JP2959379B2 - Crane carriage mounting structure - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a carriage mounting structure for a crane used in an automatic warehouse or the like.

[0002]

2. Description of the Related Art Conventionally, FIG. 6 shows a mast 62 of a stacker crane 61 provided in an automatic warehouse, etc.
2 shows a support structure with a lifting carriage 63 that moves up and down along with a load to be conveyed.

According to this supporting structure, the lifting carriage 6
3 has a rolling surface 62a of a mast 62 via a bracket B.
The roller 64 for rolling is mounted. Bracket B
And a lifting carriage 63, a shim 65 is sandwiched between the rolling surface 6 and the thickness of the shim 65.
The clearance is adjusted so as to contact 2a.

Meanwhile, if the gap or the like occurs between the roller 64 and the rolling surface 62a by machining errors such as the bracket B, remove the bracket B from the lifting carriage 63, as appropriate shim in accordance with the gap 65 had to be clamped between the bracket B and the lifting carriage 63.

Therefore, Japanese Utility Model Laid-Open No. 5-89310 proposes a mechanism for adjusting the clearance between the roller and the rolling surface without using a member such as a shim 65 or the like. According to this mechanism, the guide roller is composed of a support shaft and a roller, and one end surface of the support shaft is bolted in a state of being in contact with the lifting platform. At this time, the rotation center of the roller and the female screw hole for screwing the bolt formed on the support shaft are eccentric. Therefore, by rotating the guide roller about the bolt, the position of the outer peripheral surface of the guide roller can be appropriately moved and adjusted.

[0006] The guide roller constructed as above comprises a pair of upper and lower first guide rollers for supporting the traveling frame facing the mast 62 in the left-right direction and a pair of left and right first guide rollers for supporting the traveling frame facing the mast 62 in each position of the lifting platform. Each of them is provided as a second guide roller. Then, by rotating these first and second guide rollers around the axis of the bolt and appropriately adjusting the outer peripheral position of each guide roller, the guide roller is brought into contact with the traveling frame, The rolling is ensured on the running frame.

[0007]

However, since all the guide rollers mounted on the lifting platform are eccentric with respect to the axis of the bolt, all the guide rollers need to be brought into contact with the traveling frame. The rollers had to be adjusted, which was tedious and time-consuming.

In addition, since all the guide rollers are eccentric, when assembling the lifting platform and the traveling frame, the reference indicating the positional relationship between the lifting platform and the traveling frame is not clear, and the assembly is performed accurately. It was difficult.

For this reason, in an automatic warehouse, for example, when the height position of the carriage is detected by a height position detection object provided at a predetermined interval on the mast side and a detection sensor provided on the carriage side, the position is determined. Unless the relationship is securely held, detection becomes impossible. Therefore, there is a problem that the positional relationship between the mast and the carriage must be accurately maintained.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to allow a carriage to be accurately and easily attached to a mast, and to accurately detect a carriage by using a detector attached to the carriage. It is another object of the present invention to provide a carriage mounting structure for a crane that can detect the elevation position of the carriage.

[0011]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the invention according to claim 1 is characterized in that the carriage of each mast is provided on a front side and a rear side surface of a carriage arranged between a pair of front and rear masts so as to be able to move up and down. Rollers are provided to roll the surface opposite to the mast, and the left and right surfaces of each mast are rolled.
The carriage mounting structure of a crane in which a roller is provided on each of the carriages, and a detector that detects the elevation position of the carriage is mounted on only one of the front and rear side surfaces. The roller on one side is supported on the carriage by a concentric shaft, and the roller provided on the other side on which the detector is not attached is supported on the carriage by an eccentric shaft. The outer peripheral surface of the roller is provided movably in the front-rear direction ,
Concentric with each roller rolling on one of the left and right surfaces
While supporting the carriage with the shaft,
The moving roller is supported on the carriage by an eccentric shaft,
The gist is that a roller for rolling on the other surface is provided so as to be movable in the left-right direction .

