113 .

The driving unit 120 includes a motor 121 serving as a power source and a traveling roller 122 connected to the shaft of the motor 121 and rolling on the upper surface of the traveling rail 130. [

The traveling roller 122 is preferably made of, for example, urethane nylon so as to prevent noise during the rolling operation and to facilitate smooth and smooth movement.

The driving means 120 having such a structure may be provided with one end of the slider 110 or two end portions thereof.

However, it is preferable to install only one on either side, which is more effective for cost reduction.

The combination of the motor 121 and the traveling roller 122 may drive the traveling roller 122 by positioning the motor 121 in the horizontal direction. However, in order to prevent interference with surrounding objects and to reduce the volume It is preferable that the motor 121 is vertically positioned so as to be able to transmit power in a direction perpendicular to the axis of the motor 121. [

For example, a single bevel gear (not shown) may be coupled to the shaft of the motor 121, and another one coupled to the bevel gear The driving roller 122 is engaged with the shaft of the bevel gear of the motor 121 so as to perform a rolling operation in conjunction with the rotation of the motor 121. [

That is, when the motor 121 is driven to rotate forward or reverse, the rotational power of the motor 121 is transmitted to the traveling roller 122, which is coupled in a direction orthogonal to the bevel gear, The slider 110 reciprocates along the traveling rail 130 because the slider 110 travels on the upper surface of the rail 130.

The main master 200 includes a pillar rail 210 having a profile shape of aluminum which is firmly coupled to the bracket 113 through welding, fasteners such as bolts and nuts, A support frame 220 installed through the bracket 221 to support the upper portion of the pillar rail 210 and to be vertically in a proper vertical state and a support frame 220 coupled to a middle portion of the pillar support 210 by a fastener, And an up and down driving unit 230 for moving the up and down masters 300 up and down.

Here, the pillar rails 210 are preferably provided on the rack side to maintain the vertical state of the stacker crane.

In other words, by providing the pillar rails 210 to be supported on the side of the rack that is firmly and correctly installed, it is possible to prevent rocking during movement of the stacker crane, and to maintain a stable vertical and horizontal state while achieving robust movement.

A pair of second wire rope support wheels 222 for supporting the first wire rope 410 are formed on both sides of the upper portion of the main master 200.

The up / down driving part 230 coils the first wire rope 410, which is coupled to the motor 231 so as to be orthogonal to the axis of the motor 231, as a power source, And a wire rope receiving wheel 232 for supporting the unwinding and winding.

Here, the motor 231 and the wire rope receiving wheel 232 are preferably coupled through gears, for example, used to transmit motion between two axes intersecting each other, but are not limited thereto and may transmit power in an orthogonal direction Various configurations can be adopted.

The ascending and descending master 300 includes an ascending and descending rail 310 in the form of an aluminum profile and a plurality of moving rollers 321 and 322 coupled to both outer sides of the ascending and descending rail 310, A second lifting body 330 having a plurality of moving rollers 331 mounted on both inner side surfaces of the lifting rail 310 to move up and down, ).

A third wire rope support wheel 312 for supporting the second wire rope 420 through a side surface of the cover frame 311 facing the diagonally opposite sides of the lift frame 310, .

The wire rope 400 includes a first wire rope 410 and a second wire rope 420.

One end of the first wire rope 410 is fixed to the first elevator 320 and the other end of the first wire rope 410 is connected to the second wire rope support wheel 222 and the wire rope support wheel 232 And is supported on the wire rope support wheel 114.

Here, a weight (not shown) is formed at one end of the first wire rope 410.

Accordingly, when the motor 231 of the up / down driving part 230 is rotated forward or backward, the first wire rope 410 is moved up and down according to the winding and unloading operations, The first ascending / descending member 320 of the first ascending / descending member 320 ascends and descends.

One end of the second wire rope 420 is fixed through the bracket 113 and the other end of the second wire rope 420 is coupled to the second lifting body 330.

The second wire rope 410 has a weight (not shown) at one end coupled to the second lifting body 330.

Accordingly, when the one end of the second wire rope 420 coupled to the second lifting body 330 is pulled or loosened, the second lifting body 330 is moved up and down.

Therefore, the first lifting body 320 and the second lifting body 330 can be raised and lowered in multiple stages.

The first elevator 320 and the second elevator 330 can be configured to be operated to move up and down or to move up and down as required.

The operation state of the stacker crane of the present invention having the above-described structure will now be described.

First, the first elevator 320 and the second elevator 330 of the stacker crane 1000 are lowered to load products or parts.

Next, the motor 121 forming the driving means 120 of the traveling unit 100 is rotated forward or reverse to move the slider 110 in order to move the product or the part to be loaded.

After moving to the position where the product or part is to be mounted, the motor 231 of the lifting and lowering driving unit 230 is rotated forward or reverse to rotate or unwind the first wire rope 410, The first lifting body 320 or the second lifting body 330 of the lifting and lowering master 300 is lifted up to a predetermined height.

Next, after lifting up to a predetermined height, the product or part is loaded in the rack 500 of the cargo storage.

The first wire rope 410 is wound or unwound by rotating the motor 121 of the driving unit 230 in the forward or reverse direction to move the first wire rope 410 or the first wire rope 410 to the first lift- The two lifting and lowering body 330 is lowered.

Then, the motor 121 of the traveling unit 100 is rotated forward or reverse to move the slider 110 to move to a place where other products or parts to be loaded are located.

