JPH09278118A - Stacker crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stacker crane which can reduce the labor of the operation, and can reduce the working time extensively. SOLUTION: In a stacker crane which runs on a rail 3 laid to a passage between the rack lines where shelves are formed in a multistage and a multiline form, and stored the cargoes on a load-carrying platform in the shelves, or takes out the cargoes in the shelves, by vertically moving the load-carrying platform 17 along masts 15, two sets of forks 8a and 8b; and a palletizer robot 11 which consists of a pickup mechanism such as an adsorption cap 11a and an elevating device 11b to pick up the cargoes on the load-carrying platform, and moving mechanism of a running device 11c, a lateral moving device 11f, and the like, to move the positions of the picking up cargoes; are provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stacker crane having an improved function of storing and taking out a load from a rack.

[0002]

2. Description of the Related Art A stacker crane is used to store or take out a load in a rack rack of multiple stages or multiple rows installed in an automatic storage facility or the like. FIG. 4 shows an example of the layout of stacker cranes, and FIGS. 5 and 6 show the configuration of a conventional stacker crane.

As shown in the drawing, the racks 2 installed in multiple rows
Rails 3 are laid in the passages 4 between the racks 2 and the racks 2, and the stacker cranes 1 are movably installed on the rails 3.

The conventional stacker crane 1 incorporates a vehicle body 9 installed on rails 3 via wheels 10, a pair of masts 5 standing upright on the vehicle body 5 and a set of forks 8 and is equipped with a lifting device. It is composed of a loading platform 7 or the like that moves up and down along the mast 5 by (not shown), and the load a loaded by the loading / unloading device 21 is placed on the loading platform 7 to travel on the rails 3 and also by the lifting device. The loading platform 7 is raised and the forks 8 are operated to store the load a in the rack shelf 2a at the target address or take out the load a from the shelf 2a and carry it out. In addition, 2b in FIG.
Indicates a pillar.

[0005]

For example, as shown in FIG. 4, loads a of different types are stored in the shelves 2a ₁ , 2a ₂ and 2a ₃ of the rack 2, and the loads a from these shelves are respectively stored. When taking out, carrying out in 1-set,
In conventional stacker crane, firstly, the stacker crane 1 is run up to the shelf 2a ₁ position increases the loading platform to the target shelf 2a _1, after mounting in the carrier removed a predetermined load,
The crane 1 is moved to the carry-out port and loaded on the carry-in / carry-out device 21, and thereafter, the same operation is repeated for the loads on the shelves 2a ₂ and 2a ₃ to collect a plurality of loads of different types, and then the carry-in / carry-out device 21 is used. Carry out. When storing the load, the reverse operation to the above is repeated.

As described above, in the conventional stacker crane, it is necessary to repeatedly perform the same operation such as the reciprocating movement of the crane when taking out or storing the load to and from the shelves at a plurality of places, which requires time and labor. There was a problem that it becomes longer.

SUMMARY OF THE INVENTION An object of the present invention is to provide a stacker crane which requires less labor for operation and can significantly reduce working time.

[0008]

In order to achieve the above object, a stacker crane according to the present invention travels on a rail laid in a passage between rack rows in which shelves are formed in multiple stages and rows, In a stacker crane, which lifts and lowers a loading platform along a mast to store the loading on the loading platform in a shelf or takes out the loading from the rack, in the loading platform, two sets of forks and a lifting mechanism for picking up the loading on the loading platform , A load transfer robot including a moving mechanism for moving the picked load to a position.

[Operation] According to the above construction, when the loads in a plurality of rack shelves having different rack positions are taken out and carried out as a set, first, the crane is run and stopped at the first shelf position, and then the loading platform is loaded. After raising to a predetermined height, one fork picks up the load in the shelf for each loading platform and moves it to the loading platform position, then the loading mechanism of the load transfer robot picks up the load on this fork and moves it by the moving mechanism. Move and transfer to the other fork. The loading table on the fork before picking up the cargo is returned to the original shelf. Next, after sequentially moving the crane to the second, third, ..., Shelf positions, the same operation is performed by one of the forks and the load transfer robot to load the second, third, ... When the cranes are sequentially stacked on the other fork, and the predetermined load is thus removed, the crane is moved to the carry-out port, and then the other fork is set to carry out the plurality of loads. When storing a load in a plurality of shelves, the procedure is the reverse of the above.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION A stacker crane according to the present invention will be described below in detail based on embodiments.

[Embodiment] FIG. 1 is a perspective view of a main portion of the stacker crane, and FIGS. 2 and 3 are explanatory views showing an operation procedure.

As shown in FIG. 1, this stacker crane has a vehicle body 19 movably installed on a rail 3 via wheels 20, and a pair of masts 15 erected on the vehicle body 19. A loading platform 17 that is moved up and down along the mast 15 by a lifting device (not shown), two sets of forks 8a and 8b installed on the loading platform 17 at intervals, and the loading platform 17 as well.
A palletizer robot (as a load transfer robot) 11 installed above is a main component.

