CN1159420A - Vibration proof device for stacker lifter - Google Patents
Vibration proof device for stacker lifter Download PDFInfo
- Publication number
- CN1159420A CN1159420A CN96123408A CN96123408A CN1159420A CN 1159420 A CN1159420 A CN 1159420A CN 96123408 A CN96123408 A CN 96123408A CN 96123408 A CN96123408 A CN 96123408A CN 1159420 A CN1159420 A CN 1159420A
- Authority
- CN
- China
- Prior art keywords
- bracket
- controller
- control
- antivibration device
- bracing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to an anti-vibration device for stow hoist, which comprises a support bracket arranged on upper surface of upper bracket and a support device arranged on the support bracket, the support device enters work state by the operation of the lower bracket, an elastic support is supported at lower surface of upper track, a control device comprises a first controller and a second controller, wherein the first controller is used to control the elastic force of the support device, the second controller is used to control the movement of the support device. The device can prevent stow hoist from generating multi-directional vibration during operation.
Description
The present invention relates to stacker crane, particularly relate to the antivibration device that is used for stacker crane,, prevent to shake multi-aspect so that at the elevator run duration.
Stacker crane is often used in drawing off goods or lade on support from support in the Automatic Warehouse as the automatic transport loading-unload machine.
As shown in Figure 1, depict the view of the vertical stratification of conventional stacker crane, wherein stacker crane 3 be installed in movably get on the right track 1 and lower railway 2 between.Described get on the right track 1 and lower railway 2 be arranged in the Automatic Warehouse (not shown).A plurality of castors 4 and lower steering roll 5 are arranged on the lower bracket 6 of stacker crane 3, can roll along lower railway 2.Each lower end of double-type pillar stiffener 7 is fixed on the upper surface of corresponding lower bracket 6.Upper bracket 8 is equipped with in the upper end of pillar stiffener 7.
Also have, the last guiding roller 9 of a plurality of upper surface settings along upper bracket 8 abuts against and gets on the right track 1, and on upper bracket 8 shock prevention element 10 is housed, and therefore can prevent that in elevator operation or halted state N/R from shaking.
The double-type rope 11 that extends downwards from upper bracket 8 is connecting the loading bin 13 that hangs, can lade 12 on this loading bin 13.
As shown in Figure 2, it has described the figure of the amplification of local A among Fig. 1, and wherein, along with the rotation of castor 4, running roller 14 rotatably abuts against 1 the side of getting on the right track.The turning cylinder 15 of running roller 14 is arranged in the stretching element 16 with inserted mode, thereby obtains bearing force, so that running roller 14 is supported on 1 the side of getting on the right track.Below stretching element 16, be provided with and be used for the drg 17 that actuating spindle 15 rotates.
The operational process of conventional stacker crane and the shortcoming of existence are described below.
At first, when the connection propulsion source rotates castor 4, lead along track 1,2 respectively by the guiding roller 9,5 that is provided with.Along with the rotation of castor 4, the running roller 14 of shock prevention element 10 abuts against 1 the side of getting on the right track and rolls.
For elevator is stopped at certain position, foundation brakes (not shown) running drives the drg 17 that is arranged on the shock prevention element 10, and axle 15 is stopped operating, simultaneously running roller 14 is near getting on the right track 1 side, thereby prevents the vibrations that caused by force of inertia at stacker crane 3 run durations.
But if at the stacker crane run duration, running roller produces to move and changes, and deorbit just is difficult to prevent vibrations.
In view of top described, the objective of the invention is for stacker crane provides a kind of antivibration device, so that can prevent to produce the vibrations of a plurality of directions at the elevator run duration.
In order to achieve the above object, the antivibration device of stacker crane comprises; Be installed in the supporting bracket of the upper surface portion of upper bracket, be installed on the supporting bracket, and the operation of joint lower bracket, and the elastomeric thus supporting member that is supported on the lower surface that gets on the right track, control setup comprises first controller and second controller, wherein first controller is used to control the elastic force of supporting member, and second controller is used to control the motion of supporting member.
