JP2008063069A - Stacker crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stacker crane with a lifting apparatus capable of preventing a lifting base which is stopped in emergency from jumping. <P>SOLUTION: The stacker crane 2 is provided with a mast 6a, a lifting base 7 liftably supported along the mast 6a and a lifting device 8, integrally provided with the mast 6, for moving the lifting base 7 up and down. The lifting device 8 is provided with a counter weight wire 16, a lifting wire 15 for supporting the lifting base 7 in a suspended state, a wire drum 12 for lifting the lifting base 7 by taking up or delivering the lifting wire 15 as being rotated around an axis in normal or reverse direction, an upper sheave 11 for drivably supporting the counter weight wire 16 and the lifting wire 15 and a jump prevention wire 17 which is taken up or delivered along with the normal or reverse rotation of the wire drum 12 to support the lifting base 7 on emergency stop of the lifting base 7 which is moving up. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a stacker crane that conveys articles in an automatic warehouse.

  Conventionally, in an automatic warehouse in which goods are stored and unmanned by computer control, for example, a storage box in which a plurality of racks made of steel and in which articles are stored are arranged in parallel in the horizontal direction and the vertical direction, Some have a stacker crane for loading and unloading articles to and from each rack of the hangar. A stacker crane provided in this type of automatic warehouse is, for example, a traveling carriage provided with driving means that travels on rails extended on the floor and ceiling so as to be parallel to the hangar, and a vertical connection connected to the traveling carriage. The mast is provided, a lifting platform that moves up and down along the mast, and a lifting device that lifts and lowers the lifting platform. Further, the stacker crane includes an arm (slide fork) attached to the lifting platform so as to be extendable in the horizontal direction, and the lifting platform is lifted and lowered along the mast while traveling in parallel with the rack. A lifting platform is placed at a position facing the rack, and articles are taken in and out by extending and contracting the arms.

  In addition, the lifting device that lifts and lowers the lifting platform along the mast as described above is provided, for example, as disclosed in Patent Document 1, with a wire (lifting wire) that lifts and lowers the lifting platform, and a lower portion of the mast. There is a drum constituted by a winding drum (wire drum) for winding a wire, and a driven pulley (upper sheave) provided on the top of the mast and on which the wire is hung. In a stacker crane equipped with a lifting device that lifts and lowers the lifting platform with the wire, the lifting platform supported in a suspended state by the wire can be lifted by driving the winding drum to wind or feed the wire. For example, it has the advantage that noise during a lifting operation can be prevented and the lifting table can be raised and lowered at a high speed, compared to driving a chain or belt to raise and lower the lifting table.

Furthermore, the stacker crane disclosed in Patent Document 1 includes an encoder that monitors the winding drum and a comparison unit that compares the monitoring results of the encoder, so that, for example, the elevator platform is suddenly stopped during the ascent. It is configured so that loosening of the wire can be detected.
JP 2001-199506 A

  However, in a stacker crane equipped with a lifting device that lifts and lowers the lifting platform with the above-mentioned wire, the lifting platform is supported in a suspended state only by the lifting wire, so the lifting platform is raised at high speed and high acceleration. In the event of an emergency stop on the way, there was a problem of jumping due to inertial force. When the lifting platform jumps in this way, the wire is loosened, and the loosened wire is wound up in a distorted state on the take-up drum, causing damage to the wire or rewinding the turbulent wound wire. Inconvenience occurred, such as the occurrence.

  In addition, since the jumping elevator will drop due to gravity and a large impact will occur when the wire is tensioned again, the wire will also be damaged, or the item placed on the elevator will be damaged There was also a problem.

  Further, as in Patent Document 1, an encoder that monitors the winding drum is provided so that the looseness of the wire when the elevator is suddenly stopped can be detected. There is a problem that the wire cannot be prevented from being loosened only by being detected.

  An object of this invention is to provide the stacker crane provided with the raising / lowering apparatus which can prevent the raising / lowering stand which stopped emergency jumping in view of the said situation.

  In order to achieve the above object, the present invention provides the following means.

  A stacker crane according to the present invention includes a mast that is erected so as to be movable in a substantially horizontal direction, and a lifting platform that is supported so as to be movable up and down along the mast, and that loads and unloads articles between the storage sheds. , A stacker crane comprising a counterweight connected to the lifting platform and a lifting device provided integrally with the mast and lifting the lifting platform, the lifting device having one end connected to the lifting platform, A counterweight wire with the other end connected to the counterweight, an elevator wire with one end connected to the elevator platform to support the elevator platform in a suspended state, and a lifting wire that is rotated forward and backward about an axis. A wire drum that winds or feeds the wire to raise and lower the elevator, and a wire for the counterweight and the elevator An upper sheave that supports the wire in a freely driveable manner, and one end fed from the wire drum is connected to the lifting platform from the lower side via a lower sheave provided below the wire drum. An electrical wire is provided.

