JPH03177205A - Warehouse and carrying in/out device with suspended stacker crane - Google Patents

Abstract

PURPOSE:To effectively use a floor area and the like by running a stacker crane on a running rail between a shelf and carrying in/out part, mounting an elevator on the stacker crane, and mounting both a cargo-holding means and a holding carriage which is provided with a traveling means to the shelf, on the elevator. CONSTITUTION:When a segment carrying-in truck 46 enters a segment carrying-in part 45, a traveling carriage 9 of a stacker crane 8 is run in the direction of an arrow-mark A and stopped over the carrying-in part 45. Next, an elevator 11 is lowered, so that the elevator 11 is held to a tongs carriage 19 by means of a holding-arm 29 of the tongs carriage 19. After this, the tongs carriage 19 is moved to a housing part 42 and stopped therein, taking advantage of elevating motion of the elevator 11 and traveling motion of the traveling carriage 9 in the direction of B. Next, the crane-side rail is brought in line with the shelf-side rail, and the tongs carriage 19 is moved to the shelf side and shifted over a pedestal 43 of the shelf. In the case of carrying out, the above procedure is reversed.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a warehouse facility having a hanging stacker crane and a loading facility for loading articles into a shaft using the stacker crane.

Conventional technology Conventionally, stacker cranes installed in automated warehouses have a post that is guided by the ceiling rail at the top end mounted on a traveling machine base that can freely travel along floor rails, and can move up and down along this post. It consists of an elevating platform installed on the shelf with a fork that can move in and out of the shelf.

Furthermore, when transporting goods into a deep hole, for example, when transporting primary lining segments into a tunnel excavated by the shield method, conventionally, as shown in Fig. 8, a truck 71 is used at the construction site. After loading the segments 72 carried in by a loading machine such as a forklift 73 onto a skid or other fixed receiver 74,
If necessary, the receiver is passed to a crane 76 installed in the starting shaft 75 by a loading machine, and the segment 72 suspended by the crane 76 and lowered inside the starting shaft 75 can freely run through the tunnel 77 at the lower limit position. It is placed on a segment trolley 78.

79 is a shield excavator, and 80 is a segment assembly device.

Problems to be Solved by the Invention In the case of the former type of warehouse equipment, floor rails cannot be laid when there are structures on the floor that cross the travel path of the stacker crane, or when equipment and equipment are on the floor. In addition, it was necessary to take a detour around the floor rails and to design the layout of equipment in accordance with the travel route of the stacker crane, making it difficult to effectively utilize the floor space within the warehouse.

In addition, in the case of the latter loading equipment, a large number of mud feeding and drainage equipment, hydraulic units, and control equipment are installed on the ground near the starting shaft 75, and in addition, a forklift 73 for transporting the segment 72 is installed. It required a driving route of 1,000 yen, and an extremely large area of land.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems and provide a warehouse facility and a loading section facility having a hanging stacker crane that can effectively utilize the floor surface in a warehouse and the ground surface on which equipment is installed.

Means for Solving the Problems In order to solve the above-mentioned problems, a warehouse facility having a hanging stacker crane according to a first aspect of the present invention has the following features: At the same time, a shelf is installed on the lower side of the running rail, and a running frame for a stacker crane that is movable along the running rail is provided, and an elevating body that can be raised and lowered via a vertical guide post is installed on this running frame. A crane side rail is provided on this elevating body in a horizontal direction perpendicular to the conveyance route, and this crane side rail extends across the crane side rail and a shelf side rail arranged on a shelf so as to be continuous with the crane side rail. A holding cart that can move in and out is provided, and the holding cart is provided with a plurality of holding arms capable of holding a load.

In addition, the loading section equipment having the hanging stacker crane of the second invention has a running rail arranged at a predetermined height along the transport route passing through the load loading section and the upper part of the shaft, and a lower side of the running rail. A shelf is installed in the section, and a running frame for the stacker crane that can move freely along the running rail is installed, and a hanging body can be connected to the lower end of the vertical guide post that is guided by the running frame so as to be able to move up and down. In addition to providing
A winch for raising and lowering the suspended body via a cable is provided on the traveling frame, a crane side rail is provided on the suspended body in a horizontal direction perpendicular to the conveyance route, and the crane side rail is provided with: 1. A holding cart is provided that can move in and out across the shelf side rail I, which is arranged on the shelf so that it can be connected to the lane side rail and the crane side rail, and a plurality of holding arms that can hold loads are provided on this holding cart. It is something that

