JP5041226B2 - Stacker crane and article handling equipment - Google Patents

Stacker crane and article handling equipment Download PDF

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JP5041226B2
JP5041226B2 JP2007278976A JP2007278976A JP5041226B2 JP 5041226 B2 JP5041226 B2 JP 5041226B2 JP 2007278976 A JP2007278976 A JP 2007278976A JP 2007278976 A JP2007278976 A JP 2007278976A JP 5041226 B2 JP5041226 B2 JP 5041226B2
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stacker crane
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JP2009107733A (en
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孝 藤田
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Daifuku Co Ltd
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Description

本発明は、走行レールに沿って走行自在な走行台車と、前記走行台車に立設された昇降案内マストに沿って昇降自在な昇降台とを備え、前記昇降台に、前記走行台車の横幅方向に物品を載置搬送する載置搬送装置が、前記走行台車よりもその横幅方向に外方に突出する状態で設けられたスタッカークレーン、及び、これを備えた物品処理設備に関する。   The present invention comprises a traveling carriage that is capable of traveling along a traveling rail, and a lifting platform that is movable up and down along an elevating guide mast that is erected on the traveling carriage, wherein the lifting platform has a lateral direction of the traveling carriage. It is related with the stacker crane provided in the state which the mounting conveyance apparatus which mounts and conveys an article | item in the state which protrudes in the horizontal width direction rather than the said traveling trolley | bogie, and article processing equipment provided with the same.

上記スタッカークレーンの従来例として、載置搬送装置が、走行台車の横幅方向に沿って延びる状態で且つ上下方向に回動される状態で巻回された無端回動帯の回動により物品を搬送するように構成され、且つ、無端回動帯を回転駆動する駆動回転体を備える駆動部を、その搬送方向の中央部箇所において下方に突出する状態で備えるように構成され、無端回動帯の下側経路部分が、駆動回転体に対する巻回部を他の部分よりも下方に突出させた状態に巻回されるように構成されているものがある（例えば、特許文献１参照。）。   As a conventional example of the above-described stacker crane, an article is conveyed by rotation of an endless rotation belt wound in a state in which the loading and conveying device extends along the lateral width direction of the traveling carriage and is rotated in the vertical direction. And a drive unit that includes a drive rotator that rotationally drives the endless rotation band, and is configured to protrude downward in the central portion of the transport direction. There is a configuration in which the lower path portion is configured to be wound in a state in which the winding portion with respect to the drive rotating body protrudes downward from the other portions (for example, see Patent Document 1).

特許第３８６４８０３号公報（段落「００２７」及び図１）Japanese Patent No. 3864803 (paragraph “0027” and FIG. 1)

しかしながら、上記従来のスタッカークレーンは、無端回動帯を回転駆動する駆動回転体を備える駆動部を、その搬送方向の中央部箇所において下方に突出する状態で備えるように構成されているので、昇降台を昇降下限高さに下降させたときに、昇降台に備えられた載置搬送装置の駆動部と走行台車とが接触しないようにするためには、昇降台の昇降下限高さを、駆動部が走行台車に接触する昇降位置よりも上方に設定しなければならず、これに応じて、載置搬送装置による最低搬送高さも床面からある程度上方側に離れた高さとなっていた。   However, the conventional stacker crane is configured to include a drive unit including a drive rotating body that rotationally drives the endless rotation belt in a state of projecting downward at a central portion in the conveyance direction. When the platform is lowered to the lower limit of elevation, the lower limit height of the elevation is driven so that the drive unit of the transporting device provided on the elevation and the traveling carriage do not come into contact with each other. The part has to be set higher than the lift position where it comes into contact with the traveling carriage, and accordingly, the minimum conveyance height by the placement conveyance device is also a height away from the floor to some extent upward.

したがって、スタッカークレーンとの間で物品を授受する設備（例えば、収納棚、搬送コンベヤ、荷受台等）の最低設置高さは、スタッカークレーンの載置搬送装置による最低搬送高さに合わせて、床面からある程度離れた高さに設定しなければならず、従来のスタッカークレーンが設置される箇所の周辺における床面付近の空間を有効に活用できないという問題があった。   Therefore, the minimum installation height of equipment (for example, storage shelves, transfer conveyors, load receiving stands, etc.) that exchanges items with the stacker crane is set according to the minimum transfer height of the stacker crane mounting transfer device. There is a problem that the space near the floor cannot be effectively used around the place where the conventional stacker crane is installed.

もっとも、載置搬送装置を、走行台車の前後方向に沿って延びる姿勢で物品載置搬送方向に沿って並べた物品搬送用ローラを各別に駆動する小型の駆動装置を物品搬送用ローラの夫々に設けるように構成することで、載置搬送装置の搬送方向の中央部箇所において下方に突出する駆動部を設けずに済み、載置搬送装置と走行台車のフレーム等とが接触しない範囲で昇降台の昇降下限高さをより低く設定することができるので、載置搬送装置による最低搬送高さを床面に近付けることが可能となり、上記問題を解決し得る。   Of course, each of the article transport rollers has a small driving device that individually drives the article transport rollers arranged along the article mount transport direction in a posture extending along the front-rear direction of the traveling carriage. By providing such a configuration, it is not necessary to provide a drive unit that protrudes downward at the central portion in the transport direction of the mounting and transporting device, and the lifting platform is within a range where the mounting and transporting device does not contact the frame of the traveling carriage. Since the lower limit height of elevating and lowering can be set lower, it becomes possible to bring the minimum conveying height by the loading and conveying apparatus closer to the floor surface, and the above problem can be solved.

しかしながら、上記解決手段では、物品搬送用ローラを各別に駆動する小型の駆動装置を物品搬送用ローラの夫々に設けることにより、載置搬送装置の構成が複雑化することに加え、スタッカークレーンのコスト高を招来する点で好ましくない。   However, in the above solution, in addition to complicating the configuration of the loading / conveying device by providing each of the article conveying rollers with a small driving device for individually driving the article conveying roller, the cost of the stacker crane is increased. It is not preferable in that high is invited.

本発明は、上記実情に鑑みて為されたものであって、その目的は、構造の複雑化及びコスト高を回避しながら、極力床面に近い高さで物品を載置搬送することができるスタッカークレーン及びこれを備えた物品処理設備を提供する点にある。   The present invention has been made in view of the above circumstances, and an object of the present invention is to place and convey an article at a height as close to the floor surface as possible while avoiding complicated structures and high costs. The object is to provide a stacker crane and an article processing facility provided with the stacker crane.