Fig. 1 is the topology view of the stacker crane of routine;
Fig. 2 is the view that local A amplifies among Fig. 1;
Fig. 3 is the topology view that has the stacker crane of antivibration device according to the present invention;
Fig. 4 is the cross sectional side view according to the antivibration device of stacker crane of the present invention;
Fig. 5 is the plan view according to the antivibration device of stacker crane of the present invention;
Fig. 6 is the section-drawing shown in VI-VI ' line in Fig. 4;
Fig. 7 is the section-drawing of control bracing frame of the antivibration device of the stacker crane according to the present invention;
Fig. 8 is the movement profiles of the antivibration device of stacker crane according to the present invention.
As shown in Figure 3, be the topology view that has the stacker crane of antivibration device according to the present invention, wherein each side at upper bracket 8 is provided with antivibration device 100.At this, except that antivibration device 100, other elements are identical with the conventional structure shown in Fig. 1, therefore omit the description for these elements, and adopt identical label to represent components identical.
Shown in Fig. 4-7, according to the present invention, the antivibration device 100 in the stacker crane comprises: be installed in the bracing frame 20 on the upper bracket 8; Supporting member 40, its resilient mounting is getting on the right track 1 lower surface; First controller 60 is used to control the elastic force of supporting member 40; Reach second controller 70 that control element 80 comprises, control the motion of supporting member 40 thus.
In the bottom of bracing frame 20, a network shape support 21 is set with extending.By welding or use fastener support 21 is installed to the surface of upper bracket 8 thus.Lateral parts at the support of installing 21 is provided with horizontal stand part 23.In this horizontal stand part 23, be provided with pilot hole 22.
Plane vertical support frame part 25 has the groove 24 that extends to form from the central top of this part downwards.Vertical support frame part 25 upper surfaces from each horizontal stand part 23 in plane extend accordingly.
Support the lower end of the pilot bar 64 of coil spring 66 and inserting the pilot hole 22 of corresponding setting in horizontal stand part 23, and fixing with nut 67.
Supporting member 40 comprises axle 41, and it passes hole 61 that is arranged on each control bracket 65 middle part and the groove 24 that is arranged on each vertical support frame part 25; Running roller 42 is installed on the axle 41 by key.Thus, described running roller 42 with get on the right track 1 lower surface rolling touch; Bearing 43 is installed in each end of axle, and the axle 41 that consequently has running roller 42 can roll thereon.
To describe the operating process and the effect of the antivibration device of stacker crane provided by the invention below in detail.
At first, when the running roller 42 of supporting member 40 when the stacker crane of 1 the lower surface of getting on the right track is connected propulsion source, the wheel 4 that is installed on the lower bracket 6 rolls, the running roller 42 of supporting member 40 is engaged thus.
Then, along with the motion of taking turns 4 changes uniform movement into from uniformly accelerated motion, change uniformly retarded motion again into, running roller 42 also produces the velocity variations with wheel 4 same degree.
Along with the motion and the variation of stop position, about get on the right track 1 and running roller 42 between the friction of generation, can obtain following relational expression:
F
p＝μ
pN→F
k＝μ
kN→F
p＝μ
pN
Wherein:
μ
p: coefficient of static friction;
μ
k: dynamic friction coefficient;
F: friction force;
N: vertical (vertical drag)
Vertical N is applied to as antagonistic force on the running roller 42 of supporting member 40, coefficient of static friction μ
pGreater than dynamic friction coefficient μ
k
With reference to Fig. 8, suppose static friction force=F
p, kinetic force of friction=F
k, the operation procedure in each stage is described below.