In this process, when a structure protrudes from the upper side of the cargo hold and interference with the upper part of the stacker crane 1000 occurs, the first and second lifting bodies 320 and 330 are lowered to avoid interference The first and second lifting bodies 320 and 330 can be lifted up in a multistage manner so that the product or parts can be loaded or unloaded to the uppermost layer of the rack.

Accordingly, the operator repeatedly repeats the above operation, thereby quickly and easily avoiding the interference portion generated by protruding the structure or the like with only one stacker crane without dividing the stacker crane, and quickly and easily loading and unloading the product or parts It can be done.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. And will be apparent to those skilled in the art to which the invention pertains.

100: running part 110: slider
111: Guide roller 112: Roller roller
113: Bracket 113a: Rope receiving hole
114: first wire rope support wheel 120: drive means
121: Motor 122: Driving roller
130: Rail 200: Main Master
210: pillar rail 220: support frame
221: Bracket 222: Second wire rope support wheel
230: W / D drive unit 231: Motor
232: Wire rope receiving wheel 300: W / R master
310: lift rail 311: cover frame
312: third wire rope supporting wheel 320: first elevator body
321: Moving roller 330: Second elevator
331: Moving roller 400: Wire rope
410: first wire rope 420: second wire rope
500: rack 510:
1000: stacker crane

Claims (8)

In a stacker crane,
A running portion that moves in association with a running rail installed on the floor;
A main master installed in the traveling unit and having a wiper drive unit for widening and lowering the wiper blade;
An up / down master connected to the main master to move up and down so as to adjust the height so as to prevent interference with the upper structure; And the stacker crane. The method according to claim 1,
The traveling unit includes a guide roller formed on both sides of the intermediate portion as spaced from each other, a slider having rolling rollers rolling at both sides along the side surface of the rail, a motor serving as a power source, And driving means comprising a traveling roller rolling on an upper surface of the rail. The method according to claim 1,
Wherein the main master comprises a pillar rail made of an aluminum profile, a support frame having an upper portion supporting the upper portion of the pillar rail to form a right vertical state, and an up / down driving portion Stacker crane. The method according to claim 1,
The elevating and lowering master includes an elevating rail in the form of an aluminum profile, a first elevating body coupled to both outer sides of the elevating rail and equipped with a moving roller to move up and down, And a second lifting body which is coupled to both inner side surfaces and is equipped with a moving roller so as to move up and down. The method according to claim 1,
Wherein the lifting and lowering drive portion comprises a motor serving as a power source for forward and reverse rotations and a wire rope receiving wheel for winding a first wire rope coupled to the motor so as to be orthogonal to the axis of the motor, . The method according to claim 1,
And the traveling rail is installed on the rack side to maintain the vertical state of the stacker crane. 3. The method of claim 2,
Wherein the traveling roller is made of urethane nylon so as to prevent generation of noise during rolling operation and to facilitate smooth and smooth movement. 5. The method of claim 4,
Wherein the first elevator and the second elevator ascend and descend in multiple stages.
KR20130111639A 2013-09-17 2013-09-17 a stacker crane KR20150032412A (en)

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KR20130111639A KR20150032412A (en) 2013-09-17 2013-09-17 a stacker crane

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106586903A (en) * 2017-01-18 2017-04-26 太原市奥特莱物流科技有限公司 Double-drive counterweight high-speed stacking machine
CN107572450A (en) * 2017-09-25 2018-01-12 沈阳蓝英工业自动化装备股份有限公司 A kind of high-speed buck stacker for half steel fetus storehouse
CN112061660A (en) * 2020-10-10 2020-12-11 区碧莲 Goods location of intelligent storage tunnel stacker prevents weighing down and takes off device
KR20230015176A (en) * 2021-07-22 2023-01-31 한양이엔지 주식회사 Stacker Crane and Automated Warehouse System
CN115781703A (en) * 2022-10-31 2023-03-14 超聚变数字技术有限公司 Operation and maintenance robot
KR20230039443A (en) 2021-09-14 2023-03-21 주식회사 엘지에너지솔루션 Stopper apparatus for crane
CN117800260A (en) * 2024-03-01 2024-04-02 如东同晟工业自动化有限公司 Stacking machine

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106586903A (en) * 2017-01-18 2017-04-26 太原市奥特莱物流科技有限公司 Double-drive counterweight high-speed stacking machine
CN107572450A (en) * 2017-09-25 2018-01-12 沈阳蓝英工业自动化装备股份有限公司 A kind of high-speed buck stacker for half steel fetus storehouse
CN112061660A (en) * 2020-10-10 2020-12-11 区碧莲 Goods location of intelligent storage tunnel stacker prevents weighing down and takes off device
KR20230015176A (en) * 2021-07-22 2023-01-31 한양이엔지 주식회사 Stacker Crane and Automated Warehouse System
KR20230039443A (en) 2021-09-14 2023-03-21 주식회사 엘지에너지솔루션 Stopper apparatus for crane
CN115781703A (en) * 2022-10-31 2023-03-14 超聚变数字技术有限公司 Operation and maintenance robot
WO2024093550A1 (en) * 2022-10-31 2024-05-10 超聚变数字技术有限公司 Operation and maintenance robot
CN117800260A (en) * 2024-03-01 2024-04-02 如东同晟工业自动化有限公司 Stacking machine
CN117800260B (en) * 2024-03-01 2024-05-03 如东同晟工业自动化有限公司 Stacking machine

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