[0012]

[0013]

[0014]

According to the first aspect of the present invention, the roller on one side to which the detector is attached is supported by a concentric shaft, and the roller on the other side is supported by an eccentric shaft. Therefore, in a state where the roller on one side is in contact with the mast, the eccentric shaft of the roller on the other side where the detector is not attached is appropriately rotated, and the outer peripheral surface of the roller on the other side is moved in the front-rear direction. Then, the roller is brought into contact with the mast. For this reason, since the carriage is attached to the mast with reference to the detector side, the detector can be accurately positioned, and the vertical position of the carriage can be accurately detected by the detector. Furthermore, it is arranged in the left and right direction
Roller based on the roller supported by the concentric shaft.
As a reference, since it is attached to the carriage,
The detector must be mounted correctly in the right and left direction.
Can be detected more accurately
Can be.

[0015]

[0016]

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will now be described with reference to FIGS.
This will be described with reference to FIG. As shown in FIG.
Is provided with a pair of left and right shelf steps 2a and 2b standing upright at equal intervals in the front-rear direction. These shelves 2a, 2b
It comprises frames 3a, 3b and shelves 4a, 4b arranged at equal intervals in the vertical direction in the frames 3a, 3b. A storage section 5 for storing a load is formed between the adjacent frames 3a and 3b and between the frames 3b before and after each of the shelves 4a and 4b.

A stacker crane 6 is provided between the shelf stages 2a and 2b. The crane 6 includes a traveling platform 8 traveling on a rail 7 laid on the ground, and a traveling platform 8.
And it includes a pair of mast 9 before and after standing from both ends, the upper and lower rotatably disposed by elevating carriage 10 or the like between both the mast 9. Further, the lifting carriage 10 has two running forks 11 movable in the left-right direction.
a, 11b are provided. This fork 11a, 1
1b is provided symmetrically with respect to the center of the lifting carriage 10 in the front-rear direction.

FIGS. 2 to 5 show the support relationship between the pair of front and rear masts 9 of the crane 6 formed as described above and the lifting carriage 10. 2 and 4 show the support relationship on the reference side (the front side in FIG. 1) to which a detector for detecting the elevation position of the elevation carriage 10 is attached, and FIGS.
The support relationship on the opposite side (the rear side in FIG. 1) is shown.

The pair of masts 9 are formed by extruding aluminum to form a substantially square cross section. At the corners of the mast 9, engagement grooves 12a and 12b each having a substantially T-shaped cross section are formed on two surfaces orthogonal to each other and extend vertically. Engagement groove 1
2a is formed on the surface 9a side parallel to the left-right direction,
2b is formed on the surface 9b side parallel to the front-rear direction.

As shown in FIG. 4, in the mast 9 provided on the front side, the engagement grooves 12a and 12b formed on the side of the lifting carriage 10 correspond to the respective storage sections 5 of the automatic warehouse 1. Dogs 13a, 13b at the height
Are fixed with bolts 14 and nuts 15.

On the other hand, as shown in FIG. 2 and FIG. 4, mounting brackets 21 are fixed to the front side surface 10a of the lifting carriage 10 at the upper and lower positions in the center in the left-right direction with bolts 22, respectively. A through-hole 23 having a circular cross section whose axis extends in parallel with the front side surface 10a is formed at the tip of the mounting bracket 21. This through hole 23
, A concentric shaft 24 is inserted and fixed. The concentric shaft 24 is formed in a circular cross section, and has a proximal shaft portion 24.
a, the distal shaft portion 24b, and the proximal shaft portion 24a and the distal shaft portion 2
4b is formed from the intermediate shaft portion 24c formed therebetween. The intermediate shaft portion 24c has a larger diameter than the proximal shaft portion 24a and the distal shaft portion 24b, and the proximal shaft portion 24a, the distal shaft portion 24b, and the intermediate shaft portion 24c are formed on the same axis. ing. That is, the concentric shaft 24 has its proximal shaft portion 24a inserted through the through hole 23,
It is fixed to the mounting bracket 21 by tightening with a bolt 25. At this time, the concentric shaft 24 is fixed in parallel with the front side surface 10a. Further, the guide roller 26 on the tip end shaft portion 24 b through a bearing 26a
Is fitted. The guide roller 26 is mounted on the mast 9
Rolls on the surface 9a facing the lifting carriage 10 in FIG.

