JP3759867B2 - Stacker crane - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a stacker crane, and more particularly, to a double mast type stacker crane of a type in which two vertical frames are erected on an upper frame and a lower frame.
[0002]
[Prior art]
Conventionally, in a double mast type stacker crane in which two vertical frames are erected between an upper frame and a lower frame, traveling wheels are disposed outside the two vertical frames, or two vertical frames. In the case of the former, a space for mounting the traveling wheels is required on the front and rear sides of the vertical frame, and in the latter case, two wheels are provided. The distance between the vertical frames is increased, and therefore the size between the carriers is also increased. In either case, the upper and lower frames of the stacker crane are lengthened, resulting in a dead space.
[0003]
In general, the driving wheels of the stacker crane are provided only in the lower frame. For example, as shown in Japanese Patent Application Laid-Open No. 6-64712, the upper frame is provided only with a guide roller for rolling the upper running rail. There is known a system in which a spring pressure is directly applied to the upper guide roller so that the upper guide roller contacts the lower surface of the upper rail.
[0004]
In this system, since the upper guide roller is pushed up to the upper rail by a strong spring pressure, the support structure of the upper rail must be strengthened. In addition, since this type has no driving wheel in the upper part, the vertical traction cannot be adjusted, and there is a problem that inclination and shaking are likely to occur during traveling.
[0005]
[Problems to be solved by the invention]
As described above, the conventional double mast type stacker crane requires a space for mounting the traveling wheel, and this space becomes a dead space, the size between the transporters becomes large, and tilting and shaking occur during traveling, resulting in higher speed. Was a major obstacle.
[0006]
SUMMARY OF THE INVENTION The present invention solves the above-described problem, and does not require a special space for mounting traveling wheels, and does not generate tilt or shake during traveling, and can be safely traveled and can be increased in speed. An object of the present invention is to provide a stacker crane capable of adjusting a traction acting on an upper traveling rail and capable of smoothly and stably traveling with a conventional upper traveling rail support structure.
[0007]
[Means for Solving the Problems]
SUMMARY OF THE INVENTION The present invention solves the above-described problem, and includes an upper frame, a lower frame, two vertical frames that are erected between the upper frame and the lower frame, and an upper traveling that is mounted between the vertical frames and has a flange portion. One upper and lower upper and lower traveling wheels that rotate on the rail and the lower traveling rail, a pair of front and rear lower guide rollers disposed in front of and behind the traveling wheels, sandwiching the flange portion of the upper and lower traveling rails, and upper and lower traveling In stacker cranes with side guide rollers located on both sides of the rail flange and on the front and back of the running wheel, the lower guide roller on the upper running rail can be rotated to the upper frame. Is supported by a support frame that is urged upward and rolls while urging the lower guide roller toward the lower surface of the flange portion of the upper running rail. A stacker crane, characterized in that way the.
[0008]
According to the present invention, since the lower traveling wheel and the upper traveling wheel are vertically driven to rotate on the traveling rail, the traction of the upper and lower traveling wheels can be obtained appropriately and sufficiently, and the stacker crane can A pair of lower guides that can travel while maintaining a horizontal balance and roll along the lower surface of the flange portion of the traveling rail with the flange portion of the traveling rail sandwiched below the upper and lower traveling wheels. Since the roller is provided, and the side guide rollers that roll along the side surface of the flange portion are provided by sandwiching the both side surfaces of the flange portion of the upper and lower traveling rails, the stacker crane main body includes a lower portion, an upper traveling wheel, a lower guide roller, Since the travel rail is supported by the travel rail while being held by the side guide rollers from the top and bottom and from the left and right, Balance becomes possible to safely can be high speed to travel while maintaining the. Further, the lower guide roller disposed below the flange portion of the upper running rail is pivotally supported by a support frame that is rotatably provided on the upper frame and is biased upward, and the lower guide roller is supported. Since the urging force is indirectly transmitted to the upper traveling rail via the frame and the upper traveling rail is held by the upper traveling wheel and the lower guide roller, the upper traveling wheel can provide sufficient traction, and the guide Unlike the conventional method in which the roller is directly biased with spring pressure and pressed against the upper traveling rail, the upward pushing force against the upper traveling rail can be canceled out, compared to the conventional upper traveling rail support structure. The stacker crane can be stably driven.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