この目的を達成するために、本発明にかかるスタッカークレーンは、走行レールに沿って走行自在な走行台車と、前記走行台車に立設された昇降案内マストに沿って昇降自在な昇降台とを備え、前記昇降台に、前記走行台車の横幅方向に物品を載置搬送する載置搬送装置が、前記走行台車よりもその横幅方向に外方に突出する状態で設けられたものであって、その第１特徴構成は、前記走行台車は、前後の車輪を回転自在に支持する前後一対の支持枠とこの前後一対の支持枠を連結する連結枠とで構成された台車フレームを備え、前記昇降台が、前記走行台車における前記連結枠の横幅よりも広い間隔を形成するように前記スタッカークレーンの走行経路の横幅方向で離間した状態で前記走行経路に沿う姿勢で配設された左右一対の下部フレームを備え、前記昇降台が、前記左右一対の下部フレームの間に前記走行台車の連結枠が位置する状態となって前記左右一対の下部フレームと前記連結枠とが略同じ高さとなるまで下降可能に構成され、前記載置搬送装置が、前記走行台車の横幅方向に沿って延びる状態で且つ巻回経路の上下幅が搬送方向で異なる状態で巻回された無端回動帯の回動により物品を搬送するように構成され、且つ、その搬送方向で前記昇降台における前記左右一対の下部フレームの間隔よりも長く構成され、前記無端回動帯を回転駆動する駆動回転体を備える駆動部を、その搬送方向の端部箇所において下方に突出する状態で備えるように構成され、前記無端回動帯の下側経路部分が、前記駆動回転体に対する巻回部を他の部分よりも下方に突出させた状態に巻回されるように構成され、前記駆動回転体を回転駆動するコンベヤモータが、前記端部箇所において前記載置搬送装置の載置搬送面より上方に突出する状態で設けられている点にある。 In order to achieve this object, a stacker crane according to the present invention includes a traveling cart that can travel along a traveling rail, and a lifting platform that can move up and down along a lifting guide mast that is erected on the traveling cart. A mounting and transporting device for mounting and transporting articles in the lateral width direction of the traveling carriage is provided on the lifting platform in a state of projecting outward in the lateral width direction from the traveling carriage, In the first characteristic configuration, the traveling carriage includes a carriage frame that includes a pair of front and rear support frames that rotatably support front and rear wheels and a connection frame that connects the pair of front and rear support frames. However, a pair of left and right lower frames disposed in a posture along the travel path in a state of being spaced apart in the width direction of the travel path of the stacker crane so as to form an interval wider than the lateral width of the connection frame in the travel carriage. The lift is lowered until the connecting frame of the traveling carriage is positioned between the pair of left and right lower frames, and the pair of left and right lower frames and the connecting frame are substantially at the same height. By the rotation of the endless rotation belt that is configured to be capable of being wound in a state in which the placement and transportation device extends along the lateral width direction of the traveling carriage and the vertical width of the winding path is different in the transportation direction. A drive unit configured to convey an article, and configured to be longer than a distance between the pair of left and right lower frames in the lifting platform in the conveyance direction , and including a drive rotating body that rotationally drives the endless rotation band The lower path portion of the endless rotation band protrudes the winding portion around the drive rotating body downward from the other portions. In a letting state Configured to be rotated, the conveyor motor for rotating the drive rotary member is in a point that is provided in a state of projecting upward from the mounting conveying surface of the placement conveyor device at the end point.

すなわち、駆動回転体にて、走行台車の横幅方向に沿って延びる状態で且つ巻回経路の上下幅が搬送方向で異なる状態で巻回された無端回動帯を回転駆動することで、物品を走行台車の横幅方向に沿って搬送することができる。 That is, by rotating and driving the endless rotating belt wound in a state where the driving rotating body extends along the lateral width direction of the traveling carriage and the vertical width of the winding path is different in the conveying direction, It can be conveyed along the width direction of the traveling carriage.

載置搬送装置は、走行台車よりもその横幅方向に外方に突出する状態で設けられており、走行台車の横幅方向に物品を載置搬送するので、駆動回転体を備える駆動部をその搬送方向の端部箇所において下方に突出する状態で備えることにより、駆動部を、走行台車の横幅方向で外方に位置させることができる。   The loading / conveying device is provided in a state of projecting outward in the lateral width direction from the traveling carriage, and places and conveys articles in the lateral width direction of the traveling carriage, so that the driving unit including the driving rotator is conveyed. By providing in the state which protrudes below in the direction edge part location, a drive part can be located outward in the horizontal width direction of a traveling trolley.

さらに、駆動部が備える駆動回転体により回転駆動される無端回動帯の下側経路部分を、駆動回転体に対する巻回部が他の部分よりも下方に突出させた状態に巻回されるように構成することにより、無端回動帯の下側経路部分のうち、駆動回転体に対する巻回部よりも走行台車の横幅方向で内方側の部分については、駆動回転体に対する巻回部よりも上方側に位置することになる。   Further, the lower path portion of the endless rotation band that is rotationally driven by the drive rotator provided in the drive unit is wound so that the winding portion with respect to the drive rotator protrudes downward from the other portions. In the lower path portion of the endless rotation zone, the inner portion of the traveling carriage in the lateral width direction than the winding portion with respect to the drive rotator is more than the winding portion with respect to the drive rotator. It will be located on the upper side.

このとき、無端回動帯の上側経路部分及び下側経路部分における駆動回転体に対する巻回部を除いた他の部分は、走行台車の横幅方向に沿って、駆動回転体に対する巻回部よりも上方で、略水平方向に沿って延びる状態に巻回されることになる。   At this time, the other parts except the winding part for the drive rotator in the upper path part and the lower path part of the endless rotation zone are more than the winding part for the drive rotator along the lateral width direction of the traveling carriage. The upper part is wound in a state extending along a substantially horizontal direction.

したがって、無端回動帯の下側経路部分のうち駆動回転体に対する巻回部よりも走行台車の横幅方向で内方側の部分が走行台車の上端部と接触しない範囲で、駆動部を走行台車の上端部よりも低い位置に位置させることができ、もって、昇降台の昇降下限位置をより低くして、昇降台が昇降下限位置に位置するときの載置搬送装置における載置搬送面をより床面に近付けることができる。   Therefore, the drive unit is moved in the range where the inner side portion in the lateral width direction of the traveling carriage is not in contact with the upper end part of the traveling carriage from the winding part with respect to the driving rotating body in the lower path portion of the endless rotation band. The upper / lower limit position of the lifting platform is made lower, and the loading / conveying surface in the loading / conveying device when the lifting platform is positioned at the lower / lower limit position is further reduced. Can be close to the floor.

しかも、本発明の第１特徴構成においは、物品載置搬送方向に沿って並べた物品搬送用ローラを各別に駆動する小型の駆動装置を物品搬送用ローラの夫々に設けないので、構成の複雑化やコスト高を回避することができる。   In addition, in the first characteristic configuration of the present invention, since each of the article transport rollers is not provided with a small driving device that individually drives the article transport rollers arranged along the article placement and transport direction, the configuration is complicated. And cost increase can be avoided.

このように、本発明の第１特徴構成によると、構造の複雑化及びコスト高を回避しながら、極力床面に近い高さで物品を載置搬送することができるスタッカークレーンを得るに至った。   As described above, according to the first characteristic configuration of the present invention, a stacker crane capable of placing and transporting articles at a height as close to the floor surface as possible while avoiding complicated structures and high costs has been obtained. .

本発明にかかるスタッカークレーンの第２特徴構成は、第１特徴構成において、前記載置搬送装置が、前記無端回動帯にて物品を載置して搬送するように構成されている点にある。   The second characteristic configuration of the stacker crane according to the present invention is that, in the first characteristic configuration, the placing and conveying device is configured to place and convey an article in the endless rotation zone. .

すなわち、駆動部にて回転駆動される無端回動体そのものにより、物品を載置搬送することができるので、物品を載置搬送するための手段を別途設けずに済む。したがって、載置搬送装置の構成の一層の簡素化を図ることができる。   That is, since the article can be placed and conveyed by the endless rotating body itself that is rotationally driven by the drive unit, it is not necessary to separately provide a means for placing and conveying the article. Accordingly, it is possible to further simplify the configuration of the mounting and conveying apparatus.

本発明にかかるスタッカークレーンの第３特徴構成は、第１特徴構成において、前記載置搬送装置が、前記走行台車の前後方向に沿って延びる姿勢で物品載置搬送方向に沿って並べた物品搬送用ローラを前記無端回動帯にて駆動するように構成されている点にある。   A third characteristic configuration of the stacker crane according to the present invention is the first characteristic configuration, in which the above-described placement conveyance device is arranged along the article placement and conveyance direction in a posture extending along the front-rear direction of the traveling carriage. The roller for driving is driven by the endless rotation zone.

すなわち、走行台車の前後方向に沿って延びる姿勢で物品載置搬送方向に沿って並べた物品搬送用ローラが、走行台車の横幅方向に沿って延びる状態で巻回された無端回動帯にて駆動されるので、駆動部が備える駆動回転体にて無端回動帯を回転駆動することで、物品載置搬送方向に沿って並べた物品搬送用ローラを一斉に駆動させて、物品を載置搬送することができる。   That is, in the endless rotation belt in which the article transport rollers arranged along the article placement and transport direction in a posture extending along the front-rear direction of the traveling carriage are wound in a state of extending along the lateral width direction of the traveling carriage. Because it is driven, the endless rotation belt is driven to rotate by the drive rotator provided in the drive unit, so that the article conveying rollers arranged in the article placing and conveying direction are simultaneously driven to place the article. Can be transported.