The front side surface 10a of the lifting carriage 10
Arm-type brackets 27 on the left and right sides of the
It is fixed at. The bracket 27 is formed to be bent in a substantially L-shape, and the through-hole 2 whose axis extends in a direction orthogonal to the surface 9 a of the mast 9 is provided at each of the upper and lower ends.
9 are formed.

At this time, a concentric shaft 30 is attached to the through hole 29 of the arm type bracket 27 attached to the left side. The concentric shaft 30 is formed in a circular cross section, and includes a proximal shaft portion 30a, a distal shaft portion 30b, and a proximal shaft portion 3.
0a and the intermediate shaft portion 30 formed between the tip shaft portion 30b
c. The intermediate shaft portion 30c has a larger diameter than the proximal shaft portion 30a and the distal shaft portion 30b, and the proximal shaft portion 30a, the distal shaft portion 30b, and the intermediate shaft portion 30c are formed on the same axis. ing. That is, the concentric shaft 30 is fixed to the arm type bracket 21 by the base shaft portion 30 a being inserted into the through hole 29 and being tightened by the bolt 31. At this time, the concentric shaft 30 is fixed in a direction orthogonal to the front side surface 10a. Further, a guide roller 32 is fitted to the tip shaft portion 30b via a bearing 32a.
The guide roller 32 rolls on a surface 9b of the mast 9 which is orthogonal to the lifting carriage 10.

An eccentric shaft 33 is attached to the through hole 29 of the arm type bracket 27 attached to the right side. The eccentric shaft 33 is formed in a circular cross section, and includes a base shaft 33a, a distal shaft 33b, and an intermediate shaft 33c formed between the base shaft 33a and the distal shaft 33b. And, the intermediate shaft portion 33c is the base shaft portion 3
The diameter is formed larger than 3a and the tip shaft portion 33b. The distal shaft portion 33b and the intermediate shaft portion 33c are formed on the same axis, and the proximal shaft portion 33a is formed eccentric with respect to the distal shaft portion 33b and the intermediate shaft portion 33c. And, the eccentric shaft 33 has its proximal shaft portion 3
3a is inserted into the through-hole 29 and is tightened with a bolt 34 so that the arm-type bracket 27
It is fixed to. At this time, the eccentric shaft 33 is fixed in a direction orthogonal to the front side surface 10a. Further, a guide roller 35 having the same shape as the guide roller 26 is provided on the distal end shaft portion 33b.
a.

At this time, the bolt 34 is loosened, and the base shaft 33a of the eccentric shaft 33 is rotated with respect to the through hole 29. Then, the distal shaft portion 33b rotates around the proximal shaft portion 33a with the eccentric amount e1 as a radius. At this time,
The guide roller 35 also rotates together with the tip shaft 33b, and the position of the outer peripheral surface of the guide roller 35 changes in the left-right direction. Therefore, for example, by appropriately rotating the base shaft portion 33a, the gap between the guide roller 35 and the surface 9b can be adjusted, and rattling in the left-right direction can be eliminated.

Further, the dogs 13a, 13b are located at the left and right positions in a substantially central portion in the vertical direction of the front side surface 10a.
The optical sensors 36 and 37, each of which is formed by a photoelectric tube lamp, are installed. Optical sensors 36 and 37 and dogs 13a and 13b
Has a constant gap. When the optical sensors 36 and 37 detect the dogs 13a and 13b, the lifting carriage 10 is positioned in the storage section 5.

Next, the rear side surface 10 of the lifting carriage 10
The support structure b will be described. As shown in FIGS. 3 and 5, the support structure of the rear side surface 10b is formed by the front side surface 10a.
And its configuration is almost the same. Therefore,
The same members will be denoted by the same reference numerals, and the description thereof will be omitted, and different points of the structure will be described in detail below.

The supporting structure of the rear side surface 10b is different from the supporting structure of the front side surface 10a in that the optical sensors 36 and 37 are not attached and the shaft on which the guide roller 26 is mounted is the concentric shaft 24. And have the same configuration except that an eccentric shaft 38 is used.