According to the first aspect of the present invention, an upper frame, a lower frame, and two vertical frames standing between the upper frame and the lower frame, and an upper portion mounted between the vertical frames and having a flange portion. Upper and lower traveling wheels that rotate on the traveling rail and the lower traveling rail, a pair of front and rear lower guide rollers disposed in front of and behind the traveling wheel, sandwiching the flange portion of the upper and lower traveling rail, and the flange of the upper and lower traveling rail In a stacker crane that has side guide rollers that are disposed on both sides of the traveling wheel and before and after the traveling wheel, the lower guide roller disposed on the upper traveling rail is provided on the upper frame so as to be rotatable. and pivotally supported by a support frame which is biased upward, so as to roll while urging the lower guide rollers on the flange lower surface of the upper running rail, One than to vertical upper frame frame which is characterized in that mounted to be vertically slidable, due to the vertical drive system for rotating the upper respectively traveling rail lower traveling wheels and the upper traveling wheel, the upper and The traction of the lower traveling wheel is obtained appropriately and sufficiently, and the stacker crane can travel while maintaining a balance in the vertical and horizontal directions during traveling, and the traveling rail is located below the upper and lower traveling wheels. A pair of lower guide rollers that roll along the lower surface of the flange portion of the traveling rail with the flange portion interposed therebetween, and further, side surfaces that roll along the side surface of the flange portion with both side surfaces of the flange portion of the upper and lower traveling rail interposed therebetween. Since the guide rollers are provided, the stacker crane main body can be moved up and down, left and right by the lower, upper running wheels, lower guide rollers, and side guide rollers. Since it is supported by the traveling rail while being held, it can maintain a balance in the vertical and horizontal directions, can prevent mast shaking, and can safely travel at high speed, and further, under the flange portion of the upper traveling rail The lower guide roller disposed on the side is pivotally supported by a support frame that is rotatably provided on the upper frame and is biased upward, and the lower guide roller is indirectly connected to the upper frame via the support frame. The upper and lower drive system that transmits the urging force to the traveling rail and holds the upper traveling rail by the upper traveling wheel and the lower guide roller makes it easy to adjust the traction up and down and enables stable traveling. Since the vertical force that works can be canceled, the guide roller is directly biased with spring pressure, and unlike the conventional system that presses against the upper running rail, The influence of the pushing force on the traveling rail can be reduced, the supporting structure can be simplified as compared with the conventional supporting structure of the upper rail, and the stacker crane can be stably operated. In addition, since the upper frame can slide up and down with respect to the vertical frame, when the stacker crane moves up and down, the upper frame slides up and down following the change to absorb the change and smooth the stacker crane. Has the ability to run.
[0010]
The invention according to claim 2 is characterized in that the end portion of the support frame is pivotally supported by a bracket provided below the upper frame, and the other end is engaged by an adjusting screw linked to a spring means provided on the upper frame. Therefore, since the traction value by the spring pressure can be adjusted as appropriate in addition to the function of the invention of claim 1, by adjusting the spring pressure based on the weight of the stacker crane and the vertical center of gravity position, etc. that it has a function that can travel the stacker crane in an appropriate traction value.
[0011]
The invention according to claim 3 is provided with convex fitting portions having a convex cross section in the vertical direction on both side ends of the bracket provided below the upper frame, and is fixed to the inner side of the support member at the upper end of the frame. It is characterized by being fitted to a concave fitting portion having a concave cross section in the vertical direction, and has the same effect as that of the third aspect of the invention.
[0012]
Embodiment
Embodiments of the present invention will be described below with reference to the drawings.
[0013]
1 is a side view showing a stacker crane of the present invention, FIG. 2 is a side view showing an upper structure of the stacker crane, FIG. 3 is a front view of FIG. 2, FIG. 4 is a sectional view, and FIG.
