JP3556467B2 - Stacker crane carriage fall prevention device - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a stacker crane that travels along warehouse shelves arranged vertically and horizontally and loads and unloads each shelf, and in particular, a fall of a carriage supported so as to be able to move up and down along a mast erected on the crane. The present invention relates to a device for preventing the above.
[0002]
[Prior art]
The carriage of the stacker crane used in an automatic warehouse or the like is usually suspended by a wire, and the wire is moved up and down by being wound by a motor.
[0003]
[Problems to be solved by the invention]
If the wire is cut for any reason, the carriage will fall and cause a serious accident. Therefore, preventing the carriage from falling beforehand is an important issue in stacker crane design. As a device for this purpose, the present applicant has proposed a device which detects a change in the tension of the wire to prevent the wire from falling. However, there is a problem that the device is complicated to detect the above-mentioned change in tension, and further improvement has been demanded.
[0004]
SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and to provide a device that can reliably prevent a fall with a simple configuration.
[0005]
[Means for Solving the Problems]
For this reason, in a stacker crane traveling along a warehouse shelf, a device for preventing a carriage that moves up and down along a mast erected on the crane from falling is disposed at a front-rear position with respect to a traveling direction of the crane. The carriage is disposed between the masts at a predetermined interval, and the carriage has two vertical frames standing on each mast side. The vertical frames are provided in the traveling direction of the crane. A plurality of guide rollers are provided in contact with the parallel mast side surfaces, and the carriage is suspended from an upper end of the mast by a plurality of wires each having one end fixed to the vertical frame. A tilting member facing a mast side surface orthogonal to a surface contacting the guide roller is pivotally supported so as to be tiltable, and A friction member disposed so as to face both sides of the strike with a gap left therebetween is provided so as to be able to press against both sides of the mast, and the tilting is performed when one of the vertical frames is inclined downward with the cutting of the wire. A member that abuts against the side surface of the mast and tilts, and in accordance with the tilting of the tilting member, the friction member squeezes both side surfaces of the mast to prevent the carriage from dropping; A prevention device is proposed.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail through examples.
[0007]
【Example】
FIG. 1 shows an example of an automatic warehouse 1 to which a stacker crane according to the present invention is applied.
In the figure, shelves 2 are assembled vertically and horizontally to form a three-dimensional warehouse 3, and a passage 4 is secured between the three-dimensional warehouses 3. Rails 5 and 6 are arranged vertically in the passage 4, and a stacker crane 7 runs along the rails 5 and 6.
[0008]
The crane 7 has two masts 8, 9 erected between the rails 5, 6 and has a carriage 10 that moves up and down along the masts 8, 9. Reference numeral 11 denotes a loading / unloading device installed at the entrance of the automatic warehouse 1. The load W is transferred from the loading / unloading device 11 onto a carriage 10, carried by the crane 7, and stored on a predetermined shelf 2. It is moved from the shelf 2 to the carriage 10, carried by the crane 7, and shipped via the loading / unloading device 11.
[0009]
Reference numeral 12 denotes a main control device provided in the loading / unloading device 11, and reference numeral 13 denotes a sub-control device attached to the crane 7. The loading or unloading of the load W to the shelf 2 is performed by operating these control devices 12, 13. Is done automatically.
[0010]
FIG. 2 and FIG. 3 show the stacker crane 7. The upper and lower ends of the masts 8, 9 of the crane 7 are connected and fixed to each other by bridges 14, 15, and are slidably supported by upper and lower rails 5, 6 by rollers (not shown) provided on the bridges 14, 15. The crane 7 travels when the drive wheels 16 are rotationally driven by a traveling motor M1 mounted on the crane 7.
[0011]
The masts 8 and 9 are erected at predetermined intervals at the left and right sides in the drawing, that is, at the front and rear positions with respect to the traveling direction of the crane 7, and the carriage 10 is disposed between the masts 8 and 9. Each of the masts 8 and 9 has a quadrangular prism shape, and the carriage 10 has two vertical frames 17 and 18 erected on each mast side, and a plurality of guide rollers 19 provided on the frames 17 and 18 provide side surfaces of each mast. Is in contact with
[0012]
The guide rollers 19 are rotatably arranged at four outer corners of the vertical frames 17 and 18 as shown in FIG. 3, and roll on mast side surfaces 8a, 8a and 9a, 9a parallel to the traveling direction A of the crane 7, respectively. Contact freely.
[0013]
One end of each of the two wires 21 and 22 is fixed to each of the outer surfaces 17a and 18a of the vertical frames 17 and 18 of the carriage 10, whereby the carriage 10 is suspended between the masts 8 and 9 so as to be movable up and down. I have. After the wires 21 and 22 are wound around two sheaves 23 and 24 provided on the upper bridge 14 at the upper end of the mast, they pass through sheaves 25 and 25 provided on the lower bridge 15 and are lifted by a lift motor M2 mounted on a crane. It is wound around sheaves 26, 26 that are driven to rotate. Therefore, when the lift motor M2 is driven, the wires 21 and 22 travel up and down, and accordingly, the carriage 10 is controlled to move up and down.
[0014]
4 and 5 show the main parts of the vertical frames 17 and 18 in the carriage 10, and the detection tool and the pressure welding tool according to the present invention will be described with reference to FIGS.
The following description of the drawing is made only for one vertical frame 18 for easy understanding, but it is assumed that the other vertical frame 17 is also configured symmetrically with respect to the traveling direction of the crane 7.
[0015]
In the figure, first, the configuration of the pressure welding tool will be described.
A bracket 27 having an L-shaped cross section is vertically fixed to each inner side surface 18b of the vertical frame 18 of the carriage 10 so as to sandwich both side surfaces of the mast 9. Fixing plates 28 and 29 are disposed on the inner and outer surfaces of the bracket 27, and a slide plate 30 is disposed between the inner fixing plate 28 and the bracket 27. The slide plate 30 is formed of a friction member made of a material having high abrasion resistance and a high friction coefficient. In a normal state shown in FIG. 4, the mutually facing inner side surfaces 30a are formed on both side surfaces 9a, 9a of the mast 9 described above. On the other hand, they are arranged facing each other with a slight gap left.
[0016]
Holes are provided at the same upper and lower portions of the bracket 27, the fixing plates 28, 29, and the slide plate 30, respectively, and bolts 32 are attached to the outer fixing plate 27 with a spacer 31 interposed between the fixing plates 27, 28. By being screwed together, the bracket 27 and the fixing plates 28 and 29 are integrally fixed to each other. The hole 33 of the slide plate 30 in which the spacer 31 is arranged is formed in a slanted long hole shape as shown in FIG. 4, and the slide plate 30 is slidable obliquely within the range of the long hole 33. I have.
[0017]
Next, the detection tool will be described.
The upper end of each slide plate 30 is formed in a bifurcated shape, between which a pin 34 is fixed. At a position outside the vertical frame 18 corresponding to the pin 34, a shaft 35 rotatably supported by the frame 18 is provided. The shaft 35 has a frame 36 made of a U-shaped leaf spring and a top An arm 38 having a rod 37 is fixed.
[0018]
The frame body 36 protrudes from the outside of the frame 18 to the inside through a window 39 provided in the vertical frame 18, and the rod 37 is similarly connected to the frame 18 through a window 40 provided in the vertical frame 18. It protrudes from the outside to the inside. A spring 41 is stretched between the frame body 36 and the bracket 27. The elastic force of the spring 41 causes the frame body 36, the arm 38, and the rod 37 to rotate clockwise in FIG. It is urged to rotate in the direction.
[0019]
The rotation of the frame 36 and the like by the spring 41 is maintained in a stopped state by the bolt 32 abutting on the upper surface of the elongated hole 33 of the slide plate 30. At this time, the tip of the rod 37 is It faces the side surface 9b with a slight gap left. The above-mentioned mast side surface 8b is a side surface perpendicular to the mast side surface 9a with which the above-mentioned guide roller 19 contacts.
[0020]
The rod 37 is provided at the left and right center positions of the mast 9, and a free roller 42 is rotatably provided below the vertical frame 18 below the mast 9. The free roller 42 is always in contact with the mast 9 and rolls similarly to the guide roller 19, but is arranged in a direction perpendicular to the guide roller 19, that is, in contact with the mast side surface 9b.
[0021]
FIG. 6 is a diagram for explaining the operation of the above embodiment.
As described above, the carriage 10 is suspended by the wires 21 and 22, and the wires 21 and 22 are moved up and down by driving the lift motor M <b> 2, so that the carriage 10 is controlled to move up and down along the masts 8 and 9.
[0022]
When the wires 21 and 22 are cut for some reason, the two wires 21 and 22 hardly cut at the same time, and the two wires 21 and 22 are cut sequentially with a slight time difference.
[0023]
Assuming that one of the wires 22 is cut, the carriage 10 is inclined downward at the right side in FIG. At this time, the rod 37 provided on the vertical frame 18 comes into contact with the side surface 9b of the mast 9, and the frame body 36 fixed thereto is tilted about the shaft 35 against the force of the spring 41. The state shown in (a1) changes to the state shown in FIG.
[0024]
At this time, since the pin 34 is pulled up as shown in FIG. 6A2, the slide plate 30 fixed to the pin 34 is pulled up within the range of the elongated hole 33. As described above, since the elongated hole 33 has an inclined shape such that the upper portion thereof approaches the mast 9, the slide plate 30 is pulled up from (b1) to (b2) in FIG. 30 a is pressed against the side surface 9 a of the mast 9.
[0025]
Since the lifting operation of the slide plate 30 is performed equally for the two slide plates 30, 30 sandwiching the mast 9 as shown in FIG. 4, both slide plates 30, 30 strongly press the mast 9 from both sides thereof. The carriage 10 is stopped from falling.
[0026]
The above-described pinching action of the mast 9 by the slide plate 30 is provided on the mast 8 side when the wire 21 is cut first and the carriage 10 is tilted downward in the left part of FIG. The other slide plate 30 thus played will play in the same manner as described above.
[0027]
Although the distance between the inner side surfaces 30a, 30a and the mast side surfaces 9a, 9a is not always uniform in each of the above-mentioned slide plates 30, 30, since the frame body 36 is formed by a leaf spring as described above, Even after the frame body 36 is tilted and one slide plate 30 comes into contact with the mast side surface, the frame body 36 is further tilted while being twisted, and presses the other slide plate 30 against the mast side surface. As a result, the slide plates 30, 30 can always apply a clamping force to the mast 9 from both sides thereof.
[0028]
According to the above-described embodiment, when any one of the wires 21 and 22 for suspending the carriage 10 is cut, the change in the angle of the carriage 10 is detected and the fall of the carriage is reliably prevented. I can do it.
[0029]
【The invention's effect】
As described above, according to the invention of the present application, it is possible to reliably prevent the carriage from dropping with a simple configuration.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an example of an automatic warehouse to which the present invention is applied. FIG. 2 is a side view showing a stacker crane according to the present invention. FIG. 4 is a front view showing a main part of the carriage according to the present invention. FIG. 5 is a side sectional view showing the carriage drop preventing device according to the present invention. FIG. 6 is a view for explaining the operation of the carriage drop preventing device according to the present invention. Figure [Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Automatic warehouse 2 Shelf 7 Stacker crane 8 Mast 9 Mast 10 Carriage 19 Guide roller 21 Wire 22 Wire 30 Slide plate (friction member)
37 rod (tilting member)

Claims (1)

In a stacker crane traveling along a warehouse shelf, a device for preventing a carriage that moves up and down along a mast erected on the crane from falling, wherein the mast is located at a predetermined distance between front and rear positions in the traveling direction of the crane. The carriage is disposed between both masts, and the carriage has two vertical frames standing on each mast side. The vertical frames have masts parallel to the traveling direction of the crane. A plurality of guide rollers are provided in contact with a side surface, and the carriage is suspended from an upper end of the mast by a plurality of wires each having one end fixed to the vertical frame. A tilting member facing a mast side surface orthogonal to a surface contacting the roller is pivotally supported so as to be tiltable, and both of the masts are A friction member disposed so as to face the surface with a gap left is provided so as to be able to press against the mast both side surfaces, and when one of the vertical frames is tilted downward along with the cutting of the wire, the tilting member is the above-described tilting member. A carriage fall prevention device for a stacker crane, wherein the carriage is tilted by abutting against a side surface of the mast and the friction member presses both side surfaces of the mast to prevent the carriage from falling as the tilting member tilts.

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