That is, the eccentric shaft 38 is formed in a circular cross section, and includes a base shaft portion 38a, a distal shaft portion 38b, and an intermediate shaft portion 38c formed between the base shaft portion 38a and the distal shaft portion 38b. Is formed. And the intermediate shaft portion 38c
Is formed to have a larger diameter than the base shaft portion 38a and the distal shaft portion 38b. Further, the tip shaft portion 38b and the intermediate shaft portion 38c
Are formed on the same axis, and the proximal shaft portion 38a is formed eccentric with respect to the distal shaft portion 38b and the intermediate shaft portion 38c. The eccentric shaft 38 is fixed to the mounting bracket 21 by inserting the base shaft portion 38 a into the through hole 23 and fastening the eccentric shaft 38 with the bolt 39. At this time, the eccentric shaft 38 is fixed in parallel with the front side surface 10b. Further, a guide roller 40 having the same shape as the guide roller 26 is fitted to the distal end shaft portion 38b via a bearing 40a having the same shape as the bearing 26a.

In this case, the bolt 39 is loosened and the base shaft 38a of the eccentric shaft 38 is rotated with respect to the through hole 23. Then, the distal shaft portion 38b rotates around the proximal shaft portion 38a with the eccentric amount e2 as a radius. Guide roller 4
0 rotates together with the tip shaft 38b, and the position of the outer peripheral surface of the guide roller 40 moves in the front-back direction. Therefore, for example, by appropriately rotating the base shaft portion 38a, the gap between the guide roller 40 and the surface 9a is adjusted, and the guide roller 40 can be brought into contact with the surface 9a.

On the rear side surface 10b, similarly to the front side surface 10b, the guide roller 32 is connected to the arm type bracket 2 disposed on the left side via the concentric shaft 30.
The guide roller 35 is attached to the arm type bracket 27 disposed on the right side via the eccentric shaft 33.

According to the support structure of the mast 9 and the lifting carriage 10 configured as described above, first, the front side surface 10
The guide roller 26 of a is brought into contact with the surface 9a. Then, on the rear side surface 10b, the base shaft portion 38a of the eccentric shaft 38 is rotated with respect to the through hole 23 in a state where the bolt 39 is loosened, and the outer peripheral surface of the guide roller 40 is moved in the front-rear direction to the surface 9a. Abut. That is, the guide roller 26 is brought into contact with the surface 9a in advance, and the eccentric shaft 38 of the rear side surface 10b is adjusted with reference to the front side surface 10a side.
The rattling in the front-back direction is corrected. Therefore, since the guide rollers 26 and 40 reliably support the carriage 10 in the front-rear direction, rattling of the lifting carriage 10 in the front-rear direction at the time of lifting and lowering can be prevented, and the mast 9 can be smoothly raised and lowered.

The front side surface 10a on which the optical sensors 36 and 37 are mounted moves the lifting carriage 10 to the mast 9
Since it is a reference in the front and rear direction for mounting on
The optical sensors 36 and 37 are reliably positioned at predetermined positions in the front-rear direction with respect to the dogs 13a and 13b. Therefore, the dogs 13a and 13b are moved in the front-back direction
It is possible to avoid a state in which the dogs 13a and 13b cannot be detected by the optical sensors 36 and 37 because the detection positions 6 and 37 deviate from the detection positions. For this reason, the optical sensors 36 and 37 are surely connected to the dog 1.
3a and 13b can be detected, and the elevating position of the elevating carriage 10 can be accurately detected.

Further, according to the support structure of the lifting carriage 10 in the left-right direction, first, the front and rear side surfaces 10a, 10a
guide roller 3 attached to the concentric shaft 30 on the left side of FIG.
2 is brought into contact with the surface 9b of each of the front and rear masts 9. Then, the eccentric shaft 33 disposed on the right side is
4 is loosened, the base shaft portion 33a of the eccentric shaft 33 is rotated with respect to the through hole 29, and the guide roller 35 is moved in the left-right direction to abut the surface 9b. That is, the guide roller 35 is brought into contact with the surface 9b in advance to set the left side as a reference in the left and right direction, and the right eccentric shaft 33 is adjusted to adjust the right and left rattles of the lifting carriage 10 disposed between the masts 9. Is corrected. Accordingly, since the guide rollers 32 and 35 reliably support the carriage in the left-right direction, rattling of the lifting carriage 10 in the front-rear direction during lifting and lowering can be prevented, and the mast 9 can be smoothly raised and lowered.