Operation In the structure of the first invention, the warehousing operation is carried out by running the running frame of the stacker crane along the running rail, stopping above the carry-in mountain, lowering the elevating body, and holding the load with the holding arm of the holding cart. let

Then, the elevating body is raised and the traveling frame is moved to stop at a position where the crane side rail of the elevating body is continuous with the shelf side rail in front of the shelf. Then, after moving the holding cart and transferring it from the crane side rail to the shelf side rail,
The load is released from the holding arm and stored on the shelf, and the holding cart is returned from the shelf side rail to the crane side rail. The shipping process is performed in the reverse order of the warehousing process. Therefore, even if there are obstacles such as structures or equipment below the transport path, the load can be transported. In addition, since loads are loaded and unloaded onto the shelves by moving the holding cart to the shelf side rail, no cantilever load is applied to the elevating body of the stacker crane, and even heavy loads can be transferred smoothly.

In the configuration of the second invention, when carrying a load from the carry-in mountain part to the shelf, the running frame of the stacker crane runs along the running rail, stops above the carry-in part, and lowers the hanging body to hold it. The load is held by the holding arm of the cart. Then, the suspended body is raised and the traveling frame is run,
In front of the shelf, the crane side rail of the hanging body stops at a position where it is continuous with the shelf side rail. After the holding cart is moved and transferred from the crane side rail to the shelf side rail, the load is released from the holding arm and stored on the shelf, and the holding cart is returned from the shelf side rail to the crane side rail.

This allows the cargo to be temporarily stocked on the shelf. When transporting items from the shelf to the loading area, perform the procedure in reverse order.

When transporting loads from the shelves to the shaft, the stacker crane takes out the loads from the shelves in the reverse order to the above, and then the traveling platform is moved to the upper part of the shaft. After the hanging body is lowered to the lower limit position of the guide post, the guide post and the hanging body are separated, and the rope of the winch is let out to lower the hanging body into the shaft. When the bottom of the shaft is reached, the holding arm is released to unload the load, and the hanging body is raised and connected to the guide post. When transporting cargo from the shaft to the shelves, perform the procedure in reverse order. It is also possible to carry unloaded cargo in and out between the other two loading mountain sections and the shaft. Therefore, since the hanging body is connected to the guide post when loading and unloading the load from the shelf, the hanging body can be accurately positioned facing the shelf side rail. Furthermore, since the holding cart is transferred from the crane side rail to the shelf side rail, no cantilever load is applied to the crane side, and even heavy loads can be transferred smoothly.

Furthermore, when carrying in and out of the shaft, the guide post and the hanging body are separated and only the hanging body is lowered, making it easy to handle cargo at high heights. Furthermore, cargo handling can be carried out between the loading pile, the shelf and the shaft using a single stacker crane, resulting in lower costs and shorter cycle times, and the effective use of the ground surface (floor surface) below the transport route. .

EXAMPLE Hereinafter, an example of the segment loading equipment according to the second invention will be described based on FIGS. 1 to 5.

In Fig. 1, l is a segment conveyance route passing above the entrance 3a of the starting shaft 3 of the tunnel 2 to be excavated by the shield method, and along this segment conveyance route l, a pair of left and right running rails 4 are connected to a support 5 and a rail, respectively. Support material 6
They are arranged at a predetermined height above the ground 7 and at regular intervals. A self-propelled traveling frame 9 of a stacker crane 8 is disposed on the traveling rail 4 so as to be able to freely travel in the directions of arrows A and B via traveling wheels. The traveling frame 9 is provided with a traveling drive unit @10 that drives the traveling wheels, and a winch 13 that drives an elevating body 11 disposed below the traveling frame 9 up and down via a wire rope 12.

As shown in FIGS. 2 and 5, the elevating body 11 is attached to an elevating frame 15 having four guide posts 14 erected at the four corners, which are guided by the traveling frame 9 so as to be able to rise and fall freely, and detached from the elevating frame 15. A hanging body 17 that can be fitted and fixed and to which the wire rope 12 is connected via a sheave 16; The tongs cart (holding cart) 21 which can be moved in and out at will is provided.

