Stacker crane erection device and stacker crane erection method

Abstract

To provide a raising device of a stacker crane which enables a stacker crane to be raised with a simple structure.SOLUTION: A raising device (1) includes: a support part (2); and a column (3) which rotatably supports the support part (2). The raising device (1) is configured so that the support part (2) is rotated by the self-weight of a stacker crane (100) to raise the stacker crane (100) when a lifting body (40) is moved along a mast (20) from the top surface side to the bottom surface side of the stacker crane (100) lying on its side.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a stacker crane erection device and a stacker crane erection method. [Background technology]

[0002] Conventionally, there are devices for erecting structures such as pillars. For example, Patent Document 1 describes a positioning device in which a split unit is placed on an L-shaped positioning stand and the positioning stand is rotated upward by a jack, thereby erecting the split unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-279433 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the positioning device of Patent Document 1 requires a jack to be disposed so that the positioning platform can be rotated around the hinge as a fulcrum, which poses a problem of making the structure of the positioning device complex.

[0005] An object of one aspect of the present invention is to provide a stacker crane erection device and a stacker crane erection method that are capable of erecting a stacker crane with a simple configuration. [Means for solving the problem]

[0006] In order to solve the above problems, one aspect of the present invention provides an erection device for a stacker crane having a carriage, a mast extending vertically from the carriage, and a lifting body that moves along the mast, and is further equipped with support parts that support the stacker crane on one side and on the bottom of the stacker crane when the mast is laid on its side, and struts that rotatably support the support part. When the lifting body is moved along the mast from the top side to the bottom side of the laid-on stacker crane, the support part rotates due to the weight of the stacker crane, and the stacker crane is erected.

[0007] In order to solve the above problems, one aspect of the present invention provides a method for erecting a stacker crane using a stacker crane erection device having a carriage, a mast extending vertically from the carriage, and a lifting body that moves along the mast. The erection device includes support parts that support the stacker crane on one side and on the bottom of the stacker crane when the mast is laid on its side, and struts that rotatably support the support parts, and is configured so that when the lifting body is moved along the mast from the top side to the bottom side of the laid-on stacker crane, the support parts rotate due to the weight of the stacker crane, and the stacker crane is erected.

[0008] The method for erecting the stacker crane includes an arrangement step of placing the stacker crane with the mast laid on its side on the support part, a movement step of moving the lifting body along the mast from the top side to the bottom side of the stacker crane in the laid-on state, and a rotation step in which the support part rotates due to the stacker crane's own weight, erecting the stacker crane to a vertical position. [Effects of the Invention]

[0009] According to one aspect of the present invention, a stacker crane can be erected with a simple configuration. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing the overall configuration of an erection device according to an embodiment of the present invention. FIG. [Figure 2] 1 is a diagram showing the overall configuration of a stacker crane according to an embodiment. FIG. [Figure 3] 10A and 10B are diagrams illustrating how the control unit controls the position of the lifting body according to the embodiment. [Figure 4] FIG. 10 is a diagram showing how a stacker crane is erected by the erection device according to the embodiment. [Figure 5] FIG. 2 is a block diagram showing the electrical configuration of the erection device and stacker crane according to the embodiment. [Figure 6] 10 is a flowchart showing an example of the flow of a method for erecting a stacker crane using the erecting device according to the embodiment. [Figure 7] 7 is a flowchart showing an example of a flow of control by a control unit in the movement step of FIG. 6. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, a construction device 1 according to an embodiment of the present invention will be described with reference to FIGS.

[0012] [Erection device] Figure 1 is a diagram showing the overall configuration of the erection device 1. As shown in Figure 1, the erection device 1 includes a support section 2, a support column 3, a damper 4, a base plate 5, and a control section 10 (see Figure 5). The erection device 1 is a device for erecting a stacker crane 100 with its mast 20 laid down to a vertical position.

[0013] The support part 2 is a plate member with an L-shaped cross section. The support part 2 has a first support part 21, a second support part 22, a first connection part 23, a second connection part 24, and a rotation shaft 25. The first support part 21 is connected to a mounting member 60 via the first connection part 23. The first connection part 23 includes bolts, screws, etc. The stacker crane 100 is placed on the mounting member 60 with the mast 20 laid on its side.

[0014] The first support part 21 is made of a plate-shaped member and is attached to the upper part of the support pillar 3 so as to be rotatable around a rotation axis 25. The first support part 21 supports one side of the stacker crane 100 when the mast 20 is laid down on its side, with the mounting member 60 sandwiched therebetween.