Since the left side in the left-right direction is used as a reference, the gap in the left-right direction between the optical sensors 36, 37 and the dogs 13a, 13b is always constant by bringing the guide roller 32 into contact with the surface 9b. . Therefore, the optical sensors 36 and 37 can reliably detect the dogs 13a and 13b.

As described above, since the optical sensors 36 and 37 can be easily and reliably positioned at predetermined positions with respect to the dogs 13a and 13b in the front-rear and left-right directions.
6, 37 can be prevented, and the ascending / descending position of the ascending / descending carriage can be reliably detected.

In addition, the back-and-forth movement of the lifting carriage 10 with respect to the back and forth directions and the left and right directions is based on the front and left sides.
Can be easily prevented.
Therefore, the lifting carriage 10 can be moved up and down smoothly and stably with respect to the mast 9.

In addition, the gap can be adjusted simply by rotating the eccentric shafts 33, 38 with respect to the through holes 23, 29 of the brackets 21, 27, so that the mounting accuracy can be easily improved.

Further, the dog 13 is detected by the optical sensors 36 and 37.
Since a and 13b are detected, they can be easily detected without being affected by the surrounding magnetic field unlike a magnetic sensor or the like. The lifting carriage 10 has two forks 1.
Because of the provision of 1a and 11b, the length in the front-rear direction is longer than that of the lifting carriage provided with only one fork. However, the lifting carriage 10
, On the basis of guide rollers 26, 32 supported by concentric shafts 24, 30;
0 with respect to the front side and the left side,
By contacting the 0 with the mast 9, mounting errors due to the length in the front-rear direction can be easily and reliably reduced, and the mounting properties and mounting accuracy can be improved. Therefore, the detection accuracy of the optical sensors 36 and 37 can be improved.

It should be noted that the present invention is not limited to the above-described embodiment, and can be implemented as follows with appropriate modifications without departing from the spirit of the invention. (1) In the above embodiment, the two forks 11a and 11b
However, the present invention may be applied to an elevating carriage having a single fork. Further, the present invention may be applied to a lifting carriage having three or more forks.

(2) In the above embodiment, the optical sensors 36, 3
At 7, the elevation position of the elevation carriage 10 was detected.
Detection may be performed using a magnetic sensor, a contact type limit switch, or the like.

(3) In the above embodiment, the dogs 13a and 13b attached to the mast 9 are detected by the optical sensors 36 and 37. This is, for example, the surface 9 of the front mast 9
a, a reflection mark is attached to each of the height positions of the storage unit 5, and a photodetector is attached to the front side surface 10 a of the lifting carriage 10.
Install parallel to a. Then, the photodetector may detect the reflection mark to detect the elevation position of the elevation carriage 10.

Further, a photodetector is attached to the left side surface of the lifting carriage 10. At this time, the detection surface of the photodetector is attached parallel to the left side surface, and the photodetector directly detects the shelf 4a forming the storage unit 5 of the automatic warehouse to detect the elevation position of the elevation carriage 10. You may.

In this case, the photodetector is connected to the lifting carriage 10.
May be attached to the right side of (4) In the above embodiment, the height position of the lifting carriage 10 is detected for each height position of the storage unit 5 as the lifting position. This may be used as a lifting position to measure the distance of the lifting carriage 10 from the ground.

(5) In the above embodiment, operating members such as handles and levers for rotating the eccentric shafts 33, 38 may be provided at the ends of the base shaft portions 33a, 38a of the eccentric shafts 33, 38. Good. In this case, the worker can rotate the eccentric shafts 33 and 38 by rotating the operating member with the bolts 34 and 39 loosened, so that the guide rollers 35 and 40 can be easily adjusted.

(6) In the above embodiment, the concentric shaft 2
In Nos. 4 and 30, the base shaft portion, the front shaft portion, and the intermediate shaft portion were all formed on the same axis. However, in the present embodiment, the concentric shafts 24, 30 have at least the same shaft (base shaft) attached to the brackets 21, 27 and the shaft (tip shaft) to which the guide rollers 21, 27 are mounted on the same straight line. I just need. When the concentric shaft is a shaft having no base shaft portion, the concentric shaft is fixed to the brackets 21 and 27 so that the axis of the distal shaft portion is arranged on the same axis as a predetermined axis. Any shaft may be used.