このように、本発明の第３特徴構成によると、物品載置搬送方向に沿って並べた物品搬送用ローラを各別に駆動する小型の駆動装置を物品搬送用ローラの夫々に設けずとも、物品搬送用ローラを一斉に駆動させることができ、構造の複雑化及びコスト高を回避できるスタッカークレーンを得るに至った。   As described above, according to the third characteristic configuration of the present invention, an article can be provided without providing a small drive device for individually driving the article carrying rollers arranged along the article placing and carrying direction. A transporter roller can be driven all at once, resulting in a stacker crane that can avoid complicated structures and high costs.

本発明にかかる物品処理設備は、第１〜第３特徴構成のいずれかを有するスタッカークレーンを備えたものであって、その特徴構成は、スタッカークレーンの走行経路方向に沿って物品を収納する収納区分が区画形成された棚が設けられ、前記棚の各収納区分には、前記スタッカークレーンの走行経路に近接する側を物品受け入れ部とし且つ離れる側を物品取出部とする傾斜流動棚部分が、上下複数段に設けられている点にある。   The article processing facility according to the present invention includes a stacker crane having any one of the first to third characteristic configurations, and the characteristic configuration is storage for storing articles along the travel path direction of the stacker crane. A shelf in which a section is formed is provided, and each storage section of the shelf has an inclined flow shelf portion in which the side close to the travel path of the stacker crane is an article receiving part and the side away from the storage part is an article takeout part. It is in the point provided in the upper and lower stages.

すなわち、スタッカークレーンの走行経路方向に沿って収納区分が区画形成された棚の各収納区分に、傾斜流動棚部分が上下複数段に設けられているので、物品の大きさや品種等に応じて各収納区分の各段における傾斜流動棚部分の物品受け入れ部に対して、スタッカークレーンにて物品を仕分けるように投入することで、棚の物品取出部側では、物品が仕分けされた状態で縦横に配置されることになり、棚から必要な物品を取り出すピッキング作業を効率よく行うことができる。   In other words, each storage section of the shelf in which the storage sections are sectioned along the travel path direction of the stacker crane is provided with a plurality of upper and lower inclined shelf sections, so that each according to the size, type, etc. of the article By placing the goods into the article receiving part of the inclined flow shelf part at each stage of the storage section so that the goods are sorted by the stacker crane, the goods are arranged vertically and horizontally in the state where the goods are sorted on the shelf. As a result, the picking work for taking out the necessary articles from the shelf can be performed efficiently.

さらに、スタッカークレーンは極力床面に近い高さで物品を載置搬送することができるので、上下複数段に設けられた傾斜流動棚部分のうち最下段に位置するものについての物品受け入れ部の設置高さを極力床面に近い高さとすることができる。したがって、床面と最下段の傾斜流動棚部分の間に形成される無駄な空間を小さくして、スタッカークレーンが設置される箇所の周辺における床面付近の空間を有効に活用できる。   In addition, the stacker crane can place and transport articles as close to the floor as possible, so installation of the article receiving section for the slanted flow shelves provided in the upper and lower stages is located at the lowest level. The height can be as close to the floor surface as possible. Therefore, the useless space formed between the floor surface and the lowermost inclined flow shelf portion can be reduced, and the space near the floor surface around the place where the stacker crane is installed can be effectively utilized.

また、棚の上限高さに制約がある場合には、最下段に位置する傾斜流動棚部分を床面に近い高さとすることで、棚の上限高さから最下段に位置する傾斜流動棚部分の高さまでの上下方向の大きさを極力大きくすることができるので、物品取出部を出来るだけ多く設ける等することにより、ピッキング作業を一層効率よく行うことができる物品処理設備を得るに至った。   In addition, when there is a restriction on the upper limit height of the shelf, the inclined fluidized shelf portion located at the lowest level from the upper limit height of the shelf is determined by setting the inclined fluidized shelf portion located at the lowest level to a height close to the floor surface. Since the size in the vertical direction up to the height can be increased as much as possible, by providing as many article take-out portions as possible, an article processing facility capable of performing picking work more efficiently has been obtained.

〔第１実施形態〕
以下、本発明のスタッカークレーン及びこれを備えた物品処理設備を自動倉庫におけるピッキング設備に適用した実施形態について図面に基づいて説明する。 [First Embodiment]
Hereinafter, an embodiment in which a stacker crane of the present invention and an article processing facility including the stacker crane are applied to a picking facility in an automatic warehouse will be described with reference to the drawings.

図１及び図２に示すように、スタッカークレーン１は、直線状の走行経路に沿って床面に敷設された走行レール２に案内されて往復移動自在な走行台車３と、これに立設された走行方向で前後一対の昇降マスト５（前方マスト５Ｆ及び後方マスト５Ｂ）と、この一対の昇降マスト５のそれぞれの対抗する側面に上下方向に沿って設けられた案内部に案内されながら上下昇降する前後一対の昇降部６（前側昇降部６Ｆ及び後側昇降部６Ｂ）を備えて一対の昇降マスト５の間の昇降経路に沿って上下昇降自在に設けられた昇降台４と、走行台車３の走行方向に直行する移載用搬送経路に沿って物品を載置搬送する載置搬送装置７とを備えている。   As shown in FIG. 1 and FIG. 2, the stacker crane 1 is installed on a traveling carriage 3 which is guided by a traveling rail 2 laid on the floor along a linear traveling path and is reciprocally movable. A pair of front and rear elevating masts 5 (front mast 5F and rear mast 5B) and a pair of elevating masts 5 in the traveling direction are guided up and down while being guided by guides provided along the up and down directions. A lifting platform 4 provided with a pair of front and rear lifting units 6 (front lifting unit 6F and rear lifting unit 6B) and vertically movable along a lifting path between a pair of lifting masts 5 and a traveling carriage 3 And a loading / conveying device 7 for loading and conveying the article along a transfer conveying path that goes straight in the traveling direction.

走行台車３について説明すると、走行台車３が備える台車フレーム９は、走行台車３の前後端部側箇所で大径の走行輪体としての駆動前輪１０ａ及び駆動後輪１０ｂを回転自在に支持する支持枠１１と、これらの支持枠１１を連結する連結枠１２とで構成されている。   The traveling carriage 3 will be described. The carriage frame 9 included in the traveling carriage 3 is a support that rotatably supports the driving front wheels 10a and the driving rear wheels 10b as large-diameter traveling wheels at the front and rear end side portions of the traveling carriage 3. The frame 11 and a connecting frame 12 that connects these support frames 11 are configured.

支持枠１１には、走行レール２に対して側方への移動が規制されるように接触してスタッカークレーン１を走行レール２に沿って案内する案内輪体１３と、走行レール２に対して上方への移動が規制されるように接触して駆動前輪１０ａ及び駆動後輪１０ｂが走行レール２から浮上しないように上下方向の移動を規制する規制輪体１４とが設けられている。また、走行台車３の前方側の支持枠１１には、駆動前輪１０ａを回転駆動する走行用電動モータＭ１が走行台車３の右側に突出する状態で設けられ、後方側の支持枠１１には、駆動後輪１０ｂを回転駆動する走行用電動モータＭ１が走行台車３の左側に突出する状態で設けられている。   The support frame 11 is in contact with the travel rail 2 so as to be restricted from moving sideways, and guides the stacker crane 1 along the travel rail 2. A regulating wheel body 14 is provided that regulates the vertical movement so that the front driving wheel 10a and the rear driving wheel 10b do not float from the traveling rail 2 by contacting so that the upward movement is regulated. In addition, a traveling electric motor M1 that rotates and drives the front driving wheel 10a is provided on the support frame 11 on the front side of the traveling carriage 3 so as to protrude to the right side of the traveling carriage 3, and the rear support frame 11 includes A traveling electric motor M <b> 1 that rotationally drives the driving rear wheel 10 b is provided in a state of protruding to the left side of the traveling carriage 3.

連結枠１２は、走行レール２の横側方のそれぞれに位置する左右一対のフレーム部材１２ａにて構成されており、床面ＦＬからの設置高さは走行レール２の設置高さ程度に低く抑えられている。   The connecting frame 12 is composed of a pair of left and right frame members 12 a located on the lateral sides of the traveling rail 2, and the installation height from the floor surface FL is kept low to about the installation height of the traveling rail 2. It has been.

昇降台４は、下縁部を上方側に凹入させた凹入部１５Ｇ（図４参照）が形成された逆Ｖ字形状の側面部１５Ｓを備えた前後一対の接続パネル１５（前側接続パネル１５Ｆ及び後側接続パネル１５Ｂ）と、この前後一対の接続パネル１５の下部左側同士及び下部右側同士を連結する断面視矩形状の左右一対の下部フレーム１６（左下部フレーム１６Ｌ及び右下部フレーム１６Ｒ）とで構成されている。   The lifting platform 4 has a pair of front and rear connection panels 15 (front connection panel 15F) having an inverted V-shaped side surface portion 15S formed with a recessed portion 15G (see FIG. 4) having a lower edge recessed upward. And a pair of left and right lower frames 16 (a left lower frame 16L and a right lower frame 16R) having a rectangular shape in cross-section and connecting the lower left sides and the lower right sides of the pair of front and rear connection panels 15; It consists of

図２〜図４に示すように、前側接続パネル１５Ｆ及び後側接続パネル１５Ｂは、その側面部１５Ｓの外周部に、上端面１５Ｕ及び下端面１５Ｄ並びに左端面１５Ｌ及び右端面１５Ｒが形成されている。下端面１５Ｄは、側面部１５Ｓの凹入部１５Ｇに対応した形状に折り曲げ加工され、その左右両端側の平面部分の裏側に前記下部フレーム１６がボルト連結されている。   As shown in FIGS. 2 to 4, the front connection panel 15F and the rear connection panel 15B have an upper end surface 15U, a lower end surface 15D, a left end surface 15L, and a right end surface 15R formed on the outer periphery of the side surface portion 15S. Yes. The lower end surface 15D is bent into a shape corresponding to the recessed portion 15G of the side surface portion 15S, and the lower frame 16 is bolted to the back side of the planar portion on the left and right ends.

側面部１５Ｓに凹入部１５Ｇを設け、下端面１５Ｄを凹入部１５Ｇに対応した形状にすることで、下端面１５Ｄの下面側には凹入空間が形成されており、昇降台４をできるだけ走行台車３に接近させた低い位置に下降させた場合に、つまり、床面ＦＬに近い位置まで下降させた場合に、走行台車３の走行方向の前後の各端部側部分の支持枠１１と昇降台４との接触を避けながら、昇降台４の下部フレーム１６が走行台車３の連結枠１２と略同じ高さに位置させることができるようになっている。   By providing a recessed portion 15G on the side surface portion 15S and forming the lower end surface 15D in a shape corresponding to the recessed portion 15G, a recessed space is formed on the lower surface side of the lower end surface 15D. When the vehicle is lowered to a low position close to 3, that is, when the vehicle is lowered to a position close to the floor surface FL, the support frame 11 and the lifting platform at each end side portion in the traveling direction of the traveling carriage 3. The lower frame 16 of the lifting platform 4 can be positioned at substantially the same height as the connecting frame 12 of the traveling carriage 3 while avoiding contact with the platform 4.

このようにすることで、昇降台４が昇降下限位置に位置するときの載置搬送装置７の載置搬送面Ｓが床面ＦＬに近付くように、昇降台４の昇降下限位置を極力低い位置に設定できるようになっている。   By doing in this way, the raising / lowering lower limit position of the raising / lowering platform 4 is a position as low as possible so that the mounting conveyance surface S of the loading conveyance apparatus 7 when the raising / lowering platform 4 is located in the raising / lowering lower limit position may approach the floor surface FL. It can be set to.

昇降台４の前後一対の接続パネル１５の夫々は、前記一対の昇降部６Ｆ，６Ｂに溶接により接続されている。前側昇降部６Ｆ及び後側昇降部６Ｂの夫々は、昇降マスト５に設けられたガイド溝５Ｇに当接するガイドローラにて、左右方向の移動が規制された状態で昇降マスト５に沿って昇降自在となっており、また、これらの昇降部６の夫々は、前方マスト５Ｆ及び後方マスト５Ｂを上端側で連結する上部フレーム１８（図１参照）に設けられたプーリー１９に巻回させた一対の昇降ワイヤ２０にて格別に吊り下げ支持されている。なお上部フレーム１８は、床面ＦＬの走行レール２と平行に天井側に設けられた天井レール２１に沿って移動自在に連結されている。   Each of the pair of front and rear connection panels 15 of the lift 4 is connected to the pair of lifts 6F and 6B by welding. Each of the front elevating unit 6F and the rear elevating unit 6B can be moved up and down along the elevating mast 5 with a guide roller in contact with a guide groove 5G provided in the elevating mast 5 in a state where movement in the left-right direction is restricted. Each of these elevating parts 6 is a pair of coils wound around a pulley 19 provided on an upper frame 18 (see FIG. 1) that connects the front mast 5F and the rear mast 5B on the upper end side. It is suspended and supported by a lifting wire 20. The upper frame 18 is movably connected along a ceiling rail 21 provided on the ceiling side in parallel with the traveling rail 2 of the floor surface FL.

そして、この一対の昇降ワイヤ２０が、走行台車３に設けられた昇降用電動モータＭ２により回転駆動される巻取りドラムにて同時に繰り出し及び巻き取り操作されることで、前側昇降部６Ｆ及び後側昇降部６Ｂが同調して昇降操作され、もって、昇降台４が、昇降マスト５の間の昇降経路に沿って昇降操作されるようになっている。   The pair of elevating wires 20 are simultaneously fed out and taken up by a take-up drum that is rotationally driven by an elevating electric motor M2 provided in the traveling carriage 3, so that the front elevating unit 6F and the rear side The elevating unit 6 </ b> B is operated in ascending and descending manner, so that the elevating platform 4 is operated along the elevating path between the elevating mast 5.

このように、スタッカークレーン１には、走行レール２に沿って走行自在な走行台車３と、走行台車３に立設された昇降案内マストとしての前後一対の昇降マスト５に沿って昇降自在な昇降台４とが備えられ、走行台車３の横幅方向に物品を載置搬送する載置搬送装置７が、走行台車３よりもその横幅方向に外方に突出する状態で昇降台４に設けられている。   As described above, the stacker crane 1 includes a traveling cart 3 that can travel along the traveling rail 2 and a lift that can be lifted up and down along a pair of front and rear lifting masts 5 that are standing up and down on the traveling cart 3. The platform 4 is provided on the lifting platform 4 in a state of projecting outwardly in the lateral direction of the traveling carriage 3 from the traveling carriage 3. Yes.

次に、スタッカークレーン１の昇降台４に設けられた載置搬送装置７について詳しく説明する。   Next, the mounting and conveying device 7 provided on the lifting platform 4 of the stacker crane 1 will be described in detail.

図２〜図４に示すように、載置搬送装置７は、コンベヤベルト２７の上側経路部分２７Ｕの直下に設けられた上面カバー２３の前後端部を折り曲げ加工して形成された前側サイドフレーム２３Ｆ及び後側サイドフレーム２３Ｂの水平フランジ部の複数箇所が、左下部フレーム１６Ｌ及び右下部フレーム１６Ｒにボルト連結された状態で昇降台４に設置されている。   As shown in FIGS. 2 to 4, the placing and conveying device 7 includes a front side frame 23 </ b> F formed by bending the front and rear end portions of the upper surface cover 23 provided immediately below the upper path portion 27 </ b> U of the conveyor belt 27. A plurality of portions of the horizontal flange portion of the rear side frame 23B are installed on the lifting platform 4 in a state where they are bolted to the lower left frame 16L and the lower right frame 16R.

載置搬送装置７は、スタッカークレーン１の走行台車３の前後方向に沿って延びる姿勢で物品載置搬送方向に沿って並べた複数の従動ローラ２５及び単一の駆動ローラ２６を備えており、前側サイドフレーム２３Ｆ及び後側サイドフレーム２３Ｂが、これらのローラの両端部を回転自在に支持している。   The loading and conveying device 7 includes a plurality of driven rollers 25 and a single driving roller 26 arranged along the article loading and conveying direction in a posture extending along the front and rear direction of the traveling carriage 3 of the stacker crane 1. The front side frame 23F and the rear side frame 23B rotatably support both ends of these rollers.