At first, at even acceleration phase a, wherein relate to coefficient of static friction μ
p, this coefficient of static friction μ
pGreater than dynamic friction coefficient μ
kSo vertical N increases.Therefore, when running roller 42 rotations of the supporting member 40 that is supported on 1 the lower surface of getting on the right track, the running roller 42 of this supporting member 40 moves downward.Promptly, the vertical N that is applied to the increase on the running roller 42 is greater than the application force under the quiescence, so that axle 41 grooves 24 along vertical support portion 25 that pass the hole 61 that is arranged on the control bracket 65 move, meanwhile, the diaphragm plate 62 of each control bracket 65 is along the side slip of vertical support frame 25.Here, coil spring 66 resilient mountings that are installed on the pilot bar 64 running roller 42, and this running roller 42 is resisted against 1 the lower surface of getting on the right track.Act on elastic force on the running roller 42 corresponding to vertical N.
Secondly, along with being the uniform rotation stage b after the even acceleration phase a, b ', b ", its medium velocity is constant, and obtain unmodified vertical N this moment, so that be subjected to the effect of unmodified elastic anchorage force running roller 42 rotations of supporting member 40 time.
And, when the drg 71 of second controller 70 and foundation brakes (not shown) branch multistep are worked suddenly, making stacker crane 3 stable stopping, wheel 4 and running roller 42 are alternately carried out uniformly accelerated motion and uniform movement, stop in appointed positions up to elevator.
At decelerating phase c, c ', the vertical N that is applied on the running roller 42 reduces, the elastic anchorage force that coil spring 66 produces reduces, therefore pass groove 24 upward movements of the axle 41 in the hole 61 that is arranged on the control bracket 65 by vertical support portion 25, meanwhile, the vertical component 62 of each control bracket 65 is along the side slip of vertical support frame 25.
Then, after repeating even deceleration and uniform movement, stacker crane 3 stops fully, the running roller 42 of supporting member 40 returns to the state that supported by elastic force, and tightly be resisted against 1 the lower surface of getting on the right track, under halted state, prevent that vibrations from taking place thus.
As mentioned above, no matter the antivibration device of stacker crane of the present invention can make running roller 42 state of kinematic motions of supporting member 40 or quiescence support to get on the right track 1 lower surface, prevented multidirectional vibrations thus, made elevator in operational process, have enough stability and efficient.
Claims (6)
1, a kind of antivibration device that is used for stacker crane, it comprises:
Be installed in the supporting bracket of the upper surface portion of upper bracket;
Be installed in the bracing or strutting arrangement on the supporting bracket, by the operation of lower bracket, described bracing or strutting arrangement enters mode of operation, the elastomeric thus lower surface that gets on the right track that is supported on;
Control setup comprises first controller and second controller, and wherein first controller is used to control the elastic force of bracing or strutting arrangement, and second controller is used to control the motion of bracing or strutting arrangement.
2, according to the described antivibration device of claim 1, wherein, supporting bracket comprises:
Network shape mounting bracket is connected with the bottom of supporting bracket;
The planar horizontal holder part of extending from the upper level of network shape mounting bracket, and described each holder part has pilot hole;
The plane vertical support frame partly has the groove that extends from its central top downwards, and described groove extends certain depth downward vertically.
3, according to the described antivibration device of claim 2, wherein, first controller of control setup comprises:
Control bracket has the vertical plate part in plane, this part is slided along the outside face of the vertical support frame part of each mounting bracket, and the vertical plate part in described plane has axis hole, from the lower end of each vertical plate part outside horizontally extending horizontal plate part is arranged;
The a pair of pilot bar that extends from the lower surface of each horizontal plate part;
Pass the coil spring of each corresponding pilot bar, described coil spring is supported between the lower surface of horizontal plate part of the upper surface of horizontal stand part and control bracket.
4, according to the described antivibration device of claim 3, wherein, bracing or strutting arrangement comprises:
Insertion is arranged in the hole of each control bracket central authorities, and passes the axle of the groove of each the vertical support frame part that is arranged on mounting bracket;
Be installed in the running roller on the axle, abut against the lower surface that gets on the right track thus;
Be arranged on each bearing at end of axle.
5, according to the described antivibration device of claim 4, wherein, second controller of control setup comprises the drg of the shaft end that is installed in bracing or strutting arrangement.