(7) In the above embodiment, the eccentric shafts 33 and 38 have a shaft (base shaft) attached to the brackets 21 and 27 and a shaft (tip shaft) to which the guide rollers 35 and 40 are mounted. The shaft may be eccentric at least by a predetermined amount.

(8) In the above embodiment, the eccentric shafts 33 and 38 may be the same. Similarly, the concentric shafts 24 and 30 may be the same. The technical ideas other than the claims that can be grasped from the above embodiments will be described below together with their effects.

(1) A carriage mounting structure for a crane according to any one of claims 1 to 3, wherein the lifting carriage 10 is provided with a plurality of forks. According to this carriage mounting structure, it is possible to accurately mount even the lifting carriage 10 having a long length in the front-rear direction.

(2) A carriage mounting structure for a crane according to any one of claims 1 to 3, wherein the detector is an optical sensor (36, 37). According to this carriage mounting structure, the elevation position of the elevation carriage 10 can be reliably detected.

(3) The carriage mounting structure according to any one of claims 1 to 3, wherein the optical sensors 36 and 37 detect the height position of each storage shelf 5 as a vertical position.

According to the carriage mounting structure, the position of the storage shelf 5 can be easily confirmed, and the crane can be easily controlled.

[0054]

As described above in detail, according to the first aspect of the present invention, a roller is supported by a concentric shaft on one side of a front side or a rear side of a carriage on which a detector is mounted, and is mounted on the other side. Since the roller is supported by the eccentric shaft, the carriage is disposed on the mast with reference to the one side surface, and the rattle between the carriage and the mast can be easily prevented by appropriately adjusting the eccentric shaft. The detector can be accurately mounted in the direction, and the elevation position of the carriage can be accurately detected. Further, according to this invention, it can also be attached accurately detector relative to the left right direction, to detect a more accurate vertical position of the carriage.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing an automatic warehouse provided with a stacker crane in one embodiment of the present invention.

FIG. 2 is a schematic perspective view showing a front side surface of a lifting carriage provided in a stacker crane in one embodiment.

FIG. 3 is a schematic perspective view showing a rear side surface of the lifting carriage in one embodiment.

FIG. 4 is a cross-sectional view showing a support relationship between a front side surface of a lifting carriage and a mast in one embodiment.

FIG. 5 is a cross-sectional view showing a support relationship between a rear side surface of a lifting carriage and a mast in one embodiment.

FIG. 6 is a cross-sectional view illustrating a support relationship between a side surface of a lifting carriage and a mast in a conventional example.

[Explanation of symbols]

6: Stacker crane as crane, 9: Mast,
Reference numeral 10: a lifting carriage as a carriage; 10a, a front side surface; 10b, a rear side surface; 36, 37; an optical sensor as a detector; 21, 30, ... a concentric shaft;
... eccentric shafts, 26, 32, 35, 40 ... guide rollers as rollers.

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B65G 1/00-1/20 B66F 9/07

Claims (1)

(57) [Claims] 1. A front surface and a rear side surface of a carriage which can be moved up and down between a pair of front and rear masts are provided with rollers for rolling the surfaces of the masts facing the carriage, respectively . Rollers that roll the surface
A carriage mounting structure for a crane, which is provided on each of the carriages and has a detector for detecting a position at which the carriage is moved up and down only on one of the front and rear side surfaces.
Te, rollers aspect that the detector is mounted together with is pivotally supported on the carriage in a concentric shaft, wherein the detector taken
Rollers provided on the other side that is not deposited is pivotally supported on the carriage at the eccentric shaft, the other side is provided the roller outer peripheral surface of the to be movable in the front-rear direction, the left or right one
Each roller rolling on one side is carried by a concentric shaft.
Eccentric roller that supports the roller and rolls on the other side
The shaft is supported on the carriage, and the other surface rolls
A carriage mounting structure for a crane that has rollers that can move in the left-right direction .