JPH0543604B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a cargo handling method using a stacker crane in a multi-level warehouse and the stacker crane.

[Background of the Invention] A multi-story warehouse consists of a row of shelves in which a large number of shelves are arranged horizontally and vertically, and a stacker crane that carries cargo in and out of each shelf. The stacker crane can run horizontally and has a lifting platform that can be raised and lowered, and the lifting platform has a fork that can be loaded with a load and moved in and out of the shelf.

When storing cargo at the warehouse entrance, use a fork to take in the cargo at the warehouse entrance, move the stacker crane to the designated shelf, raise and lower the lifting platform, and move the fork to the designated shelf. It is used to transport cargo.

For this reason, when multiple loads, for example, five loads, are to be stored in each shelf in succession, the stacker crane must make five round trips between the storage entrance and each shelf, resulting in a large number of It will require time. Additionally, the fork must move 10 times, which again requires a lot of time. Furthermore, the travel distance of the stacker crane and the amount of lifting and lowering of the lifting platform are also required to be large.

A similar problem occurs when items are sequentially removed from each shelf.

To solve this kind of problem, two sets of forks are installed horizontally and the forks are selectively operated.
There is a stacker crane that can take in and take out two loads in a round trip. For example, JP-A-57-
Publication No. 72503, Japanese Unexamined Patent Publication No. 199704, Japanese Unexamined Patent Publication No. 1997-199704
No. 58-26706.

This method requires two sets of forks and is therefore expensive. Furthermore, since two sets of forks are arranged side by side in the running direction of the stacker crane, the length of the stacker crane becomes long.

If you handle more loads at once,
It requires more forks, is more expensive, and is longer.

Further, generally, one bucket is stored on one shelf. When the parts to be stored are small and are not stacked in the bucket, the height of the bucket becomes low, which increases the number of shelves, making the multi-level warehouse larger and more expensive. When the buckets are stacked and stored, if you want to take them out in small batches, you have to take all the buckets on the shelf to the exit port and re-enter the warehouse with the extra buckets.
Therefore, it takes a lot of time to take the goods out of the warehouse.

[Purpose of the invention]

An object of the present invention is to shorten the time required for loading and unloading cargo by stacker cranes.

[Summary of the invention]

The present invention uses a fork to take a load into a lifting platform, then lifts and holds a number of loads corresponding to the purpose of the next operation above the fork, and then in the held state. The fork is operated on a predetermined shelf.

According to this, from among the loads taken in by the fork, the number of loads corresponding to the purpose of the next operation is lifted upward and away from the fork, so there is no excess load on the fork with respect to the shelf. be. Therefore, even if the load taken in by the fork is not immediately transported to the warehouse entrance or the shelf, the fork can continue to transfer the load to and from the shelf. Therefore, cargo handling time can be shortened.

When storing a large number of loads in succession, for example, the stacked loads are taken in with a fork, the lowest load is lifted upwards and held, the load on the fork is stored on a shelf, and the next The lowest load held above is lowered onto the fork and stored on the next shelf.

On the other hand, when taking out the warehouse, for example, the load taken out from the shelf is lifted upwards and held, and the load taken out from the next shelf is stacked and held below the previously held load. is repeated.

In addition, when storing cargo stored in stacks on shelves and discharging it in small lots, lift and hold the required number of cargo taken from the shelf, and return the excess cargo remaining on the fork to the shelf. , to be issued.

[Embodiments of the invention]

The present invention will be explained below with reference to an embodiment shown in FIGS. 1 to 4. In this embodiment, a plurality of loads can be handled at once in each of the warehousing operation, the warehousing operation, and the rearrangement operation.

In Fig. 1, 1 is a shelf for storing cargo;
A large number of them are arranged in the running direction of the stacker crane 2 and in the vertical direction. 3 is an entrance/exit.