[0015] The second support part 22 is made of a plate-shaped member and extends vertically upward from the right end part of the first support part 21. The second support part 22 is connected to the mounting member 60 via the second connection part 24. The second support part 22 supports the bottom surface of the stacker crane 100 when the mast 20 is laid down on its side, with the mounting member 60 sandwiched between them.

[0016] The support pillar 3 rotatably supports the support part 2. The support pillar 3 is a plate-like or column-like member, and is erected on the upper surface of the base plate 5. Note that the support pillar 3 may be provided with a member for reinforcing the support pillar 3.

[0017] The support pillar 3 is disposed on the upper surface of the base plate 5 in a recess 201 recessed into the floor surface 200. The depth of the recess 201, i.e., the length in the vertical direction, is, for example, about 600 mm. The recess 201 does not have to be provided. In this case, the erection device 1 can be disposed directly on the floor surface 200.

[0018] The base plate 5 is a member for stably positioning the support 3 in the recess 201. The thickness of the base plate 5, i.e., the length in the vertical direction, is, for example, about 20 mm. The base plate 5 may not be necessary. In this case, the support 3 may be placed directly in the recess 201.

[0019] Here, the operation of the support unit 2 will be described with reference to Figures 3 and 4. Figure 3 is a diagram showing how the control unit 10 controls the position of the lifting body 40. Figure 4 is a diagram showing how the erecting device 1 erects the stacker crane 100.

[0020] As shown in Figure 3, when the lifting body 40 moves from the top side to the bottom side of the stacker crane 100 that is in a laid-over state, the support part 2 rotates clockwise due to the weight of the stacker crane 100, as shown in the upper diagram of Figure 4. The erecting device 1 is configured so that the stacker crane 100 rotates together with the rotation of the support part 2, thereby erecting the stacker crane 100, as shown in the lower diagram of Figure 4.

[0021] A damper 4 is disposed between the first support portion 21 and the base plate 5. A damper with variable damping force is used as the damper 4. This damper 4 is configured to include, for example, a cylinder filled with magnetorheological fluid (ERF), a piston slidably inserted into the cylinder, a piston rod connected to the piston, and a coil provided inside the cylinder.

[0022] When a current is supplied to the coil and a voltage is applied to the ERF, the viscosity of the ERF increases and the damping force of the damper 4 increases. The side of the cylinder of the damper 4 is connected to the base plate 5, and the end of the piston rod is connected to the first support part 21 of the support part 2. The damper 4 functions to absorb the impact when the rotation of the support part 2 that supports the stacker crane 100 is stopped. Note that the damper 4 does not have to be a damper with variable damping force.

[0023] [Stacker crane] Next, the stacker crane 100, which is the object to be erected by the erection device 1, will be described with reference to Fig. 2. Fig. 2 is a diagram showing the overall configuration of the stacker crane 100. For ease of explanation, the up-down direction and the left-right direction of the stacker crane 100 are defined as shown by the arrows in Fig. 2.

[0024] As shown in FIG. 2, the stacker crane 100 includes four masts 20, a connecting section 30, a lifting body 40, a carriage section 50, a crane control section 70 (see FIG. 5), a lifting motor M1, and a traveling motor M2.

[0025] Each mast 20 extends vertically, i.e., upward, from the carriage 50. Each mast 20 is formed of a vertically long hollow member. A connecting section 30 connects the upper ends of each mast 20 together. A lifting body 40 is supported by each mast 20 and moves along the mast 20.

[0026] The lifting body 40 is configured to be able to grip an article. The lifting body 40 moves up and down along the mast 20 by winding or unwinding the chain C using the driving force of the lifting motor M1. Note that a belt may be used instead of the chain C.

[0027] The bogie unit 50 travels along the traveling rail R. The bogie unit 50 supports running wheels W1 and W2 that roll on the traveling rail R. The running wheel W1 is provided at the left end of the bogie unit 50 and is driven by a traveling motor M2. The running wheel W2 is provided at the right end of the bogie unit 50 so as to be able to rotate freely.

[0028] [Electrical configuration of erection device and stacker crane] Next, the electrical configuration of the erection device 1 and the stacker crane 100 will be described with reference to Fig. 5. Fig. 5 is a block diagram showing the electrical configuration of the erection device 1 and the stacker crane 100.

[0029] 5, the erection device 1 further includes a rotation sensor 8 and a control unit 10. The rotation sensor 8 is provided, for example, on the support unit 2, and outputs a signal corresponding to the rotation speed of the support unit 2 to the control unit 10.