[0014]
In the figure, 1 is a lower frame, 2 is an upper frame fitted to the vertical frame at the upper end of a pair of vertical frames, 2a is a support frame that supports the upper traveling wheel 7 and the lower guide roller 9a, and 2b is a support Brackets 2c attached to the lower portion of the frame 2a are provided at both ends of the bracket 2b, and are convex fitting portions having a convex cross section in the vertical direction, and the upper frame 2 is formed by the support frame 2a and the bracket 2b. . 3 is a pair of vertical frames standing between the lower frame 1 and the upper frame 2, 3a is attached to the upper end of the vertical frame 3, and supports a lifting belt pulley 19 and a side guide roller 9b, 3b is a concave fitting portion provided inside the support member 3a and having a concave cross section in the vertical direction, 4 is an I-shaped lower running rail having a flange portion 4a, and 5 is an I-shaped cross section having a flange portion 5a. The upper traveling rail 6 is a central portion between the pair of vertical frames 3 and is provided on the lower frame 1 and is a lower traveling wheel that rotates on the lower traveling rail 4, and 7 is an axis of the lower traveling wheel 6. An upper traveling wheel 8a having an axis on the same vertical surface and mounted on the upper frame 2 and rotating on the upper traveling rail 5, is mounted on the lower frame 1 between a pair of vertical frames 3, I-shaped lower running rail Is fitted in the concave groove of the lower rail, and is disposed forward and backward around the flange portion 4a of the traveling rail 4 and centered on the axial center position of the lower traveling wheel 6, and rolls along the lower surface of the flange portion of the lower traveling rail 4. A pair of lower guide rollers 8b are provided on the lower frame 1, are provided in a pair on the left and right sides of the flange portion 4a of the lower traveling rail 4, and are disposed back and forth around the axial center position of the lower traveling wheel 6. The disposed side guide roller 9a is fitted to the bracket 2b of the upper frame 2, sandwiches the flange portion 5a of the I-shaped upper traveling rail 5 and is back and forth about the axial center position of the upper traveling wheel 8. A pair of upper guide rollers 9b, which are disposed and roll while urging the lower surface of the flange portion 5a of the upper running rail 5 from below, are mounted on a support member 3a provided at the upper end of the vertical frame 3 and run upward. A pair of left and right side guide rollers 10 sandwiching both side surfaces of the flange portion 5a of the rail 5 and front and rear around the axial center position of the upper traveling wheel 8 are arranged vertically along the pair of vertical frames 3. Elevating belt stretched between belt pulleys 19 provided above and below the vertical frame 3, 11 is a lifting device attached to the elevating belt 10, 12 a and 12 b are traveling wheel drive motors, 13 a, 13b is an elevating belt drive motor, 14 is a lower guide roller support frame pivotally supported on the bracket 2b of the upper frame 2 so as to be pivotable in the vertical direction, and 15 is fitted into the bracket 2b to move the lower guide roller support frame 14 up and down. A support shaft 16 that is pivotally supported in the direction is provided above the lower guide roller support frame 14 with the upper frame 2 interposed therebetween, and a lower guide roller support frame is provided. A spring that biases the ram 14 upward. Reference numeral 17 denotes an adjustment screw fitted to the end of the lower guide roller support frame 14 and the upper frame 2 and having a spring 16 attached to the upper end thereof. By adjusting the upward biasing force of the spring 16, the lower guide roller 9a is adjusted. The pressure contact force to the lower surface of the upper traveling rail 5 is adjusted, and the traction of the upper traveling wheel 7 is adjusted. Reference numeral 18 denotes a connecting frame that is provided on the upper part of the pair of vertical frames 3 and connects the two frames.
[0015]
In the present embodiment, the upper and lower traveling wheels 6 and 7 are provided as a vertical drive system, and the lower traveling wheel 6 is sandwiched below the lower traveling wheel 4 with the flange 4a of the lower traveling rail 4 interposed therebetween. A pair of lower guide rollers 8a, 8a that are arranged forward and backward with the axial center position as a center and roll along the lower surface of the flange portion of the lower running rail 4 are provided, and the flange portion 4a is sandwiched between both side surfaces of the flange portion 4a. A pair of side surface guide rollers 8b, 8b that roll along the side surfaces and are disposed before and after the lower traveling wheel 6 are provided. Similarly, a flange portion 5a of the upper traveling rail 5 is provided below the upper traveling wheel 7 so that And a pair of lower gears that are arranged forward and backward with the axial center position of the upper traveling wheel 7 as a center, are urged upward by a spring 16 from below, and roll along the lower surface of the flange portion 5a of the upper traveling rail 5. Provided with a pair of side guide rollers 9b, 9b disposed on the front and rear of the upper traveling wheel 7 by rolling along the side surface of the flange portion 5a, sandwiching both side surfaces of the flange portion 5a. Since the stacker crane body is configured to be supported by holding the traveling rail from above and below and from the left and right by the lower and upper traveling wheels 6 and 8 and the lower guide rollers 8a and 9a and the side guide rollers 8b and 9b described above. The crane can travel safely while maintaining the balance in the vertical and horizontal directions by driving the vertical traveling wheels 6 and 8.
[0016]
Further, in the present embodiment, the lower guide roller 9a is pivotally attached to the lower guide roller support frame 14 that is pivotally supported by the bracket 2b of the upper frame 2 so as to be pivotable in the vertical direction, and is provided on the upper frame 2. A configuration in which the spring 16 is pressed against the lower surface of the flange portion 5a of the upper running rail 5 through the lower guide roller support frame 14 by a spring force, and an adjustment screw 17 for adjusting the urging force of the spring 16 is provided. Yes. Further, the upper frame 2 is provided with a convex fitting member 2c fixed to a bracket 2a provided at the lower portion of the support frame 2, and the convex fitting portion 2c is formed on the support member 3a at the upper end of the frame 3 The upper frame 2 is connected to the vertical frame 3 by being fitted to the provided concave fitting member 3b, and the driving force of the upper traveling wheel 7 provided on the upper frame 2 is transmitted to the vertical frame 3 and the upper frame 2 is configured to be slidable in the vertical direction with respect to the frame 3.