The stacker crane 2 runs on rails on the floor. As is well known, the stacker crane 2 is composed of a movable frame 5, a lifting platform 7 that moves up and down, and a fork 8 installed on the lifting platform. The fork 8 can move forward and backward with respect to the shelf 1.

Furthermore, on the top of the lifting platform 7, there is a device (hereinafter referred to as a stacking device) capable of disassembling bucket carts and stacked bucket carts.
10 are installed. The stacking device 10 is capable of holding stacked buckets above the fork 8.

The stacking device 10 will be explained with reference to FIG. Second
The figure shows a state in which a bucket cart 11 is placed on a fork 8 and a plurality of stacked bucket carts are held by a stacking device 10.

The bucket 11 is used to store small parts and the like, and its height is low. The bucket bag 11 has recesses 11a at the bottom of both sides.

The stacking device 10 will be explained. 15 is Bucket 1
This is a support member that is inserted into the recess 11a of the bucket bag 1 to support the bucket bag, and is driven by the drive device 16 to support the bucket bag.
go in and out of The drive device 16 is the suspension seat 1
It is installed on a mounting seat 18 suspended from 7. A total of four supporting members 15 are provided on the left, right, front and rear above the retreated fork 8.

The hanging seat 17 includes a rotating device 20, a threaded rod 21,
It is raised and lowered by a lifting device 23 consisting of a nut 22 fixed to the hanging seat 17. Rotating device 2
0 is installed on the lifting platform 7. Lifting and lowering devices 23 are provided on the left and right sides, respectively.

The amount by which the support member 15 is lifted and lowered by the lifting device 23 is approximately the same as the height of two buckets 11 plus a slight height. When the support member 15 is moved to the lowest end of the lifting range, the bucket 11 placed on the fork 8
The support member 15 can be taken in and out of the recess 11a. On the other hand, when set to the uppermost end, a space 27 is obtained on the lower surface of the bucket 11 lifted by the support member 15, into which a fork carrying one bucket can be taken in and out. Further, the hanging seat 17 can be stopped so that the support member 15 can be taken in and out of the recess 11a of the second bucket from below the bucket placed on the fork. A detector (not shown) is provided to measure the amount of elevation of the hanging seat 17 and to control the rotating device 20 and the like.

When the suspension seat 17 is lowered to the lowest end, a space 28 is obtained between it and the fork 8, which is larger than the height of n bucket carts, which are the maximum number of cargoes to be handled.

Ends 17a of the suspension seat 17 in the left and right direction are provided along guide rails 25 provided on the left and right sides of the lifting platform 7.

In this configuration, first, the case where a plurality of buckets are delivered will be described with reference to the flowchart shown in FIG. 3.

One bucket 11 is placed on each shelf 1.

When a command is given to take out n (for example, 5) buckets, the lifting platform 7 is moved by traveling and lifting to the shelf 1 where the first bucket is located.

Next, on the shelf 1, the bucket 11 is placed on the fork 8 by operating the forks 8 and the lifting platform 7 using a well-known method, and the bucket 11 is taken into the lifting platform 7.

Next, the number of times the cargo is collected is counted, and the following stacking operations are performed. Operate the lifting device 23 to lower the hanging seat 17
Move to the lowest position. At this time, support member 1
5 is backwards. The lowering position of the hanging seat 17 is
This is the point where the support member 15 is located on the side surface of the recess 11a of the bucket 11 on the fork 8.

Next, the support member 15 is projected using the drive device 16 and placed into the recess 11a of the bucket bag 11.

Next, the hanging seat 17 is raised to the uppermost position and the bucket bag 11 is lifted. This results in
A space 27 for receiving the bucket 11 is obtained between the lower surface of the bucket 11 on the support member 15 and the fork 8.

Next, the lifting platform 7 is moved to the shelf 1 of the second bucket, and the bucket 11 is taken onto the fork 8 in the same manner as last time.

Next, the number of times the cargo is collected is counted, and the following stacking operations are performed.

The hanging seat 17 is lowered and the bucket 11 being lifted is placed on the bucket 11 on the fork 8.
That is, the amount by which the hanging seat 17 is lowered is approximately the value obtained by subtracting the height of the bucket 11 from the height at which it was lifted last time.

If the support member 15 is moved backward in this state, it can be easily pulled out.

Next, the number of collections is checked, and if it is less than n times, the hanging seat 17 is further lowered, the support member 15 is protruded, and the hanging seat 17 is raised, as in the previous time. The amount of increase is the same as above. In this way, the collected buckets are stacked one after another.

Thereafter, this process is repeated, and when the number of items to be collected reaches n, the operator moves to the loading/unloading port 3 and unloads the n stacked buckets 11 on the fork 8 using the fork 8.

Next, the case of storing bucket bags on each shelf will be explained with reference to FIG. 4.

At the loading/unloading port 3, n stacked buckets 11 are taken in.

Next, move to a predetermined shelf 1. In addition, the n bucket carts 11 on the forks 8 are separated from each other. That is, with the support member 15 retracted, the hanging seat 15 is moved so that the support member 15 corresponds to the recess 11a of the second bucket bucket 11 from the bottom. Next, the support member is made to protrude, and the hanging seat 1 is
7 to the highest position and lift the second and higher stages. As a result, one bucket 11 remains on the fork 8.

A bucket bag is stored on a predetermined shelf with a fork 8 protruding.

Next, the number of stored items is counted and determined, and the second storage operation is started. Move to the specified shelf 1. Further, the hanging seat 17 is lowered to the lowest position so that the lowermost bucket 11 rests on the fork 8.

Next, the support member 15 is moved back.

Next, the number of stored items is determined, and since it is less than n times, the supporting member 15 is placed in the second bucket from the bottom.
Lift the hanging seat 17 so that it corresponds to the recess 11a of No. 1.

The following operations are as described above, and are repeated until all numbers are stored. However, once the bucket 11 on the support member 15 is removed, there is no need to raise the hanging seat 17, so the storage operation is omitted.

Note that the movement between the shelves 1-1, the movement between the shelves and the loading/unloading port 3, and the stacking operation 2 are performed in parallel with the stacking operation.

As mentioned above, during unloading work, the loads taken in by the forks 8 are lifted upwards, stacked sequentially from the bottom and stored, and after collecting a large number of loads,
I am trying to move it to the exit. Furthermore, when warehousing, a large number of items are taken in at the warehousing entrance and stored above, and then supplied to forks from above on each shelf for warehousing. Therefore, it is possible to shorten the warehousing time and the warehousing time. In addition, the amount of travel can be reduced by the amount of elevation. Furthermore, since a plurality of loads are placed on forks at the warehouse entrance and transferred, the number of operations of the fork 8 can be reduced, and from this point of view as well, the time required for loading and unloading can be shortened.

Moreover, since there is only one fork, it can be made at low cost and the length of the stacker crane can be shortened. However, the height of the static crane will be higher. Furthermore, if a storage height above the fork is provided, one fork can handle a large number of loads.

In addition, in the unloading operation at the exit, if the above-mentioned step-breaking operation is used, the buckets can be unloaded one by one. On the other hand, in the warehousing operation at the warehousing entrance, when buckets are supplied one by one, the above-mentioned stacking operation is used.

In addition, although the stacking and disassembling operations were carried out for each bucket, it is also possible to perform the stacking and disassembling operations for each bucket.

In addition, for the work at the entrance/exit, other equipment can be used instead of using the fork 8 of the stacker crane 2.

In addition, for example, in order to shorten the delivery time, buckets on a shelf far from the exit are relocated to a shelf near the exit during idle time. If this is combined with step-breaking work, etc., rearrangement can be done in a short time.

In the above embodiment, the buckets are stacked on the stacking device 10, but this is difficult if the cargo is large or heavy. In this case,
The stacking device 10 is designed to be able to hold one load, and together with the fork 8, it can handle two loads. Also, avoid stacking on the forks 8. Even in such a case, since there is only one fork, the cost can be reduced and the length of the stacker crane can be shortened.