[0030] The control unit 10 has a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The ROM stores programs and the like for the control unit 10 to control various operations. The RAM is used as a storage area for temporarily recording data, signals, etc. used when the control unit 10 executes the programs, or as a working area for data processing.

[0031] The control unit 10 is configured to be able to communicate with the crane control unit 70 via a communication device (not shown). The control unit 10 controls the lifting motor M1, the traveling motor M2, the transfer device 41, etc. via the crane control unit 70 based on a control program read from the ROM and the detection results of various sensors such as the rotation sensor 8. The transfer device 41 is provided on the lifting body 40, and transfers items to be transported between the lifting body 40 and an item storage shelf, etc.

[0032] The crane control unit 70 has a lifting / lowering control unit 71, a traveling control unit 72, and a transfer control unit 73. The lifting / lowering control unit 71 controls the lifting / lowering operation of the lifting body 40 by driving the lifting motor M1 based on the detection result of the lifting / lowering sensor 91. The traveling control unit 72 controls the traveling operation of the carriage unit 50 by driving the traveling motor M2 based on the detection result of the traveling sensor 92. The transfer control unit 73 controls the transfer operation of the transfer device 41.

[0033] The lifting sensor 91 detects the vertical position of the lifting body 40. For example, the lifting sensor 91 emits laser light upward from a base (not shown) of the cart unit 50 and detects the vertical position of the lifting body 40 based on receiving the light reflected by a reflecting mirror arranged on the bottom surface of the lifting body 40. The lifting sensor 91 outputs the detection result to the lifting control unit 71.

[0034] The travel sensor 92 detects the travel direction of the carriage unit 50 on the travel rail R, i.e., the left-right position. For example, the travel sensor 92 detects the left-right position of the carriage unit 50 by emitting laser light horizontally from the carriage unit 50 and receiving light reflected by a reflector arranged at one end of the travel rail R. The travel sensor 92 outputs the detection result to the travel control unit.

[0035] The control unit 10 does not have to be configured as an integrated computer, and all of the functions of the control unit 10 may be executed by the crane control unit 70, or may be executed by the crane control unit 70 and an external PC. Also, some of the functions of the control unit 10 may be located on the cloud.

[0036] [How to erect using erection equipment] Next, a method for erecting the stacker crane 100 using the erection device 1 of this embodiment will be described with reference to FIGS.

[0037] Fig. 6 is a flowchart showing an example of the flow of a method for erecting the stacker crane 100 by the erection device 1. As shown in Fig. 6, in the method for erecting the stacker crane 100 by the erection device 1, a placement step (S1), a movement step (S2), and a rotation step (S3) are carried out in this order.

[0038] The placement step S1 is carried out by a worker at a site where an automated warehouse or the like is installed in which the stacker crane 100 is used. In the placement step S1, the worker places the stacker crane 100, with the mast 20 placed on the mounting member 60 and laid down on its side, on the support part 2 of the erection device 1, as shown in the upper diagram of FIG.

[0039] At this time, the support section 2 is in a state where the first support section 21 is horizontal and the second support section 22 is vertical. The lifting body 40 is disposed on the top side of the stacker crane 100 that is in a laid-over position. Therefore, the center of gravity G of the stacker crane 100 is located to the left of the rotation axis 25.

[0040] Next, in the moving step S2, the control unit 10 moves the lifting body 40 from the top side to the bottom side of the stacker crane 100 that is in a laid-over state, as shown in the lower diagram of Fig. 3. The flow of control by the control unit 10 in the moving step S2 will be described in detail below with reference to Fig. 7.

[0041] Fig. 7 is a flowchart showing an example of the flow of control by the control unit 10 in the moving step S2 of Fig. 6. In the flowchart shown in Fig. 7, first, the control unit 10 controls the lift control unit 71 to start driving the lift motor M1 (S21).

[0042] After S21, the control unit 10 controls the lifting motor M1 via the lifting control unit 71 to move the lifting body 40 from the top side to the bottom side of the stacker crane 100 that is in a laid-over state, as shown in Fig. 3 (S22). As a result, a clockwise moment acts on the support unit 2, as shown in the lower diagram of Fig. 3, and as a result, the support unit 2 begins to gradually rotate clockwise while supporting the stacker crane 100, as shown in the upper diagram of Fig. 4.