6, according to the described antivibration device of claim 3, wherein, the lower end of each pilot bar is fixed on the corresponding pilot hole of the horizontal stand part that is positioned at mounting bracket.In the horizontal stand corresponding pilot hole partly of mounting bracket.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019950044221A KR0136670B1 (en) | 1995-11-28 | 1995-11-28 | Prevention device of swing in stacker crane |
| KR44221/95 | 1995-11-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1159420A true CN1159420A (en) | 1997-09-17 |
Family
ID=19436034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN96123408A Pending CN1159420A (en) | 1995-11-28 | 1996-11-28 | Vibration proof device for stacker lifter |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPH09249303A (en) |
| KR (1) | KR0136670B1 (en) |
| CN (1) | CN1159420A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103492290A (en) * | 2011-04-20 | 2014-01-01 | 村田机械株式会社 | Travel vehicle |
| CN104555210A (en) * | 2013-10-21 | 2015-04-29 | 株式会社丰田自动织机 | Vibration control structure of storage rack |
| CN113135403A (en) * | 2021-05-17 | 2021-07-20 | 西门子工厂自动化工程有限公司 | Anti-swing control method and device for stacker and readable medium |
| CN113511449A (en) * | 2021-08-06 | 2021-10-19 | 罗伯泰克自动化科技（苏州）有限公司 | Automatic anti-swing device for stacker, stacker and corresponding anti-swing method |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100428373B1 (en) * | 2001-07-12 | 2004-04-28 | 현대자동차주식회사 | Stacker crane |
| CN106115553B (en) * | 2016-08-06 | 2018-08-21 | 国网山东省电力公司龙口市供电公司 | A kind of power equipment apparatus for controlling of lifting |
| JP6766878B2 (en) * | 2016-10-18 | 2020-10-14 | 村田機械株式会社 | Stacker crane |
| CN108975172B (en) * | 2018-10-08 | 2024-04-05 | 山东德鲁克起重机集团有限公司 | Bridge crane special for brick making equipment |
| CN110884815A (en) * | 2019-11-28 | 2020-03-17 | 罗伯泰克自动化科技（苏州）有限公司 | Anti-swing device of high-speed stacker |
| CN113636503B (en) * | 2021-08-06 | 2022-12-20 | 意欧斯智能科技股份有限公司 | Stacker sky rail guide wheel device with anti-swing function |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0730208B2 (en) * | 1987-06-10 | 1995-04-05 | 旭電化工業株式会社 | Polymeric material composition with improved light stability |
-
1995
- 1995-11-28 KR KR1019950044221A patent/KR0136670B1/en not_active IP Right Cessation
-
1996
- 1996-11-28 JP JP8317985A patent/JPH09249303A/en active Pending
- 1996-11-28 CN CN96123408A patent/CN1159420A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103492290A (en) * | 2011-04-20 | 2014-01-01 | 村田机械株式会社 | Travel vehicle |
| CN103492290B (en) * | 2011-04-20 | 2015-07-29 | 村田机械株式会社 | Travel vehicle |
| CN104555210A (en) * | 2013-10-21 | 2015-04-29 | 株式会社丰田自动织机 | Vibration control structure of storage rack |
| CN113135403A (en) * | 2021-05-17 | 2021-07-20 | 西门子工厂自动化工程有限公司 | Anti-swing control method and device for stacker and readable medium |
| CN113135403B (en) * | 2021-05-17 | 2023-03-10 | 西门子工厂自动化工程有限公司 | Anti-shaking control method and device for stacker and readable medium |
| CN113511449A (en) * | 2021-08-06 | 2021-10-19 | 罗伯泰克自动化科技（苏州）有限公司 | Automatic anti-swing device for stacker, stacker and corresponding anti-swing method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH09249303A (en) | 1997-09-22 |
| KR0136670B1 (en) | 1998-04-27 |
| KR970026892A (en) | 1997-06-24 |
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| SE01 | Entry into force of request for substantive examination | ||
| C06 | Publication | ||
| PB01 | Publication | ||
| C01 | Deemed withdrawal of patent application (patent law 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |