JP2003212308A - Article transferring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article transferring device capable of carrying out efficient conveying. <P>SOLUTION: In the stacker crane, a carriage is liftably provided and a lifting electric motor 5 for lifting the carriage and a traveling electric motor for driving traveling wheels at a front part and a rear part respectively are provided on a traveling frame body 4 having the traveling wheels at the front part and the rear part. The traveling frame body 4 is constituted from a pair of strut frame 11 provided with a traveling wheel at a lower end; an upper frame 12 for connecting upper parts of both strut frames 11; and a lower frame 13 for connecting lower parts of both strut frames 11. These respective frames 11-13 can be disassembled each other. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article transfer device provided in, for example, an article storage facility for carrying in and out articles.

[0002]

2. Description of the Related Art An article transfer device (hereinafter referred to as a stacker crane) installed in an article storage facility for carrying in and out an article, as shown in FIG. ) 101 has an elevating space S in which it can be moved up and down, and an elevating drive unit 105 for elevating the carriage 101 to an elevating frame 103 having traveling wheels 102 via an elevating chain 104 and traveling. A traveling drive unit 106 for driving the wheels 102 is provided. Of course, an electric motor is provided in each of the drive units 105 and 106. The stacker crane is guided by a traveling rail laid on the floor and a guide rail arranged on the ceiling side.

The traveling frame 103 has a bogie frame 111 in which traveling wheels 102 are provided at front and rear ends.
And a pair of front and rear strut frames 112 standing upright from the front and rear ends of the bogie frame 111, and a connecting frame 113 for connecting the upper end portions of both strut frames 112 to each other. The drive unit 106 for traveling is arranged at the front end or the rear end of the, and the upper and lower faces of the front end or the rear end are used to control the electric motors in the lift drive unit 105 and both drive units 105 and 106. Control box 10 for storing control equipment
7 was placed.

When such a stacker crane is installed in, for example, a storage facility, a transportation truck is used, but naturally, it is disassembled and transported so that it can be placed on the bed of the truck.

Conventionally, when disassembling such a stacker crane, the stacker crane is generally disassembled into a lower bogie frame 111, each support frame 112, and a connecting frame 113, but as described above, the bogie frame is used. 111
Since the drive units 105 and 106 and the control box 107 are arranged on the side, in consideration of the assembly work of the drive units 105 and 106 and the wiring work for the control box 107, the drive units of the carriage frame 111 are 105,
It was transported with 106 and the control box 107 installed.

[0006]

However, according to the above-mentioned structure, since each of the support frames 112 and the connecting frame 113 is an elongated member, there is no problem in mounting the support frame on the truck bed, but the carriage The elevating drive unit 105 and the control box 107 are arranged (standing) in the frame 111 in a direction orthogonal to the longitudinal direction of the frame, so that, for example, a tall control box 107 from the lower surface of the bogie frame 111 is arranged. When the distance to the upper surface is large, the transport efficiency by the truck becomes extremely poor, and when the control box 107 is too tall and exceeds the width of the luggage carrier, it is necessary to remove the control box 107 once. Therefore, there is a problem that the transfer work and the installation work are very troublesome.

[0007] Therefore, an object of the present invention is to provide an article transfer device which can carry out an efficient transfer.

[0008]

In order to solve the above-mentioned problems, the article transfer device according to claim 1 of the present invention is provided with an article lifter which is vertically movable and has traveling wheels at the front and rear portions. An article transfer device, wherein a traveling frame body is provided with elevating and lowering drive means for raising and lowering an article elevating platform and traveling drive means for driving at least one traveling wheel at a front portion and a rear portion, the traveling device comprising: The frame body is composed of a pair of pillar frames provided with traveling wheels at the lower end, an upper frame connecting the upper parts of both pillar frames, and a lower frame connecting the lower parts of the pillar frames, Each of these frames is configured to be removable.

According to a second aspect of the present invention, there is provided an article transfer device in which the elevating and lowering drive means in the apparatus according to the first aspect is attached to one of the column frames, and the traveling and elevating and lowering drive means are provided. A control box for accommodating control equipment for control is attached to the other support frame.

According to a third aspect of the present invention, there is provided an article transfer device in which the traveling drive means in the device according to the first or second aspect corresponds to traveling wheels provided on each support frame. , Are respectively arranged on the respective pillar frames.

According to a fourth aspect of the present invention, in the article transfer apparatus, the lower frame of the apparatus according to any one of the first to third aspects is composed of a pair of left and right elongated members, and each of these elongated members is provided. The member has a groove-shaped or rectangular-shaped cross section and is arranged such that its open side is located outside.

According to a fifth aspect of the present invention, in the article transfer apparatus, the lower frame in the apparatus according to any one of the first to third aspects is composed of a pair of left and right elongated members, and each of these elongated members is provided. The cross-sectional shape of the member is rectangular and an opening is formed on the outer surface side thereof.

Further, an article transfer device according to a sixth aspect of the present invention is for raising and lowering when disassembling and transporting each frame of the traveling frame body in the device according to any one of the first to fifth aspects. The end portions of the lifting chains of the lifting table mounted on the side of the support frame provided with the drive means are connected endlessly via a rope.

According to each of the above-mentioned configurations, since the traveling wheels are provided on the side of each support frame, at least the drive means for travel, or the elevating drive means and the control box together with the drive means for travel are provided on the support frame side. Therefore, since it is possible to dispose on the support frame side such as the elevating drive means and the control box having a height on the support frame side, when disassembling these when transferring the article transfer device, these The tall drive equipment can be disassembled while attached to the elongated strut frame.

[0015]

DETAILED DESCRIPTION OF THE INVENTION An article transfer device according to an embodiment of the present invention will be described below with reference to FIGS.

As the article transfer apparatus, for example, a stacker crane which is provided in a shelf facility having a plurality of storage shelves and which carries articles in and out of these storage shelves will be described.

As shown in FIGS. 1 and 2, the stacker crane 1 is generally provided with an article lifting platform (elevating member).
A traveling frame 4 having an elevating space S in which a carriage 2 is vertically movable and traveling wheels 3 are provided.
Further, an elevating electric motor (elevating drive means) 5 for elevating the carriage 2 and a traveling electric motor (traveling drive means) 6 for rotating (driving) the traveling wheels 3 are provided. The stacker crane 1 is guided by a traveling rail R1 laid on the floor and a guiding rail R2 arranged on the ceiling side, as in the conventional example.

The traveling frame 4 has traveling wheels 3 at its lower end.
A pair of front and rear column frames 11 (1
1A, 11B), and an upper frame (connecting frame) 12 that connects the upper end portions of both of the column frames 11 together,
It is composed of a lower frame 13 that connects the lower end portions of the both column frames 11, and each of these frames 11 to 13 is detachably assembled with a coupling tool such as a bolt and a nut. The upper end of each column frame 11 and the upper frame 12 are connected via a connecting member 14.

Next, the connecting member 14 for connecting the end portions of the upper frame 12 and the support frame 11 to each other will be described with reference to FIGS. The connecting member 14 connects a pair of left and right connecting plates 16 having an L-shape in a side view, which are integrated with each other via a pair of connecting plates 15, and the upper ends of the connecting plates 16 to each other, and is connected to the ceiling side. It is composed of a mounting plate 18 provided with a pair of left and right guide rollers 17 for sandwiching the provided guide rail R2, and inside the space portion of the vertical portion 14a (the space between both connection plates) below it. The upper end of the pillar frame 11 is inserted so that the bolt / nut 19
Integrated by A, and on both sides of the horizontal portion 14b,
The upper ends of the pair of long members 12a forming the upper frame 12 are externally fitted and integrated by the bolts and nuts 19B. The long members 12a are connected to each other by a connecting member 12b with a predetermined gap.

As shown in FIG. 5, the shape of the connecting member 14, that is, the width of both connecting plates 16 is equal to that of the upper frame 1.
The width of the two long members 12a and the width of the support frame 11 are matched. For example, for the horizontal portion 14b, the long member 12a of the upper frame 12 is guided (inserted).
Therefore, it is formed in a groove shape narrower than the vertical portion 14a. Further, the rear end portion 16a of each connection plate 16 is bent with a predetermined width so as to cover the end surfaces and side surfaces on the side of the frames 11 and 12.

Further, as shown in FIG. 6, the lower frame 13 has a pair of left and right long members each having a groove 21a (a groove-shaped member, specifically, a grooved steel or a C-shaped steel is used. ) 21 are arranged in parallel with each other so as to have a predetermined gap (specifically, a size capable of accommodating the traveling rail R1), and the openings of these elongated members 21 are outside. It is provided so as to be located at (also called an external tooth system). Further, the two long members 21 are integrated with each other by a connecting plate material (not shown) at an appropriate position. In the groove 21a of the elongated member 21, for example, the electric wiring 22 is arranged, and the opening is closed by a cover plate (cover) 23. In FIG. 6, reference numeral 24 denotes a connecting member provided on the support frame 11 side, and the lower frame 13 is connected (connected) to each support frame 11 via this connecting member or directly. To be done.

Next, the carriage 2 and the guide mechanism for guiding the carriage 2 in the vertical direction will be described with reference to FIGS. The carriage 2 includes a carriage main body (elevating table main body) 31 that holds an article (also referred to as placement) and has a substantially rectangular shape in a plan view, and guide members 32 that are provided upright from front and rear portions of the carriage main body 31. Has been done. The carriage main body 31 is provided with an article holding means for holding the article, for example, a retractable holding device including two (may be one) forks, or a grip type for holding both sides of the article and retracting the article. There is a holding device.

The corner portion 31a of the carriage body 31 is formed in a curved shape (also an arc shape) in its plan view shape and side view shape. To be more precise, the carriage body 31 is guided from the guide member. The connection portion 33 to the 32 is formed in a curved shape (arc shape) in the plan view shape and the side view shape. Of course, not only the corner portion 31a but also the front edge portion and the rear edge portion may each be formed in a curved shape (arc shape) as a whole.

Further, as shown in FIG. 9, the front edge portion and the rear edge portion of the carriage 2 are curved (arcuate) so that the lower surface 31b is convex upward in the front view shape. Has been formed.

Further, each of the guide members 32 has an end guide roller 34 for guiding the front and rear surfaces and a side guide roller 35 for guiding the left and right surfaces, which are respectively arranged vertically. Substantially the entire part is provided so as to fit into the support frame 11 side.

Here, the structure of the support frame 11 side in which the guide member 32 is fitted will be described. As shown in the horizontal cross-sectional views of FIGS. 10 and 11, a guide groove 36 provided in the vertical direction inside each of the column frames 11 (on the space for elevation) has a large concave portion 36a through which the guide member 32 can pass. The large concave portion 36a is formed so as to bulge toward the outer peripheral side of the center, and is composed of a small concave portion 36b for guiding the respective guide rollers 34, 35, and both side portions of the guide groove 36 of each strut frame 11 are formed. 11a is tapered toward the opening side (tip side).

Next, a drive mechanism for the traveling wheels 3 and the carriage 2 provided on the traveling frame 4 will be described. As shown in FIGS. 1 and 2, each support frame 11
The traveling electric motors 6 for rotating the traveling wheels 3 provided at the lower ends of the two wheels are arranged (attached) on the respective pillar frames 11A and 11B in correspondence with the traveling wheels 3 and are of the twin drive type. Has been done. In this twin drive system, the stacker crane 1
During traveling, and during deceleration and acceleration, speed control is performed for one traveling electric motor 6 and torque control is performed for the other traveling electric motor 6. That is, according to the acceleration / deceleration state of the stacker crane 1, by controlling the speed of the wheel on the side where the wheel weight becomes heavier and controlling the torque of the other wheel, the speed according to the speed command is guaranteed and the other wheel is also controlled. The slipping caused by the floating of the stacker crane 1 is prevented to prevent the stacker crane 1 from waving. Although the traveling electric motor 6 (6A) provided on one of the column frames 11A is clearly shown on the front side in the drawing, the traveling electric motor 6 (6B) provided on the other of the column frames 11B.
Is not shown because it is located on the other side of the traveling wheel 3, and therefore the number leading line is shown by a broken line.

Further, as shown in FIG. 2, the raising / lowering electric motor 5 for raising / lowering the carriage 2 is provided with one of the support frames 11.
The carriage 2 is provided at the bottom of (11A).
A pair of left and right lifting chains 41 connected to both ends of the
The pair of drive sprockets 42 engaged with (41A, 41B) are rotated. The one lifting chain 41A has a guide sprocket 4 whose both ends are arranged near the upper and lower portions of the one column frame 11A.
3 and 44 are connected to the upper and lower parts of one guide member (one end of the carriage) 32 of the carriage 2 via endlessly provided, and the other lifting chain 41B.
With regard to the above, one end thereof is connected to one guide member 32 of the carriage 2 via a guide sprocket 45 provided on the lower portion of one of the column frames 11A, and the other end is an upper portion of the one column frame 11A. It is connected to the other guide member 32 of the carriage 2 via guide sprockets 46 and 47 provided in the vicinity and in the vicinity of the upper part of the other column frame 11B. That is, the other lifting chain 41B is used for the carriage 2
The other end of is simply hung from above. The guide sprockets 43, 46, 47 provided near the upper portions of the column frames 11A, 11B are rotatably provided on the connecting member 14 side.

Further, a control box 7 for controlling the stacker crane 1, that is, a control device for controlling the electric motors 5 and 6 is provided in one of the support frame 11 (where the elevating electric motor 5 is arranged). 11A) is arranged (attached) on the lower side of the other column frame 11 (11B) on the opposite side and its longitudinal direction is along the frame.

When the stacker crane 1 having the above-mentioned structure is transported (shipped) from a factory to an installation place of a three-dimensional automated warehouse by a truck or the like, by releasing the connection with bolts and nuts, as shown in FIG. The frames 11 to 13 assembled in a movable state are disassembled.

At this time, as shown by the broken line in FIG.
After the lifting / lowering chain 41 is removed from the carriage 2, the end portions of the two lifting / lowering chains 41 are connected to each other by the rope W on the side of the column frame 11A where the lifting / lowering electric motor 5 is provided. Thus, they are connected and fixed endlessly to each other.

Further, the electric wiring between the control box 7 and the traveling electric motor 6 provided on the column frame 11A on which the control box 7 is not arranged is temporarily removed, but the control box 7
As for the drive devices such as the electric motors 5 and 6, the frames 11 to 13 are disassembled in the mounted state.

At the time of this disassembly, the traveling wheels 3, the traveling electric motor 6 and the lifting electric motor 5 are arranged on one of the supporting columns 11A. As for the lifting electric motor 5, the one supporting frame 11A is arranged. It is in a state of being erected along with.

Further, traveling wheels 3, a traveling electric motor 6 and a control box 7 are arranged on the other support frame 11B, and this control box 7 is also installed upright along the other support frame 11B. It is in a state.

The remaining upper frame 12 and lower frame 13 are not attached to any driving equipment. In the above description, the procedure for disassembling the traveling frame body 4 has been described, but of course, each frame 1 to which a predetermined component device is attached without assembling.
You may make it mount 1-13 directly on a truck.

As described above, both elongated strut frames 1
1, since the elevator motor 5 and the control box 7 each having a height are arranged along each pillar frame 11, the elevator motor and the control box are orthogonal to the frame as in the conventional bogie frame. When placed on a truck bed, the width of the truck does not become larger than the width of the truck bed, so that it can be efficiently placed on the truck bed and can be controlled. Since the box is not removed, disassembling work and assembling work (installation work) are facilitated. That is, it is possible to efficiently carry the sheet.

Further, since the lower frame 13 is merely for connecting the lower end portions of both the support frames 11, when supporting both the support frames, the connection frame and various driving devices as in the conventional case. Unlike the above, the size can be reduced, which leads to a reduction in weight.

Further, since the lower frame 13 is composed of a pair of groove-shaped elongated members and is arranged such that the open side thereof is located on the outside, it is possible to pass electrical wiring or the like through the groove portions of the elongated members. It has good appearance and convenience.

By the way, in the above-mentioned embodiment, it has been explained that the pair of long members constituting the lower frame is the channel steel or the C-shaped steel, but as shown in FIG. It is also possible to use a rectangular pipe 21 'which is shaped (rectangular) and has, for example, an elongated hole portion (opening portion) 21'b formed on the outer surface side. The hole is formed in the upper part so that the electric wire arranged in the groove 21'a, which is the inside, is hard to see. In this case, the cover plate is not required for the hole 21'b.

[0040]

As described above, according to the structure of the article transfer device of the present invention, since the traveling wheels are provided on the side of each supporting frame, at least the drive means for traveling or traveling is supported on the supporting frame side. The elevating drive means and the control box can be arranged together with the elevating drive means, and therefore the elevating elevating drive means and the control box having a height on the supporting frame side can be arranged on the supporting frame side. When disassembling the mounting apparatus during transportation, these tall driving devices can be disassembled in a state of being attached to the elongated support frame. In other words, the tall drive equipment can be disassembled while it is attached to the side of the elongated support frame, so that when it is placed on the bed of a truck, its width does not become larger than the width of the bed. Therefore, unlike the conventional trolley frame, in which the lifting drive means (elevating electric motor) and the control box are arranged so as to be orthogonal to the frame, they can be efficiently loaded on the truck bed, and Since the control box is not removed, disassembly work and installation work are facilitated. That is, it is possible to efficiently carry the sheet.

Further, since the lower frame is merely for connecting the lower end portions of both the support columns, it is different from the case of supporting both the support frames, the connection frame and various driving devices as in the conventional case. Differently, it is possible to reduce the size, which leads to a reduction in weight.

Further, since the lower frame is composed of a pair of groove-shaped or rectangular elongated members and is arranged so that its open side or opening is located outside, the lower frame is placed in the groove of this elongated member. You can pass electrical wiring etc.,
Good appearance and convenience.

[Brief description of drawings]

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

FIG. 2 is a side view of the stacker crane.

FIG. 3 is a side view of an upper frame of a traveling frame body of the stacker crane.

FIG. 4 is a plan view of a main part of an upper frame of the traveling frame body.

5 is a view taken along the line AA of FIG.

FIG. 6 is a cross-sectional view of a lower frame of the traveling frame body.

FIG. 7 is a perspective view of a carriage in the stacker crane.

FIG. 8 is a side view of the carriage.

9 is a view taken along the line BB of FIG.

10 is a cross-sectional view taken along line CC of FIG.

FIG. 11 is a cross-sectional view of a column frame of the traveling frame body.

FIG. 12 is a side view showing an exploded state of the stacker crane.

FIG. 13 is a cross-sectional view of a modified lower frame of the stacker crane.

FIG. 14 is a side view of a conventional stacker crane.

[Explanation of symbols]

1 Stacker crane 2 carriage 3 running wheels 4 Running frame 5 Lifting motor 6 Running electric motor 7 control box 11 prop frame 12 Upper frame 13 Lower frame 14 Connection member 16 Connection plate 19A bolts and nuts 19A bolts and nuts 21 Long member 21a groove 31 Carriage body 31a Corner part 32 Guide member 33 Connection part 34 End guide roller 35 Side guide roller 36 guide groove 36a Large concave portion 36b Small concave portion

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 3F022 JJ09 KK01 KK11 LL12 LL16                       MM11                 3F333 AA04 AB08 AE02 AE21 BD05                       BE08 BF01 BF09 BG02 BG03                       DA03 DB04 DB05

Claims (6)

[Claims] 1. An elevating and lowering drive means for elevating and lowering the article elevating table and at least one of the front and rear sections on a traveling frame body in which an article elevating and lowering table is provided so as to be able to move up and down. It is an article transfer device provided with a traveling drive means for driving traveling wheels, wherein the traveling frame comprises a pair of column frames having traveling wheels at the lower end and upper portions of both column frames. An article transfer device comprising an upper frame to be connected and a lower frame to connect the lower parts of both of the support columns to each other, and the frames being detachable from each other. 2. An elevating drive means is attached to one of the column frames, and a control box for housing a control device for controlling the traveling drive means and the elevating drive means is attached to the other column frame. The article transfer device according to claim 1. 3. The article transfer device according to claim 1, wherein the driving means for traveling is arranged on each of the supporting columns corresponding to traveling wheels provided on each of the supporting frames. . 4. The lower frame is composed of a pair of left and right elongated members, and each of the elongated members has a groove-shaped cross section, and is arranged such that its open side is located outside. The article transfer device according to any one of claims 1 to 3. 5. The lower frame is composed of a pair of left and right elongated members, and each of the elongated members has a rectangular cross-sectional shape, and an opening is formed on the outer surface side thereof. Item transfer device according to any one of 1 to 3. 6. When the frames of the traveling frame are disassembled and conveyed, the end portions of the lifting chains of the lifting table mounted on the column frame side provided with the lifting driving means are connected to each other by the rope body. The article transfer device according to any one of claims 1 to 5, wherein the article transfer device is connected endlessly via the.