[0043] After S22, the control unit 10 determines whether the rotation speed of the support unit 2 is equal to or greater than a predetermined value based on the detection result of the rotation sensor 8 (S23). If the rotation speed of the support unit 2 detected by the rotation sensor 8 is equal to or greater than the predetermined value (S23: YES), the control unit 10 controls the lift control unit 71 to reduce the rotation speed of the lift motor M1 (S24), thereby slowing down the movement speed of the lift body 40, and proceeds to S25.

[0044] When the movement speed of the lifting body 40 is slowed down, the movement speed of the position of the center of gravity G is slowed down, thereby reducing the rotation speed of the support part 2. In this way, the control part 10 controls the lifting control part 71 to control the movement speed of the lifting body 40 so that the rotation speed of the support part 2 does not exceed a predetermined value.

[0045] On the other hand, if the rotation speed of the support part 2 is less than the predetermined value (S23: NO), the control part 10 does not execute the process of S24 and proceeds to S25. In S25, the control part 10 determines whether the lift body 40 has reached a predetermined position based on the detection result of the lift sensor 91 (S25).

[0046] Here, the "predetermined position" refers to a position where a clockwise moment large enough to raise the stacker crane 100 to a vertical position acts on the support part 2, as shown by the outline arrow in the lower diagram of Figure 3. The predetermined position is set at the bottom of the stacker crane 100, for example.

[0047] When a clockwise moment large enough to raise the stacker crane 100 to a vertical position acts on the support part 2, the stacker crane 100 can be raised to a vertical position, as shown in Fig. 4. The above-mentioned predetermined position, the longitudinal length of the first support part 21, the position of the rotation shaft 25, etc. are set in consideration of the weight of the mast 20, the weight of the lifting body 40, etc.

[0048] If the lifting body 40 has not reached the predetermined position (S25: NO), the control unit 10 controls the lifting control unit 71 to continue driving the lifting motor M1 until the lifting body 40 reaches the predetermined position. On the other hand, if the lifting body 40 has reached the predetermined position (S25: YES), the control unit 10 controls the lifting control unit 71 to stop driving the lifting motor M1 (S26). This completes the control by the control unit 10 in the movement step S2 shown in FIG. 7.

[0049] Returning to Fig. 6, after S2, a rotation step (S3) is performed. In the rotation step S3, the lifting body 40 moves to the bottom of the stacker crane 100, and as a result, the position of the center of gravity G of the stacker crane 100 moves closer to the bottom side of the stacker crane 100 than the support pillar 3, as shown in the lower diagram of Fig. 3.

[0050] Then, as shown in FIG. 4, the support part 2 supporting the stacker crane 100 rotates due to the weight of the stacker crane 100, and the stacker crane 100 is raised to a vertical position.

[0051] At this time, the damper 4 is disposed between the support part 2 and the base plate 5, so that the shock generated when the rotation of the support part 2 supporting the stacker crane 100 is stopped is reliably absorbed. This allows the stacker crane 100 to be erected gently.

[0052] In addition, since the multiple wheels W detachably attached to the loading member 60 come into contact with the base plate 5, the friction force between the stacker crane 100 and the base plate 5 is reduced, making it possible to erect the stacker crane 100 smoothly.

[0053] When erecting the stacker crane 100 by the erection device 1 is complete, the worker releases the connection between the first connection part 23 and the second connection part 24 which connect the support part 2 and the mounting member 60. Then, the worker removes the stacker crane 100 placed on the mounting member 60 from the support part 2, and then lowers the stacker crane 100 from the mounting member 60 and places the stacker crane 100 in a predetermined position. In this way, the placement of the stacker crane 100 is completed.

[0054] According to the erection method using the erection device 1 of this embodiment described above, in the placement step (S1), the stacker crane 100 with the mast 20 laid on its side is placed on the support part 2, and in the movement step (S2), the control part 10 moves the lifting body 40 along the mast 20 from the top side to the bottom side of the stacker crane 100. This moves the position of the center of gravity G of the stacker crane 100 from a position on the left side to a position on the right side with respect to the support 3, and a clockwise moment can be applied to the support part 2 as shown in the lower diagram of FIG.

[0055] Then, in the rotation step (S3), the support part 2 is rotated clockwise by utilizing the own weight of the stacker crane 100, as shown in the upper diagram of Fig. 4. In this way, the stacker crane 100 supported by the support part 2 can be erected to a vertical position with a simple configuration, as shown in the lower diagram of Fig. 4, without using a jack or the like.