これらのローラの回転軸心方向の長さに対応した幅をもつコンベヤベルト２７が、従動ローラ２５の一つであるテンションローラ２５Ｔにて適当なテンションを保った状態で、複数の従動ローラ２５及び単一の駆動ローラ２６に巻回されている。つまり、コンベヤベルト２７は、走行台車３の横幅方向に沿って延びる状態で且つ巻回経路の上下幅が搬送方向で異なる状態で巻回されている。 The conveyor belt 27 having a width corresponding to the length of the rotation axis of these rollers maintains an appropriate tension with a tension roller 25T which is one of the driven rollers 25, and a plurality of driven rollers 25 and It is wound around a single drive roller 26. That is, the conveyor belt 27 is wound in a state in which the conveyor belt 27 extends along the lateral width direction of the traveling carriage 3 and the vertical width of the winding path is different in the transport direction .

そして、駆動ローラ２６を正逆に回転駆動させることで、コンベヤベルト２７が、駆動ローラ２６及び複数の従動ローラ２５を経由する巻回経路に沿って回動され、載置搬送面Ｓに載置された物品を載置搬送する。つまり、コンベヤベルト２７は、走行台車３の横幅方向に沿って延びる状態で且つ巻回経路の上下幅が搬送方向で異なる状態で巻回されており、コンベヤベルト２７が回動することで物品を搬送するように構成されている。 Then, by rotating the drive roller 26 in the forward and reverse directions, the conveyor belt 27 is rotated along the winding path that passes through the drive roller 26 and the plurality of driven rollers 25, and is placed on the placement conveyance surface S. Placed and transported articles. That is, the conveyor belt 27 is wound in a state extending along the lateral width direction of the traveling carriage 3 and the vertical width of the winding path is different in the transport direction, and the conveyor belt 27 rotates to rotate the article. It is comprised so that it may convey.

このように、コンベヤベルト２７が本発明の無端回動体に相当し、駆動ローラ２６が、無端回動帯としてのコンベヤベルト２７を回転駆動する駆動回転体に相当し、載置搬送装置７が、無端回動帯としてのコンベヤベルト２７にて物品を載置して搬送するように構成されている。   Thus, the conveyor belt 27 corresponds to an endless rotating body of the present invention, the driving roller 26 corresponds to a driving rotating body that rotationally drives the conveyor belt 27 as an endless rotating belt, An article is placed and conveyed by a conveyor belt 27 as an endless rotation belt.

なお、コンベヤベルト２７の上側経路部分２７Ｕの直下には、前述の上面カバー２３が設けられているので、曲率の小さい屈曲箇所を含むような巻回経路に対応しうる柔軟性のある肉厚の薄いものをコンベヤベルト２７の素材として採用しても、載置搬送する物品の荷重により載置搬送面Ｓが大きく変形して物品を円滑に載置搬送できなくなるという不都合が生じないようになっている。   Since the upper surface cover 23 is provided immediately below the upper path portion 27U of the conveyor belt 27, it has a flexible wall thickness that can accommodate a winding path including a bent portion with a small curvature. Even if a thin material is adopted as the material of the conveyor belt 27, the loading / conveying surface S is greatly deformed by the load of the article to be placed and conveyed, and the inconvenience that the article cannot be placed and conveyed smoothly is prevented. Yes.

駆動ローラ２６は、これを回転駆動するコンベヤモータＭ３の下部に設けられたギヤボックス２４の横出力軸を回転軸心としている。駆動ローラ２６及びギヤボックス２４は、左下部フレーム１６Ｌよりも左外方側に位置し、かつ、下部フレーム１６と高さを略同じとする状態で設けられている。   The drive roller 26 has a horizontal output shaft of a gear box 24 provided at a lower portion of a conveyor motor M3 that rotationally drives it as a rotation axis. The drive roller 26 and the gear box 24 are provided on the left outer side with respect to the lower left frame 16L, and are provided in a state where the height is substantially the same as that of the lower frame 16.

つまり、載置搬送装置７が、駆動回転体としての駆動ローラ２６を備える駆動部２２を、その搬送方向の端部箇所において下方に突出する状態で備えるように構成されている。   That is, the loading / conveying device 7 is configured to include the driving unit 22 including the driving roller 26 as a driving rotating body so as to protrude downward at the end portion in the conveying direction.

そして、コンベヤベルト２７の下側経路部分２７Ｄが、駆動ローラ２６に対する巻回部２７Ｅを他の部分２７Ｔよりも下方に突出させた状態に巻回されるように構成されている。   And the lower path | route part 27D of the conveyor belt 27 is comprised so that the winding part 27E with respect to the drive roller 26 may be wound in the state protruded below rather than the other part 27T.

説明を加えると、従動ローラ２５である巻回経路規制ローラ２５Ｒを、駆動ローラ２６の右脇箇所において載置搬送面Ｓの直下に配置させて、かつ、テンションローラ２５Ｔを載置搬送装置７の右側端部付近において載置搬送面Ｓの直下に配置させることで、コンベヤベルト２７の巻回経路の側面視形状を、駆動ローラ２６の巻回部２７Ｅ以外では、上下方向での幅が極力小さくなる状態で、上側経路部分２７Ｕと下側経路部分２７Ｄとが略水平方向に沿って延びる状態となるようしている。   In other words, the winding path regulating roller 25R, which is the driven roller 25, is disposed immediately below the placement conveyance surface S at the right side of the drive roller 26, and the tension roller 25T is disposed on the placement conveyance device 7. By arranging it immediately below the loading and conveying surface S in the vicinity of the right end, the side view shape of the winding path of the conveyor belt 27 is as small as possible in the vertical direction except for the winding portion 27E of the drive roller 26. In this state, the upper path portion 27U and the lower path portion 27D extend in a substantially horizontal direction.

これにより、昇降台４に載置搬送装置７を設ける場合において、昇降台４を昇降下限位置に位置させたときの載置搬送装置７の載置搬送面Ｓの高さが極力床面に近い高さになるようしている。   Thereby, when providing the mounting conveyance apparatus 7 in the raising / lowering base 4, the height of the mounting conveyance surface S of the mounting conveyance apparatus 7 when the raising / lowering base 4 is located in a raising / lowering lower limit position is as close to a floor surface as possible. I try to be high.

以上のような構成により、載置搬送装置７は、スタッカークレーン１の走行方向での左右方向、つまり、走行台車３の横幅方向を搬送方向として、載置搬送面Ｓに載置された物品を移載用搬送経路に沿って載置搬送できるようになっている。   With the configuration as described above, the placement and transport device 7 can move the article placed on the placement and transport surface S with the left and right direction in the traveling direction of the stacker crane 1, that is, the lateral direction of the traveling carriage 3 as the transport direction. It can be placed and transported along the transport path for transfer.

次に、上記構成の載置搬送装置７が備えられたスタッカークレーン１による物品搬送処理について説明する。以下の説明では、図５に示すように、物品処理設備としてのピッキング作業設備に、スタッカークレーン１の走行経路の両側に設けられたピッキング作業用のフローラック４０の背面側の物品受け入れ部４１から物品を補給すべく、走行経路に沿った所定箇所に設定された物品受取箇所でフローラック４０に補給すべき物品を受け取ってから、当該物品を物品受け入れ部４１へ投入するまでの、一連の物品搬送処理について説明する。   Next, the article conveyance process by the stacker crane 1 provided with the placement conveyance device 7 having the above-described configuration will be described. In the following description, as shown in FIG. 5, the picking work equipment as the goods processing equipment is changed from the article receiving section 41 on the back side of the flow rack 40 for picking work provided on both sides of the travel path of the stacker crane 1. A series of articles from when an article to be replenished to the flow rack 40 is received at an article receiving location set at a predetermined location along the travel route until the article is loaded into the article receiving unit 41 in order to replenish the article. The conveyance process will be described.