The elevating frame 15 has a rectangular frame shape in plan view, and a tapered surface 15a is formed on the lower surface of the upper surface of the elevating frame 15, and the horizontally opposing guide posts 14 have horizontal bars spaced apart at regular intervals on the upper surface of the elevating frame 15. 20 are connected to each other.

A rectangular fitting groove 22 into which the lifting frame 15 can fit is formed on the upper surface of the hanging body 17, and inside the fitting groove 22, a groove is formed along the upper surface of the lifting frame 15 fitted in the fitting groove 22. A stopper block 2 that projects and fits into the gate-shaped receiving frame 21 of the hanging body 17
A fixing device 23 having 3a is provided. Furthermore, crane side rails 24 each having a U-shaped cross section and having opening surfaces facing each other are attached to both sides of the recess 18 of the hanging body 17 . A protrusion 25 that fits loosely into the recess l8 is formed on the upper surface of the tongs truck 19, and on both sides of the protrusion 25 there are flanged egress wheels 26A and 26B that are guided by the crane side rail 24.
will be placed. One of the ejecting and retracting wheels 26A is operatively connected to an egress and retracting drive motor 27 disposed within the convex portion 25 via a reduction gear and gears, and is moved in and out in the direction of arrow C9D. At the four corners of the tongs truck 19, holding arms 29 are attached to a holding position (a) vertical to the directions of arrows E and F and a horizontal standby position gi (0) via rotation shafts 28 that extend in the direction in which the tongs truck 19 moves in and out. The rotating IpH 128 is driven by a rotating device (not shown) having an electric motor disposed within the tongs truck 19. As shown in FIG. 4, the holding arm 29 has a proximal arm 29a fixed to the rotating shaft 28, and a distal arm 29b slidably fitted into the proximal arm 29a. An operating rod 30a of an electric telescopic cylinder 30 mounted within the arm 29a is connected to the tip arm 29b, and the holding arm 29 is extended and contracted in the directions of arrows G and H.

Moreover, holding claws 32 capable of supporting the segment 31 from below are provided at the tips of the two holding arms. That is, the base end of the holding claw 32 is rotatably attached to the support bracket 33 at the tip of the tip arm 29b via a support pin 34, and the main body 35a is connected to the tip arm 29b via an electric opening/closing mechanism. The operating rod 35b of the cylinder 35 is
The bottle is connected to the opening/closing bracket 36 of No. 2 and held in a horizontal gripping position bl! vq and in the vertical release position) between arrows 1. It is configured to be rotatable in the J direction. As shown in FIG. 3, the driving source of each of the #A moving devices 23, 27, 30, and 35 is a primary power supply cord 37 that is fed out or wound up from the traveling frame 9 in response to the ascent and descent of the elevating body 11. Hanging body 1
7 is connected to the cord reel 38, and this cord reel 3
8, a secondary power supply cord 39 which can be freely fed out and wound up is connected to the tongs cart 19 via a guide reel 40 and supplied.

Reference numeral 41 denotes shelves disposed below the traveling rail 4 on both sides of the segment transport path l, which are formed in a framework shape, and each storage section 42 has a segment pedestal 43 and a shelf facing the crane side rail 24 of the hanging body 17. A pair of left and right shelf side rails 44 that can be connected continuously
and will be provided.

A segment carry-in section 45 is formed below one end of the segment conveyance path 1, and as shown in FIG. It can then be transported to the shelf 41 side. 47 is an inspection workbench.

As shown in FIG. 6, it is also possible to provide a receiving work platform 48 which extends to the side of the segment loading section 45 and consists of a chain conveyor to receive the segments 31 from the segment loading trucks 46 positioned in parallel.

In the starting shaft 3 at the other end of the segment conveyance path l, there is a first
As shown in FIG. 5, a guide frame 49 is disposed across the vertical direction I, and four cell guides 50 for guiding the four corners of the hanging body 17 are vertically disposed within the guide frame 49. . This cell guide 50 is formed into an angled shape, and an insertion guide portion 50a that extends outward I is provided at its upper end. Below this cell guide 50, there is a segment truck 5 that can freely run on a conveyor rail 51 extending inside the tunnel 2.
2) is placed.

Next, the operation of this segment loading device will be explained.