[0017]
As described above, the present invention adopts the vertical drive system using the upper and lower traveling wheels 6 and 7 respectively, and the lower guide rollers 8a and 9a and the side guide rollers 8b and 9b are provided before and after the traveling wheels 6 and 7 are sandwiched. As a result, it is no longer necessary to provide a special space in the length direction of the vehicle body for mounting traveling wheels and guide rollers, eliminating dead space and expanding the operating range of the stacker crane. It is possible to provide a stacker crane that can travel safely and increase speed without causing tilting or shaking during traveling.
[0018]
Further, in the present invention, an urging force is transmitted via the support frame 14 to the lower guide roller 9a rolling on the lower surface of the flange 5a of the upper traveling rail 5, and the upper traveling wheel 7 and the lower guide roller 9a are used to travel the upper portion. The vertical drive system is provided with an adjustment screw 17 that holds the rail 5 and adjusts the urging force. Therefore, the vertical traction adjustment is easy and stable travel is possible. Unlike conventional systems, the push-up force against the upper traveling rail 5 can be canceled out, so that it can be simplified as compared with the conventional upper traveling rail support structure, and the stacker crane It is possible to run safely and adjust the spring pressure to run the stacker crane with an appropriate amount of traction. Rukoto can. Further, since the upper frame 2 is installed so as to be slidable in the vertical direction with respect to the vertical frame 3, the vertical fluctuation due to the level difference between the upper and lower traveling rails during traveling can be absorbed, and the stacker crane can travel smoothly and stably. it can.
[0019]
【The invention's effect】
The present invention employs a vertical drive system with one traveling wheel on each of the upper and lower sides, and is provided with a lower guide roller and a side guide roller on the front and rear sides of the traveling wheel. It is not necessary to provide a special space for installing the guide roller in the length direction of the crane, and the operating range of the stacker crane can be expanded, and the lower guide roller transmits the urging force to the upper running rail via the support frame. Because it is transmitted to the lower surface of the flange and imparts traction to the upper traveling wheel, it is easy to adjust the upper and lower traction, and unlike the conventional method, the pushing force against the upper traveling rail can be canceled and the spring pressure can be reduced. By adjusting, the traction of the upper and lower traveling wheels can be adjusted, and further, the stacker crane traveling Absorb vertical movements in, it is possible to provide a stacker crane that can be safely run.
[Brief description of the drawings]
FIG. 1 is a side view showing a stacker crane of the present invention.
FIG. 2 is a side view showing an upper structure of the stacker crane of the present invention.
FIG. 3 is a front view of FIG. 2;
4 is a cross-sectional view of FIG.
FIG. 5 is a plan view of FIG. 2;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Lower frame 2 Upper frame 2a Support frame 2b Bracket 2c Convex fitting part 3 Vertical frame 3a Support member 3b Concave fitting part 4 Lower traveling rail 4a Flange part 5 Upper traveling rail 5a Flange part 6 Lower traveling wheel 7 Upper traveling Wheels 8a, 9a Lower guide rollers 8b, 9b Side guide rollers 10 Lifting belt 11 Lifting conveyors 12a, 12b Traveling wheel drive motors 13a, 13b Lifting belt drive motor 14 Lower guide roller support frame 15 Support shaft 16 Spring 17 Adjustment screw 18 Connection frame 19 Belt pulley

Claims (3)

The upper frame, the lower frame, two vertical frames installed between the upper frame and the lower frame, and the upper traveling rail and the lower traveling rail, which are mounted between the vertical frames and have flange portions, rotate. A pair of front and rear lower guide rollers disposed on the front and back of the traveling wheel, and both side surfaces of the flange portion of the upper and lower traveling rail, sandwiching the upper and lower traveling wheels and the flange portion of the upper and lower traveling rail. In a stacker crane provided with side guide rollers disposed before and after the traveling wheels, the lower guide rollers disposed before and after the upper traveling wheels are rotatably provided on the upper frame and directed upward. journaled in-biased support frame Te, so as to roll while urging the lower guide rollers on the flange lower surface of the upper running rail, and the upper frame Stacker crane, characterized in that mounted to be vertically slidable relative to the vertical frame.   2. The stacker crane according to claim 1, wherein the support frame end is pivotally supported by a bracket provided below the upper frame, and the other end is engaged by an adjusting screw linked to a spring means provided on the upper frame. Convex fittings with convex sections in the vertical direction are provided on both side ends of the bracket provided below the upper frame, and concave fittings with a concave section in the vertical direction are fixed inside the support member at the top of the vertical frame The stacker crane according to claim 1 , wherein the stacker crane is fitted to a joint portion.

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