[0056] Furthermore, according to the erection device 1 of this embodiment, the control unit 10 controls the movement speed of the lifting body 40 so that the rotation speed of the support part 2 does not exceed a predetermined value (S24), thereby preventing the stacker crane 100 from rotating suddenly.

[0057] Furthermore, since the support pillars 3 of the erecting device 1 are arranged in the recesses 201, it is possible to increase the rotation radius of the support part 2. This ensures sufficient space for rotating the support part 2 until the first support part 21 changes from a horizontal state to a vertical state, making it possible to erect the stacker crane 100 reliably.

[0058] Furthermore, as in the past, when raising the top of the stacker crane 100 and erecting it, it was necessary to use, for example, an aerial work vehicle to open the ceiling and then use a chain block or the like to lift the top of the stacker crane 100 from a steel frame installed under the ceiling. In contrast, with the erection device 1 of this embodiment, the stacker crane 100 can be erected only by work on the ground, without opening the ceiling and performing work at a height.

[0059] Other Embodiments In the erection device 1 of the above embodiment, the stacker crane 100 is disposed on the support part 2 via the mounting member 60, but this is not limiting. For example, the stacker crane 100 may be disposed directly on the support part 2 of the erection device 1. In this case, a plurality of wheels W may be directly attached to the contact points of the stacker crane 100 with the floor surface 200.

[0060] In the above-described embodiment, the stacker crane 100 is provided with a pair of masts 20, but is not limited to this. The stacker crane 100 is only required to be provided with at least one mast 20, and may be provided with only one mast 20.

[0061] Furthermore, in the above embodiment, the control unit 10 reduces the rotation speed of the lifting motor M1 (S24) when the rotation speed of the support unit 2 is equal to or greater than a predetermined value in S23 of FIG. 7 (S23: YES), but is not limited to this.

[0062] For example, the control unit 10 may increase the damping force of the damper 4 by increasing the voltage value applied to the damper 4 as the rotation speed of the support part 2 increases based on the detection result of the rotation sensor 8. This makes it possible to slowly raise the stacker crane 100.

[0063] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present disclosure. [Explanation of symbols]

[0064] 1. Erecting device 2 Support part 3 pillars 4 Damper 10 Control Unit 20 Mast 40 Lifting body 50 Bogie section 100 stacker crane S1 placement process S2 Moving process S3 Rotation process

Claims

1. A stacker crane erection device having a carriage section, a mast extending vertically from the carriage section, and a lifting body moving along the mast, a support portion that supports the stacker crane on one side surface and a bottom surface of the stacker crane when the mast is laid down; a support pillar that rotatably supports the support portion; Equipped with A stacker crane erection device characterized in that, when the lifting body is moved along the mast from the top side to the bottom side of the stacker crane that has been laid on its side, the support part rotates due to the stacker crane's own weight, causing the stacker crane to be erected.

2. Further, a control unit is provided to control the position of the lifting body, The control unit 2. The stacker crane erection device according to claim 1, wherein, when the stacker crane is in the laid-over state, the support part is rotated by moving the lifting body along the mast from the top side to the bottom side of the stacker crane.

3. The control unit 3. The stacker crane erection device according to claim 2, wherein the moving speed of the lifting body is controlled so that the rotation speed of the support part does not exceed a predetermined value.

4. 2. The stacker crane erection device according to claim 1, further comprising a damper for absorbing shock when the rotation of the support part that supports the stacker crane is stopped.

5. a damper is provided to absorb impact when the rotation of the support part that supports the stacker crane is stopped, The damper has a variable damping force, The control unit 3. The stacker crane erection device according to claim 2, wherein the damping force is increased by increasing the voltage value applied to the damper as the rotation speed of the support part increases.

6. A method for erecting a stacker crane using an erection device for a stacker crane having a carriage section, a mast extending vertically from the carriage section, and a lifting body that moves along the mast, The erection device is a support portion that supports the stacker crane on one side surface and a bottom surface of the stacker crane when the mast is laid down; a support pillar that rotatably supports the support portion; Equipped with When the lifting body is moved along the mast from the top side to the bottom side of the stacker crane that has been laid on its side, the support part rotates due to the weight of the stacker crane, and the stacker crane is erected, an arrangement step of arranging the stacker crane with the mast laid down on the support part; a moving step of moving the lifting body along the mast from the top side to the bottom side of the stacker crane in the laid-down state; a rotation process in which the support portion rotates due to the weight of the stacker crane, thereby erecting the stacker crane to a vertical position; A method for erecting a stacker crane, comprising:

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