When the segment loading truck 46 enters the segment loading section 45, the traveling platform 9 of the stacker crane 8 is driven in the direction of the arrow and stopped on the segment loading section 45.
The winch 13 is driven to lower the elevating body 11 onto the bed of the truck 46, and the holding arm 29 of the tongs truck 19 is rotated in the direction of arrow F from the standby position (O to the holding position (A)), and the holding claw 32 from the release position) to the grasping position (
c) Rotate in the direction of arrow J to hold the segment 31. Then, the elevating body 11 is raised to lift the segment 31 from the bed of the truck 46, and the traveling platform 9 is caused to travel in the direction of arrow B. And storage section 4 of shelf 41 to stock
2 position, winch 13 and traveling drive bag gi
o, the crane side rail 24 is positioned to face the shelf side rail 44 of the storage section 42. Then, the tongs truck 19 is transferred from the n-side rail 24 to the shelf-side rail 44, and the holding arm 29 is extended by the telescoping cylinder 30 to place the segment 31 on the segment pedestal 43. Further, the holding claw 32 is rotated in the direction of the arrow E to the release position), the holding arm 29 is shortened, and the holding arm 29 is rotated in the direction of the arrow E to the standby position (0).

Thereafter, the tongs cart 19 is moved backward in the direction of arrow C to bring out the crane side rail 24. This is repeated a plurality of times to complete the stocking work of the segment 31.

To assist in supplying the segments 31 into the tunnel 2, the stacker crane 8 takes out the segments 31 from the storage section 42 in the reverse procedure of the stocking operation, and then the traveling platform 9 is moved in the direction of arrow B to reach the starting shaft entrance 3a. Seven stopped above,
The elevating body 11 is opposed to the cell guide 50. Then, the elevating body 11 is lowered to the lower limit position by the winch 13, and the hanging body 17 is inserted into the insertion guide portion 50a of the cell guide 50. Furthermore, the stopper block 2 of the fixing device 23
3a is retreated to release the connection between the lifting frame 15 and the hanging body 17, the wire rope 12 is further let out by the winch 13, and only the hanging body 17 is lowered along the cell guide 50 and stopped on the segment truck 52. . Then, after rotating the holding claw 32 to the release position and placing the segment 31 on the segment truck 52, the hanging body 17 is moved to the lifting frame 1.
5 to the fitting position, the fixing device 23 is pushed out, and the pub lock 23a is projected to connect and fix the elevating frame 15 and the hanging body 17. After extracting the elevating body 11 from the cell guide 5o, the holding arm 29 is rotated to the standby position (b).

According to the above embodiment, (1) segment loading truck 4;
The stocking operation from the loading platform 6 to the shelf 41 and the carrying operation from the shelf 41 to the bottom of the starting shaft 3 can be performed with one stacker crane, resulting in low cost. (2) Compared to using conventional overhead cranes and forklifts, the cargo handling line is simple, with no segment 31 transfers along the way;
Cycle time can be shortened and safety can be improved. (Since the 31-stack crane 8 is a suspended type that runs on the traveling rail 4 arranged above the ground 7, the installation ground 7 can be used effectively, and equipment can be installed below the segment transport route 1. (4) When loading the segment onto the shelf 41, the lifting frame 15 is guided by the guide post 14.
Since the work is carried out with the and hanging body 17 fixed by the fixing device 23, the positioning of the elevating body 11 can be performed accurately. (
5) When inserting the segment into the starting shaft 3, the lifting frame 15 and the hanging body 17 are separated and only the hanging body 17 is lowered, so it is easy to carry the hanging body 17 into the mine at an extremely high height. You can work safely because you are guided by the cell guide 50. (When stocking the 6J segment 31, move the tongs cart 19 to the crane side rail 24 of the hanging body 17.
Since the load is transferred from the stacker crane to the storage section 42 by moving the load onto the shelf side rail 44, a cantilever load is applied to the crane side, compared to a stacker crane that transfers the load by moving a fork or the like toward the shelf side. Therefore, the heavy segment 31 can be transferred extremely smoothly.

An embodiment of the warehouse equipment according to the first invention is shown in FIG.

This deletes the starting hole 3 in the segment loading equipment,
The stacker crane 61 and the transport path 62 are arranged inside the building, and the elevating frame 15 and hanging body 17 of the elevating body 11 are integrally formed, and the fixing device 23 is also unnecessary. The other members are configured almost the same, and the same members are given the same reference numerals and the description thereof will be omitted.