Each of the forks 8a and 8b has a function of taking out a load from the rack shelf and placing it on the upper surface thereof, or moving the placed load to the rack or to a loading / unloading device (not shown).

Further, the palletizer robot 11 has a traverse rail 11e, a traveling rail 11d installed on the traverse rail 11e and provided with a traverse device 11f, and the traveling rail 11d.
It is composed of a suction cup 11a mounted on the top and a lifting device 11b, a traveling device 11c that moves the suction cup 11a along a traveling rail 11d, and the like, and sucks a load on the fork 8a by the suction cup 11a to lift the device. After being lifted by 11b, the traveling device 11c and the traverse device 11f move the load and transfer it onto the adjacent fork 8b (or transfer the load on the fork 8b onto the fork 8a).
be able to.

Next, referring to FIG. 2 and FIG.
The procedure for taking out the load by the lane will be described (see FIG. 4).
As shown in FIG. 2A, shelves 2a having different rack positions are provided.
₁, 2a_Two, 2a_ThreeLoads of different varieties stored in₁,
a_Two, A_ThreeWhen taking out (here, shelf 2a _TwoLoad a
_TwoFirst, the stacker crane 1 is shown.
Rack shelf 2a _TwoDrive to position and stop then load platform
17 for shelf 2a_TwoAfter raising to the height, fork 8a
Operates on shelf 2a_TwoInner load a_TwoPick up every pallet 13
And moves into the loading platform 17.

Then, the palletizer robot 11 is operated to pick up and move the load a ₂ loaded on the pallet 13 on the fork 8a and transfer it to the mounting table 14 on the adjacent fork 8b [see FIG. 2]. (B), refer to (c) of FIG. 3].

On the other hand, the pallet 13 on the fork 8a for which the load a ₂ has been picked up is returned to the original shelf 2a ₂ by the fork 8a on the spot [see (d) of FIG. 3].

[0018] Then, when complete extraction of the load a ₂ in the shelf 2a _2, after moving sequentially to the rack shelf 2a ₁ position stacker crane 1 and 2a ₃ position, in shelf 2a ₁ by the same procedure as above sequentially taking out a load a ₁ and load a ₃ in the shelves 2a ₃ stacked on the fork 8b of the loading platform 17 [shown in FIG. 3 (c) reference.

Thus, when all the planned loads are completed and stacked on the forks 8b, the stacker crane 1 is moved to the carry-out port, and then the forks 8b are operated to load one set of loads. Loading / unloading device 21 for each table 14
It is transferred to and carried out [see (e) of FIG. 3].

When storing in a plurality of loads of different types and a plurality of shelves, all the storing operations can be completed simply by reciprocating the stacker crane 1-back by the procedure reverse to the above.

The present invention is not limited to the above embodiment,
It goes without saying that various changes such as the structure change of the palletizer robot as the load transfer robot can be made.

[0022]

As described above, according to the present invention, when a load is taken out from a plurality of shelves having different rack positions, one of the forks on the bed is used to take out the load from the shelf, and a load transfer robot is also used to load the same bed. Transfer to the other fork above and perform this operation for each shelf in sequence to stack the specified load on the other fork, then move the stacker crane to the carry-out port and carry out in one set. Yes (reverse procedure when storing loads on multiple shelves)
Therefore, all the work can be completed by reciprocating the stacker crane 1-reciprocally, and there is an effect that the labor of the operation is reduced and the work time is significantly reduced.

[Brief description of drawings]

FIG. 1 is a perspective view of a main part configuration showing an embodiment of a stacker crane according to the present invention.

FIG. 2 is an explanatory diagram showing an operation procedure of the same.

FIG. 3 is an explanatory diagram showing an operating procedure of the same.

FIG. 4 is an explanatory view showing an arrangement example of a stacker crane.

FIG. 5 is a side view of a conventional stacker crane.

FIG. 6 is a front view of the same.

[Explanation of symbols]

1 stacker crane 2 racks 2a ₁ , 2a ₂ , 2a ₃ shelves 3 rails 4 passages 11 palletizer robot 13 pallet 14 mounting table 15 mast 17 loading platform 19 vehicle body 20 wheels 21 loading / unloading device

Claims (1)

[Claims] 1. A rack travels on a rail laid in a passage between rack rows formed in multi-stages and multi-rows, and a loading platform is moved up and down along a mast to store the load on the loading platform in the rack. Alternatively, in the stacker crane for taking out the load in the shelf, the loading platform is equipped with two sets of forks, a loading mechanism for picking up the loading on the loading platform, and a loading transfer robot including a moving mechanism for moving the loaded loading position. A stacker crane characterized by that.