フローラック４０は、スタッカークレーンの走行経路方向に沿って物品を収納する収納区分が区画形成された棚であり、フローラック４０の各収納区分には、スタッカークレーン１の走行経路に近接する側を物品受け入れ部４１とし且つ離れる側を物品取出部４２とする傾斜流動棚部分４３が、上下複数段に設けられている。   The flow rack 40 is a shelf in which storage sections for storing articles are sectioned along the travel path direction of the stacker crane. Each storage section of the flow rack 40 has a side close to the travel path of the stacker crane 1. The inclined flow shelf portions 43 that serve as the article receiving portion 41 and have the article take-out portion 42 on the far side are provided in a plurality of upper and lower stages.

傾斜流動棚部分４３は、回転自在な横軸心のフリーローラが、物品受け入れ部４１から物品取出部４２へ向う搬送方向に沿って多数配置されたローラコンベヤにて構成されており、物品受け入れ部４１に物品が投入されると、その物品が、物品の自重により物品取出部４２に向って搬送移動されるようになっている。なお、物品取出部４２の先端部は、物品の落下を防止する受止部４２Ｂが形成されている。   The inclined flow shelf portion 43 is configured by a roller conveyor in which a large number of rotatable free horizontal axis rollers are arranged along the conveying direction from the article receiving portion 41 to the article taking-out portion 42. When an article is put into 41, the article is transported and moved toward the article take-out section 42 by its own weight. In addition, the receiving part 42B which prevents the fall of an article | item is formed in the front-end | tip part of the article taking-out part 42.

そして、フローラック４０の物品取出部４２側に設定されたピッキング作業場において、作業者Ｐが、各傾斜流動棚部分４３に供給された物品のうち、ピッキング伝票等にて指定された物品を指定数料だけ該当する傾斜流動棚部分４３の物品取出部４２から取り出すピッキング作業を行う。   Then, in the picking work place set on the article take-out section 42 side of the flow rack 40, the worker P designates the designated number of articles designated on the picking slip or the like among the articles supplied to each inclined flow shelf portion 43. Picking work for taking out from the article take-out section 42 of the inclined flow shelf portion 43 corresponding to only the charge is performed.

スタッカークレーン１は、走行台車３の走行作動及び昇降台４の昇降作動により物品受取箇所に対応した移載作業箇所に、物品が載置されていない非載置状態の載置搬送装置７を位置させる。そして、物品受取箇所に設けられたコンベヤ等の物品搬送手段と、載置搬送装置７との協働により、物品受取箇所にある物品を載置搬送装置７の載置搬送面Ｓに載置させ、載置搬送装置７の移載用搬送経路における経路方向で中間位置に設定された目標搬送箇所まで搬送する。   The stacker crane 1 positions the loading / conveying device 7 in a non-loading state where no article is placed at a transfer work location corresponding to the article receiving location by the traveling operation of the traveling carriage 3 and the lifting / lowering operation of the lifting platform 4. Let Then, the article at the article receiving place is placed on the placing and conveying surface S of the placing and conveying apparatus 7 in cooperation with the article conveying means such as a conveyor provided at the article receiving place and the placing and conveying apparatus 7. Then, it is transported to a target transport location set at an intermediate position in the direction of the transfer transport path of the mounting transport device 7.

そして、スタッカークレーン１の走行作動及び昇降作動が行われ、フローラック４０の補給対象の物品受け入れ部４１に対応した移載作業箇所に載置搬送装置７を位置させる。   Then, the travel operation and the lifting operation of the stacker crane 1 are performed, and the mounting and conveying device 7 is positioned at the transfer work location corresponding to the article receiving unit 41 to be replenished in the flow rack 40.

スタッカークレーン１の昇降作動及び走行作動が停止した後、載置搬送装置７のコンベヤモータＭ３が駆動されて、フローラック４０の補給対象の物品受け入れ部４１に物品が投入される。   After the raising / lowering operation and the traveling operation of the stacker crane 1 are stopped, the conveyor motor M3 of the placing and conveying device 7 is driven, and the article is loaded into the article receiving portion 41 to be replenished in the flow rack 40.

このように、スタッカークレーン１により、補給対象の物品がフローラック４０の補給対象の物品受け入れ部４１に投入される。本実施形態によれば、昇降台４を昇降下限位置に位置させたときの載置搬送装置７の載置搬送面Ｓが床面ＦＬに極力近い高さとなっているので、フローラック４０における最下段の傾斜流動棚部分４３についての物品受け入れ部４１の高さは、床面ＦＬに極力近い高さに設定されている。このようにして、フローラック４０における最下段の傾斜流動棚部分４３より下方に形成される空間Ｄを極力小さくして、設備の空間利用効率を向上させている。   As described above, the stacker crane 1 puts the articles to be supplied into the article receiving unit 41 to be supplied in the flow rack 40. According to the present embodiment, the loading / conveying surface S of the loading / conveying device 7 when the lifting platform 4 is positioned at the lower / lower limit position is as close as possible to the floor surface FL. The height of the article receiving portion 41 with respect to the lower inclined flow shelf portion 43 is set as close as possible to the floor surface FL. In this way, the space D formed below the lowermost inclined flow shelf portion 43 in the flow rack 40 is made as small as possible to improve the space utilization efficiency of the equipment.

〔第２実施形態〕
第２実施形態は、載置搬送装置の構成が異なる点以外は、第１実施形態と同様の構成である。以下、載置搬送装置について説明する。 [Second Embodiment]
The second embodiment has the same configuration as that of the first embodiment except that the configuration of the mounting and conveying apparatus is different. Hereinafter, the mounting and conveying apparatus will be described.

図６及び図７に示すように、載置搬送装置５０は、走行台車３の前後方向に沿って延びる姿勢で物品載置搬送方向に沿って並べた物品搬送用ローラ５１を無端回動帯としての平ベルト５２にて駆動するように構成されている。   As shown in FIGS. 6 and 7, the loading / unloading device 50 uses the article conveying roller 51 arranged along the article loading / conveying direction in an attitude extending along the front / rear direction of the traveling carriage 3 as an endless rotation band. It is comprised so that it may drive with the flat belt 52.

載置搬送装置５０は、物品載置搬送方向に沿う向きに前後一対のサイドフレーム５５（前側サイドフレーム５５Ｆ及び後側サイドフレーム５５Ｂ）を両横脇に備えている。前側サイドフレーム５５Ｆ及び後側サイドフレーム５５Ｂの夫々が、中間箇所の２箇所にて下部フレーム１６にボルト連結されることにより、載置搬送装置５０が昇降台４に固定されている。   The placement / conveyance device 50 includes a pair of front and rear side frames 55 (a front side frame 55F and a rear side frame 55B) on both sides in a direction along the article placement / conveyance direction. Each of the front side frame 55 </ b> F and the rear side frame 55 </ b> B is bolted to the lower frame 16 at two intermediate positions, so that the loading / conveying device 50 is fixed to the lifting platform 4.

物品搬送用ローラ５１は、両端部を支持された状態で、前側サイドフレーム５５Ｆ及び後側サイドフレーム５５Ｂの間に回転自在に設けられている。物品搬送用ローラ５１のうち、載置搬送装置５０の搬送方向の端部箇所に対応する位置に配置された左右一対の端部ローラ５１Ｅの夫々は、走行台車３よりもその横幅方向に外方に位置している。   The article transport roller 51 is rotatably provided between the front side frame 55F and the rear side frame 55B with both ends supported. Each of the pair of left and right end rollers 51E arranged at positions corresponding to the end portions in the transport direction of the placement transport device 50 among the article transport rollers 51 is more outward in the lateral direction than the traveling carriage 3. Is located.

端部ローラ５１Ｅの夫々は、両端部に巻回された一対の連係ベルト５６により、隣接する物品搬送用ローラ５１により回転駆動されるよう連結されている。なお、端部ローラ５１Ｅ及び隣接する物品搬送用ローラ５１の両端部には、周方向に沿って係合溝５７が形成されており、連係ベルト５６がこれらの係合溝５７に係合した状態で回動するので、連係ベルト５６が物品搬送用ローラ５１の軸心方向にずれることがないようになっている。   Each of the end rollers 51 </ b> E is connected by a pair of linkage belts 56 wound around both ends so as to be driven to rotate by the adjacent article transport roller 51. Note that engagement grooves 57 are formed along the circumferential direction at both ends of the end roller 51E and the adjacent article transport roller 51, and the linkage belt 56 is engaged with these engagement grooves 57. Therefore, the linkage belt 56 is prevented from shifting in the axial direction of the article transporting roller 51.