According to the above configuration, (1) structures and equipment can be installed even below the conveyance path 62, and the inside of the floor can be used effectively. (2) When transferring the load 63, lζ is the tongue truck 1
9 is moved to the shelf 41 side, no cantilever load is applied to the crane side, making it extremely suitable for loading and unloading heavy objects.

Effects of the Invention As described above, according to the warehouse equipment of the first invention, the stacker crane is guided by a traveling mount that runs on a traveling rail above the ground (floor surface) and a guide post below the traveling mount. Since a lifting body is provided, the load can be transported even if there are obstacles such as structures or equipment below the transport route.

In addition, since loads are loaded and unloaded onto the shelves by moving the holding cart to the shelf side rail, no cantilever load is applied to the elevating body of the stacker crane, and even heavy loads can be transferred smoothly.

Further, according to the loading/unloading stage @ of the second invention, loading and unloading of loads to/from the shelf is performed by connecting the hanging body to the guide post.
The hanging body can be accurately positioned with respect to the shelf, and the holding cart is transferred from the crane side rail to the shelf side rail, so no cantilever load is applied to the crane side.
Even heavy loads can be transferred smoothly. Further, when carrying the cargo into and out of the shaft, the guide post and the hanging body are separated and only the hanging body is lowered, making it easy to handle cargo at high heights. Furthermore, since a single stacker crane can perform cargo handling between the loading pile, the shelf, and the shaft, costs can be reduced, cycle time can be shortened, and the ground (floor surface) below the transport route can be used effectively.

[Brief explanation of drawings]

Figures 1 to 5 show an embodiment of the segment loading equipment according to the second invention, with Figure 1 being an overall perspective view with a portion cut away, and Figure 2 being a perspective view showing the operation of transferring to a shelf. Fig. 3 is a schematic perspective view showing the power supply cord, Fig. 4 is a partially cutaway perspective view of the holding arm, Fig. 5 is a perspective view showing loading and unloading work into the shaft, and Fig. 6 is a segment loading section. FIG. 7 is a perspective view showing an embodiment of the warehouse equipment according to the first invention, and FIG. 8 shows conventional segment loading equipment.
- Traveling rail, 7... Ground, 8... Stacker crane, 9... Traveling frame, 11... Lifting body, 12... Wire robe, 13... Winch, 14... Guide post, 15 ... Lifting frame, 17... Hanging body, 19...
・Tongs trolley (holding trolley), 23...Fixed "A" position, 24...Crane side rail, 26A, 26B...
- Egress/egress wheel, 29... Holding arm, 31... Segment, 32... Holding claw, 41... Shelf, 42... Storage section, 43... Segment pedestal, 44... Shelf side rail, 45...Segment loading section, 49...Guide frame, 50...Cell guide, 50a...Insertion guide section,
52...Segment truck, 61...Stacker crane, 62...Transport route, 63...Load.

Claims (1)

[Scope of Claims] 1. A traveling rail is arranged at a predetermined height along a conveyance route passing through the loading/unloading section of the load, and a shelf is installed on the lower side of the traveling rail, and the vehicle moves along the traveling rail. A freely movable stacker crane traveling frame is provided, an elevating body that can be raised and lowered via vertical guide posts is provided on this traveling frame, a crane side rail is provided on this elevating body in a horizontal direction perpendicular to the conveyance path, and this crane A holding cart is provided on the side rail and is movable in and out across the crane side rail and the shelf side rail arranged on the shelf so as to be continuous with the crane side rail, and this holding cart is equipped with a plurality of holding arms capable of holding loads. Warehouse equipment equipped with a hanging stacker crane. 2. A stacker crane is installed at a predetermined height along the transport path that passes through the loading area and above the shaft, and a shelf is installed on the lower side of the rail, allowing the stacker crane to move freely along the rail. A traveling frame is provided, and a hanging body is provided at the lower end of a vertical guide post that is guided by the traveling frame so as to be able to rise and fall freely, and a hanging body can be connected and separated, and a winch is installed on the traveling frame to raise and lower the hanging body via a cable. A crane side rail is provided on the hanging body in a horizontal direction orthogonal to the conveyance route, and a crane side rail is provided on the crane side rail, and the crane side rail is moved in and out across the shelf side rail arranged on the shelf so as to be continuous with the crane side rail. A loading/unloading facility having a hanging stacker crane, characterized in that a flexible holding cart is provided, and the holding cart is provided with a plurality of holding arms capable of holding loads.