In the above embodiment, the support member supporting the bucket bag is raised and lowered, but the support member side may be fixed and the member located below the bag bag can be raised and lowered. For example, the fork 8 can be moved up and down. Alternatively, a lifting device may be provided below the bucket on the left and right sides of the fork 8. Since stacking devices and stacking devices that do not raise or lower supporting members are well known, explanations of their control will be omitted.

However, as in the embodiment of FIG.
According to the method of raising and lowering the fork, the height from the upper surface of the fork 8 to the lower surface of the lifting platform 7 can be reduced because the lifting device can be built into the side surface, which is convenient.

Next, we will discuss the case where a large number of buckets are stacked and stored on one shelf, and one or more buckets are cut out from this shelf and delivered in small quantities, together with an embodiment shown in FIG. explain.

In addition, the amount of lifting and lowering of the lifting device 23 is determined by the number of stacks n.
If the required number is 1, then the value is the height of (n-1) buckets plus some height.

In FIG. 5, first, all the stacked buckets are taken out using a fork 8, and the stacking work is carried out.

In the step-breaking work, if the number of items to be taken out from this shelf is two, the support member 15 is moved from above to the side of the bucket cart 11 in the second tier, and the second and higher tiers are lifted. If the number of items to be delivered is one, lift the first bucket from above.

Next, the extra bucket left on the fork 8 is returned to the original shelf or a predetermined shelf.

Next, the bucket 11 on the support member 15 is lowered onto the fork 8, and the unloading operation is performed.

According to this system, a large number of buckets can be stacked and stored on shelves, and the required number can be cut out and shipped out, so the number of shelves can be reduced, and the multi-level warehouse can be made smaller and cheaper. be.

In the above embodiment, each shelf is delivered to the exit, but the sum of the number of buckets on the shelf to be delivered next and the number of stacks on the support member 15 is the number of stacks on the shelf. If the number is less than the maximum possible number, take out the bucket from the next shelf to be delivered, stack the bucket on the supporting member 15 on top of it, lift it together with the removed bucket, return the remaining buckets to the original shelf, and leave the warehouse. Reduce time. This idea can also be applied to the case of replenishing buckets in a shelf that is running low.

〔Effect of the invention〕

According to the present invention, the time required for cargo handling can be greatly shortened, and stacker cranes and the like can be made cheaper.

[Brief explanation of drawings]

Fig. 1 is a front view of a multi-story warehouse equipped with a stacker crane according to an embodiment of the present invention, Fig. 2 is a front view of a lifting platform of the stacker crane shown in Fig. 1, and Fig. 3 is an embodiment of the present invention. Example flowchart of shipping work, No. 4
The figure is a flowchart of a warehousing operation according to an embodiment of the present invention, and FIG. 5 is a flowchart of a small-lot unloading operation according to an embodiment of the present invention. 1...Shelf, 2...Statuka crane, 3...Archive/exit, 7...Elevating platform, 8...Fork, 10...
... Stacking device, 11 ... bucket, 15 ... support member, 16 ... drive device, 17 ... hanging seat, 2
3... Lifting device, 28... Holding space.

Claims (1)

[Scope of Claims] 1. A load is taken into a lifting platform using a fork, and then a number of loads corresponding to the purpose of the next operation are lifted and held above the fork, and then the holding cargo handling by a stacker crane, which comprises the steps of: operating a fork on a predetermined shelf in a state in which the fork is held, and lowering a number of loads corresponding to the purpose of the next operation from the load held above onto the fork; Method. 2. A space capable of storing at least one load is provided above the fork in the lifting platform and above the height of the load on the fork, and a support member for supporting the load is provided within the space. A stacker crane, characterized in that the elevating platform is provided with an elevating device that is movable forward and backward relative to the side of the load, and that lifts and lowers the load between the fork and the space.