Load grasping apparatus for narrow aisle stacker crane

Claim 2

In combination with a storage rack positioned along an aisle extending in a predetermined direction and having a plurality of storage stations located therein and extending along said aisle, a stacker crane for insertion of a load in one of said storage stations and removal of a load from one of said storage stations, said stacker crane comprising: carriage means having means for moving horizontally along said aisle and means for moving vertically so as to be aligned opposite said storage station; load grasping means rotatably attached to said carriage means for grasping said load, including a pair of arms rotatable in parallel vertical planes and movable toward and away from each other; means for operating said load grasping means so as to effect engagement and disengagement of said grasping means with said load, including means for synchronously rotating said arms in parallel vertical planes and means for moving said arms toward and away from each other; and control means for controlling said means for moving said carriage means vertically and said operating means, so as to effect vertical movement of said carriage away from alignment with said storage station and to effect coordinated simultaneous rotating movement of said load grasping means while said load grasping means is engaged with said load so that said load is moved only horizontally relative to said storage station during insertion and removal.

Claim 3

A stacker crane as recited in claim 1 further comprising a wheeled truck having means for moving horizontally along said aisle, said truck having vertically oriented members attached thereto along which said carriage is moved vertically by said vertical movement means.

Claim 4

A stacker crane as recited in claim 2 further comprising sheave means attached to said vertically oriented members, and wherein said means for vertically moving said carriage means includes winch means attached to and supported by said wheeled truck, and cable means connected between said winch means and said carriage means and reeved about said sheave means therebetween for moving said carriage means vertically along said vertically oriented members.

Claim 5

A stacker crane as recited in claim 1 or claim 3 wherein said load grasping means includes: shaft means journaled to said carriage means, the axis of which runs parallel to said aisle; prime mover means connected to said shaft means for selectively rotating said shaft means, and attached to and supported by said carriage means; said arms being non-rotatably attached to said shaft means so as to rotate with said shaft means when it rotates.

Claim 6

A stacker crane as recited in claim 4 wherein said arms project parallel outwardly from said shaft means and are slidable axially along said shaft means, said arms being slid along said shaft means by power cylinder means so as to slide together and apart to engage with and disengage from said load.

Claim 7

A stacker crane as recited in claim 5 wherein said load includes load engaging means, and wherein each of said opposing arms includes, at the distal end thereof, means for gripping said load by engaging with said load engaging means of said load.

Claim 8

A warehouse stacker crane as recited in claim 6 wherein said load engaging means includes apertures, one at each side of said load, and wherein said gripping means includes projections for fitting into said apertures of said load engaging means.

Claim 9

A warehouse stacker crane as recited in claim 7 wherein said projections are affixed to the ends of said arms.

Claim 10

A warehouse stacker crane as recited in claim 4 wherein said shaft means includes a shaft journaled within said carriage means, and wherein said prime mover means includes an electric motor, a pinion gear driven by said electric motor, and a drive gear non-rotatably attached to said shaft and driven by said pinion gear.

Claim 11

A warehouse stacker crane as recited in claim 4 wherein said shaft means includes a shaft journaled within said carriage means, and wherein said prime mover means includes an electric motor and a four-bearing planetary gear arrangement by means of which said motor drives said shaft.

Claim 12

A warehouse stacker crane as recited in claim 4 wherein said shaft means includes a shaft journaled within said carriage means, and wherein said prime mover means includes an electric motor and a five-bearing planetary gear arrangement by means of which said motor drives said shaft.

Claim 15

A method as recited in claim 12 wherein said arms are also rotatable in parallel vertical planes.

Claim 16

In combination with a storage rack positioned along an aisle extending in a predetermined direction and having a plurality of storage stations located therein and extending along said aisle, a stacker crane for insertion of a load in one of said storage stations and removal of a load from one of said storage stations, said stacker crane comprising: A. carriage means having means for moving horizontally along said aisle and means for moving vertically so as to be aligned opposite said storage station; B. load grasping means rotatably attached to said carriage means for grasping said load, including (1) shaft means journaled to said carriage means, the axis of which runs generally parallel to said aisle, (2) a pair of arms non-rotatably attached to said shaft means so as to rotate with said shaft means when it rotates, projecting parallel outwardly from said shaft means and slidable axially along said shaft means, and (3) prime mover means connected to said shaft means for selectively rotating said shaft means, and attached to and supported by said carriage means so as to move therewith; C. means for operating said load grasping means so as to effect engagement and disengagement of said grasping means with said load, including (1) means for synchronously rotating said arms in parallel vertical planes, and (2) power cylinder means connected between said arms for sliding said arms together and apart along said shaft to engage with and disengage from said load; and D. control means for controlling said means for moving said carriage means vertically and said load grasping operating means, so as to effect vertical movement of said carriage away from alignement with said storage station and to effect coordinated simultaneous rotating movement of said load grasping means while said load grasping means is engaged with said load so that said load is moved only horizontally, generally perpendicular to said aisle, relative to said storage station during insertion and removal.

Claim 17

In combination with a storage rack positioned along an aisle extending in a predetermined direction and having a plurality of storage stations located therein and extending along said aisle, a stacker crane for insertion of a load in one of said storage stations and removal of a load from one of said storage stations, said stacker crane comprising: A. carriage means having means for moving horizontally along said aisle and means for moving vertically so as to be aligned opposite said storage station; B. load grasping means rotatably attached to said carriage means for grasping said load, including (1) shaft means journaled to said carriage means, the axis of which runs generally parallel to said aisle, (2) a pair of arms non-rotatably attached to said shaft means so as to rotate with said shaft means when it rotates, projecting parallel outwardly from said shaft means and slidable axially along said shaft means, and (3) prime mover means connected to said shaft means for selectively rotating said shaft means, and attached to and supported by said carriage means so as to move therewith; C. means for operating said load grasping means so as to effect engagement and disengagement of said grasping means with said load, including (1) means for synchronously rotating said arms in parallel vertical planes, and (2) power cylinder means connected between said arms for sliding said arms together and apart along said shaft to engage with and disengage from said load; and D. control means for controlling said means for moving said carriage means vertically and said load grasping operating means, so as to effect vertical movement of said carriage away from alignement with said storage station and to effect coordinated simultaneous rotating movement of said load grasping means while said load grasping means is engaged with said load so that said load is moved only horizontally, generally perpendicular to said aisle, relative to said storage station during insertion and removal.

Claim 18

A stacker crane as recited in claim 14 wherein said load includes load engaging means, and wherein each of said opposing arms includes at the distal end thereof, means for gripping said load by engaging with said load engaging means of said load.

Claim 19

A warehouse stacker crane as recited in claim 15 wherein said load engaging means includes apertures, one at each side of said load, and wherein said gripping means includes projections for fitting into said apertures of said load engaging means.

Claim 20

A warehouse stacker crane as recited in claim 16 wherein said projections are affixed to the ends of said arms.