載置搬送装置５０は、平ベルト５２を回転駆動する駆動回転体としての駆動ローラ５３とこれを回転駆動させるコンベヤモータＭ４を備える駆動部５８を、その搬送方向の端部箇所において下方に突出する状態で構成され、平ベルト５２の下側経路部分５２Ｄが、駆動ローラ５３に対する巻回部５２Ｅを他の部分５２Ｔよりも下方に突出させた状態に巻回されるように構成されている。   The mounting / conveying device 50 projects a driving unit 58 including a driving roller 53 as a driving rotating body that rotationally drives the flat belt 52 and a conveyor motor M4 that rotationally drives the driving belt 58 at an end portion in the conveying direction. The lower path portion 52D of the flat belt 52 is wound in a state in which the winding portion 52E with respect to the drive roller 53 protrudes downward from the other portion 52T.

具体的には、平ベルト５２の巻回経路内部側に、駆動ローラ５３及び複数の従動ローラ５４が配置され、平ベルト５２の巻回経路外部側に単一の従動ローラ５４が配置されている。駆動ローラ５６及び複数の従動ローラ５４は、走行台車３の前後方向に沿って延びる姿勢で物品載置搬送方向に沿って並べられており、物品搬送用ローラ５１と平行に配置されている。   Specifically, a driving roller 53 and a plurality of driven rollers 54 are arranged on the inner side of the winding path of the flat belt 52, and a single driven roller 54 is arranged on the outer side of the winding path of the flat belt 52. . The drive roller 56 and the plurality of driven rollers 54 are arranged along the article placement and conveyance direction in a posture extending along the front-rear direction of the traveling carriage 3, and are arranged in parallel with the article conveyance roller 51.

平ベルト５２の巻回経路内部側の複数の従動ローラ５４は、高さ方向に揃った状態で間隔を隔てて設けられており、載置搬送装置５０の搬送方向で中間箇所に配置され、平ベルト５２の上側経路部分５２Ｕの垂れ下がりを防止しながら物品搬送用ローラ５１に対して押し付ける状態で平ベルト５２の上側経路部分５２Ｕを受け止め支持する３本のガイドローラ５４Ｇと、載置搬送装置５０の搬送方向の右側端部より若干中央側に寄った箇所において、載置搬送装置５０の搬送方向での設置位置が調節自在に配置され、平ベルト５２の巻回経路の右側端部位置を設定するとともに、平ベルト５２のテンションを調節設定するテンションローラ５４Ｔと、載置搬送装置５０の搬送方向の左側端部より若干中央側に寄った箇所に配置され、平ベルト５２の巻回経路の左側端部位置を設定する上側規制ローラ５４ＲＵとの５本の従動ローラにより構成されている。   The plurality of driven rollers 54 on the inner side of the winding path of the flat belt 52 are provided at intervals in a state of being aligned in the height direction, and are disposed at intermediate positions in the conveying direction of the placement conveying device 50. Three guide rollers 54G that receive and support the upper path portion 52U of the flat belt 52 while being pressed against the article transport roller 51 while preventing the upper path portion 52U of the belt 52 from sagging, In a position slightly closer to the center side than the right end portion in the transport direction, the installation position of the placement transport device 50 in the transport direction is arranged to be adjustable, and the right end portion position of the winding path of the flat belt 52 is set. In addition, the tension roller 54T for adjusting and setting the tension of the flat belt 52, and the flat belt 52 are disposed at a position slightly closer to the center than the left end in the conveying direction of the loading and conveying apparatus 50. It is composed of five driven rollers of the upper regulating roller 54RU to set the left end position of the second winding path.

平ベルト５２の巻回経路外部側の単一の従動ローラ５４は、巻回経路内部側の複数の従動ローラ５４の設置高さより下方側で、かつ、巻回経路内部側の複数の従動ローラ５４の下端高さに出来るだけ近い位置となるように駆動ローラ５３に近接させて配置された下側規制ローラ５４ＲＤにより構成されている。   The single driven roller 54 outside the winding path of the flat belt 52 is below the installation height of the plurality of driven rollers 54 inside the winding path and is also a plurality of driven rollers 54 inside the winding path. The lower regulating roller 54RD is arranged close to the drive roller 53 so as to be as close to the lower end height as possible.

このようにして平ベルト５２の巻回経路の内部側及び外部側に各ローラを配置することにより、平ベルト５２の下側経路部分５２Ｄが、駆動ローラ５３に対する巻回部５２Ｅを他の部分５２Ｔよりも下方に突出させた状態に巻回されるようにしている。このとき、平ベルト５２の巻回経路の側面視形状は、駆動ローラ５３の巻回部５２Ｅ以外では、上下方向での幅が極力小さくなる状態で、上側経路部分５２Ｕと下側経路部分５２Ｄとが略水平方向に沿って延びる状態となっている。   By disposing the rollers on the inner side and the outer side of the winding path of the flat belt 52 in this way, the lower path portion 52D of the flat belt 52 causes the winding portion 52E for the driving roller 53 to become the other portion 52T. It is made to wind so that it may protrude below. At this time, the side view shape of the winding path of the flat belt 52 is such that the width in the vertical direction is as small as possible except for the winding part 52E of the driving roller 53, and the upper path part 52U and the lower path part 52D. Is in a state extending along a substantially horizontal direction.

そして、平ベルト５２を駆動ローラ５３により回転駆動させることで、上側経路部分５２Ｕの上面に接する物品搬送用ローラ５１が回転駆動され、走行台車３の横幅方向に沿って設定された載置搬送面Ｓ上における移載用搬送経路に沿って物品が載置搬送される。   Then, by rotating the flat belt 52 by the driving roller 53, the article conveying roller 51 in contact with the upper surface of the upper path portion 52U is rotationally driven, and the placement conveying surface set along the lateral width direction of the traveling carriage 3 The article is placed and conveyed along the transfer conveyance path on S.

以上のように載置搬送装置５０を構成することで、スタッカークレーン１の昇降台４に載置搬送装置５０を設ける場合において、昇降台４を昇降下限位置に位置させたときの載置搬送装置５０の載置搬送面Ｓの高さを極力床面に近い高さとすることができる。   By configuring the mounting / conveying device 50 as described above, when the mounting / conveying device 50 is provided on the lifting / lowering table 4 of the stacker crane 1, the mounting / transporting device when the lifting / lowering table 4 is positioned at the lower-lowering position. The height of 50 placement conveyance surfaces S can be made as close to the floor surface as possible.

〔別実施形態〕
以下、別実施形態を列記する。 [Another embodiment]
Hereinafter, other embodiments are listed.

（１）上記実施形態では、走行台車に立設された昇降案内マストが前後一対のマストにて構成されたものを例示したが、これに代えて、昇降案内マストが一本のマストにて構成されたものであってもよい。 (1) In the above-described embodiment, the lifting guide mast erected on the traveling carriage is exemplified by a pair of front and rear masts. Instead, the lifting guide mast is configured by a single mast. It may be what was done.

（２）上記実施形態では、載置搬送装置が備える無端回動帯が、載置搬送装置の横幅寸法に対応した幅広のベルトにて構成されたものを例示したが、これに限らず、例えば、無端回動体を金属チェーンにて構成し、走行台車の前後方向に沿って延びる姿勢で物品載置搬送方向に沿って並べた物品搬送用ローラの夫々の一方側の端部に、物品搬送用ローラよりも小径のローラ駆動用のスプロケットを設けて、これらのスプロケットに無端回動体としての金属チェーンを巻回させて、物品搬送用ローラの夫々を互いに連動連結するように構成してもよい。 (2) In the above embodiment, the endless rotation belt included in the mounting and transporting device is exemplified by a belt having a wide width corresponding to the width of the mounting and transporting device. The endless rotating body is formed of a metal chain, and is used for article conveyance at one end of each of the article conveyance rollers arranged along the article placement and conveyance direction in a posture extending along the front-rear direction of the traveling carriage. A sprocket for driving a roller having a smaller diameter than the rollers may be provided, and a metal chain as an endless rotating body may be wound around these sprockets so that each of the article transport rollers is coupled to each other.

（３）上記実施形態では、スタッカークレーンが、棚の傾斜流動棚部分の物品受け入れ部に対して、物品を供給するものを例示したが、これに限らず、スタッカークレーンの物品供給対象は適宜選択可能である。 (3) In the said embodiment, although the stacker crane illustrated what supplies an article | item with respect to the article receiving part of the inclination flow shelf part of a shelf, not only this but the article supply object of a stacker crane is selected suitably Is possible.

第１実施形態におけるスタッカークレーンの全体側面図Overall side view of the stacker crane in the first embodiment 第１実施形態におけるスタッカークレーンの一部横断平面図The partial cross section top view of the stacker crane in a 1st embodiment 第１実施形態における載置搬送装置の一部縦断側面図The partial vertical side view of the mounting conveyance apparatus in 1st Embodiment 第１実施形態におけるスタッカークレーンの一部縦断拡大背面図Partial vertical cross-sectional rear view of the stacker crane in the first embodiment 第１実施形態における物品処理設備の断面図Sectional drawing of the article processing equipment in the first embodiment 第２実施形態におけるスタッカークレーンの一部縦断拡大背面図Partially enlarged rear view of the stacker crane in the second embodiment 第２実施形態における移載装置の外観斜視図External perspective view of the transfer device in the second embodiment

符号の説明Explanation of symbols

１ スタッカークレーン
２ 走行レール
３ 走行台車
４ 昇降台
５ 昇降案内マスト
７ 載置搬送装置
２２ 駆動部
２６ 駆動回転体
２７ 無端回動帯
２７Ｕ 下側経路部分
２７Ｅ 駆動回転体に対する巻回部
４０ 棚
４１ 物品受け入れ部
４２ 物品取出部
４３ 傾斜流動棚部分
５１ 物品搬送用ローラ
５２ 無端回動帯
５２Ｄ 下側経路部分
５２Ｅ 駆動回転体に対する巻回部
５３ 駆動回転体
５８ 駆動部 DESCRIPTION OF SYMBOLS 1 Stacker crane 2 Traveling rail 3 Traveling carriage 4 Lifting stand 5 Lifting guide mast 7 Loading conveyance device 22 Drive part 26 Drive rotation body 27 Endless rotation belt 27U Lower path part 27E Winding part 40 with respect to a drive rotation body Shelf 41 Article Receiving part 42 Article taking-out part 43 Inclined flow shelf part 51 Article conveying roller 52 Endless rotation band 52D Lower path part 52E Winding part 53 for driving rotator Driving rotator 58 Driving part

Claims (4)

走行レールに沿って走行自在な走行台車と、
前記走行台車に立設された昇降案内マストに沿って昇降自在な昇降台とを備え、
前記昇降台に、前記走行台車の横幅方向に物品を載置搬送する載置搬送装置が、前記走行台車よりもその横幅方向に外方に突出する状態で設けられたスタッカークレーンであって、
前記走行台車は、前後の車輪を回転自在に支持する前後一対の支持枠とこの前後一対の支持枠を連結する連結枠とで構成された台車フレームを備え、
前記昇降台が、前記走行台車における前記連結枠の横幅よりも広い間隔を形成するように前記スタッカークレーンの走行経路の横幅方向で離間した状態で前記走行経路に沿う姿勢で配設された左右一対の下部フレームを備え、
前記昇降台が、前記左右一対の下部フレームの間に前記走行台車の連結枠が位置する状態となって前記左右一対の下部フレームと前記連結枠とが略同じ高さとなるまで下降可能に構成され、
前記載置搬送装置が、前記走行台車の横幅方向に沿って延びる状態で且つ巻回経路の上下幅が搬送方向で異なる状態で巻回された無端回動帯の回動により物品を搬送するように構成され、且つ、その搬送方向で前記昇降台における前記左右一対の下部フレームの間隔よりも長く構成され、前記無端回動帯を回転駆動する駆動回転体を備える駆動部を、その搬送方向の端部箇所において下方に突出する状態で備えるように構成され、
前記無端回動帯の下側経路部分が、前記駆動回転体に対する巻回部を他の部分よりも下方に突出させた状態に巻回されるように構成され、
前記駆動回転体を回転駆動するコンベヤモータが、前記端部箇所において前記載置搬送装置の載置搬送面より上方に突出する状態で設けられているスタッカークレーン。 A traveling carriage that can travel along the traveling rail;
A lifting platform that can be lifted and lowered along a lifting guide mast erected on the traveling carriage,
A loading and unloading device for loading and transporting articles in the lateral direction of the traveling carriage on the lifting platform is a stacker crane provided in a state of projecting outward in the lateral direction from the traveling carriage,
The traveling carriage includes a carriage frame that includes a pair of front and rear support frames that rotatably support front and rear wheels and a connection frame that connects the pair of front and rear support frames.
A pair of left and right elevators arranged in a posture along the travel path in a state of being spaced apart in the lateral direction of the travel path of the stacker crane so as to form an interval wider than the lateral width of the connection frame in the travel carriage. With a lower frame
The lifting platform is configured to be able to descend until the connecting frame of the traveling carriage is positioned between the pair of left and right lower frames and the pair of left and right lower frames and the connecting frame are substantially at the same height. ,
The placement and transfer device is configured to convey an article by rotation of an endless rotation belt wound in a state extending along a lateral width direction of the traveling carriage and in a state where the vertical width of the winding path is different in the conveyance direction. And a drive unit including a drive rotating body configured to be longer than a distance between the pair of left and right lower frames in the lifting platform in the transport direction and configured to rotate the endless rotation band. It is configured to provide in a state of projecting downward at the end portion,
The lower path portion of the endless rotation band is configured to be wound in a state in which a winding portion for the drive rotating body protrudes downward from the other portions,
A stacker crane provided with a conveyor motor that rotationally drives the driving rotating body projecting above the placement conveyance surface of the placement conveyance device at the end portion . 前記載置搬送装置が、前記無端回動帯にて物品を載置して搬送するように構成されている請求項１記載のスタッカークレーン。   The stacker crane according to claim 1, wherein the placing and conveying device is configured to place and convey an article in the endless rotation zone. 前記載置搬送装置が、前記走行台車の前後方向に沿って延びる姿勢で物品載置搬送方向に沿って並べた物品搬送用ローラを前記無端回動帯にて駆動するように構成されている請求項１記載のスタッカークレーン。   The above-described placing and conveying device is configured to drive the article conveying rollers arranged along the article placing and conveying direction in an attitude extending along the front-rear direction of the traveling carriage with the endless rotation band. Item 2. A stacker crane according to item 1. 請求項１〜３のいずれか１項に記載のスタッカークレーンを備えた物品処理設備であって、
前記スタッカークレーンの走行経路方向に沿って物品を収納する収納区分が区画形成された棚が設けられ、
前記棚の各収納区分には、前記スタッカークレーンの走行経路に近接する側を物品受け入れ部とし且つ離れる側を物品取出部とする傾斜流動棚部分が、上下複数段に設けられている物品処理設備。 An article processing facility comprising the stacker crane according to any one of claims 1 to 3,
There is provided a shelf in which storage sections for storing articles are defined along the travel path direction of the stacker crane,
In each storage section of the shelf, an article processing facility in which an inclined flow shelf portion having an article receiving portion on the side close to the travel path of the stacker crane and an article takeout portion on the side away from the stacker crane is provided in a plurality of upper and lower stages. .
JP2007278976A 2007-10-26 2007-10-26 Stacker crane and article handling equipment Active JP5041226B2 (en)

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JPS59146380U (en) * 1983-03-23 1984-09-29 株式会社ダイフク Traveling device for transporting loads
JP2973817B2 (en) * 1994-06-17 1999-11-08 株式会社ダイフク Automatic warehouse loading / unloading device
JP4071593B2 (en) * 2002-10-16 2008-04-02 西部電機株式会社 Load transfer device
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