  Further, the stacker crane of the present invention is a lifting / lowering unit that loads and unloads articles between a mast erected so as to be movable in a substantially horizontal direction and a hangar arranged side by side along the mast. A stacker crane comprising a table, a counterweight connected to the lifting table, and a lifting device that is provided integrally with the mast and lifts the lifting table, the lifting device having one end connected to the lifting table A counterweight wire whose other end is connected to the counterweight, a lifting wire that is connected to the lifting platform at one end and supports the lifting platform in a suspended state, and rotated forward and backward about an axis. A wire drum that winds or sends the lifting wire to raise and lower the lifting platform, and is provided on the upper end side of the mast. An upper sheave that supports the elevating wire so as to be driven, and one end fed from the wire drum is connected to the counterweight from above via the upper sheave provided on the upper end side of the mast. A jump preventing wire is provided.

  In the stacker crane of the present invention, it is desirable that the jump preventing wire has one end connected to the lift or the counterweight via a spring member.

  Furthermore, in the stacker crane of the present invention, the mast is formed with a hollow portion inside, and the lifting wire and the jump prevention wire are inserted into the hollow portion, and the lifting platform or the counterweight is inserted. It is more desirable to be connected to.

  According to the stacker crane of the present invention, together with the lifting wire, the jump prevention wire wound or sent out in accordance with the forward and reverse rotation of the wire drum is lifted and lowered via the lower sheave provided below the wire drum. By being connected to the base from the lower side, the elevator base can be held when the rising elevator base stops in an emergency, and the elevator base can be prevented from jumping due to inertial force. Thereby, it can prevent that the wire for raising / lowering loosens and is wound up around a wire drum, and can prevent that a big impact acts on the articles | goods to convey. Therefore, even if the lifting platform is moved up and down at a high speed or with a high acceleration, it is possible to prevent the lifting wire and the article from being damaged at the time of emergency stop, and it is possible to improve the efficiency of the article loading and unloading work.

  Further, in the stacker crane of the present invention, one end of the jump preventing wire is connected to the counterweight from the upper side through the upper sheave provided on the upper end side of the mast, so that the wire descends as the lifting platform is raised. Counterweight can be held with emergency stop. Thereby, with the emergency stop, the loading of the counterweight to the lifting platform can be cut off, and a force directed to the lowering side caused by its own weight can be applied to the lifting platform, and the jumping of the lifting platform can be prevented.

  Furthermore, in the stacker crane of the present invention, play is provided for maintaining the tension state of the jump preventing wire by connecting one end of the jump preventing wire to the lifting platform or the counterweight via a spring member. For example, even when the lifting platform is lowered at a high speed, the jump prevention wire can be connected to the lifting platform or the counterweight in a suitably tensioned state. Thereby, it is possible to reliably prevent the jumping prevention wire from being loosened, and to prevent the jumping prevention wire from being randomly wound when being wound around the wire drum. In addition, by providing a spring member and being able to connect to the lifting platform or counterweight in a state where the jumping prevention wire is always properly tensioned, at the same time as an emergency stop, the lifting platform or counterweight is held and the lifting platform jumps. It can be surely prevented.

  Further, in the stacker crane of the present invention, the lifting wire and the jumping prevention wire are inserted into the hollow portion of the mast, so that even if dust is scattered from the wire, it is scattered. An environment where dust can be kept inside the mast, for example, even if the article to be transported is an article that requires handling in a clean environment, such as an article that dislikes fine flaws or dust. Can be maintained in a cleaner state to prevent dust from adhering to the article.

  Hereinafter, a stacker crane according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 4. The present embodiment relates to a stacker crane that conveys articles in an automatic warehouse, for example.

  As shown in FIG. 1, the automatic warehouse A of the present embodiment stores, for example, an article W that does not want to be attached with fine flaws or dust, and is composed of, for example, a steel frame and a plurality of racks 1a in which the article W is stored. Includes a storage 1 formed side by side in a horizontal direction (arrow X direction) and a vertical direction (arrow Z direction), and a stacker crane 2 for loading and unloading articles W to and from each rack 1a of the storage 1. It is configured.

  As shown in FIGS. 1 and 2, the stacker crane 2 of the present embodiment is provided on the floor surface and extends in parallel along the hangar 1 with two floor guide rails 3 and a hangar provided on the ceiling. 1, a ceiling guide rail 4 extending along line 1, a floor guide rail 3, a traveling carriage 5 provided so as to be able to travel along the floor guide rail 3, and a lower end side connected to the traveling carriage 5. The guide frame 6 which is standing in the direction and has a substantially rectangular frame shape in plan view, the lifting platform 7 supported so as to be movable up and down inside the guide frame 6, and the lifting platform integrally attached to the guide frame 6 The elevating device 8 that elevates and lowers 7 is a main component.

  The traveling cart 5 is composed of a substantially flat plate-shaped cart body 5a and a traveling drive unit 5b provided on each end of the cart body 5a. The traveling drive unit 5b includes two wheels 5c and driving means 5d such as a servo motor connected to the wheels 5c. Each traveling carriage 5 is installed such that each of the two floor guide rails 3 is provided with one wheel 5c of the traveling drive unit 5b so as to travel on the floor guide rail 3.

  The guide frame 6 has a lower end connected to the carriage main body 5a of the traveling carriage 5, and a pair of masts 6a erected in the vertical direction and an upper frame extending in the horizontal direction so as to connect the upper ends of the pair of masts 6a. It is comprised with the member 6b. In the present embodiment, the guide frame 6 is formed in a substantially rectangular frame shape in which a pair of masts 6a are formed with a length longer than that of the upper frame member 6b. The pair of masts 6a are formed, for example, in a substantially rectangular shape in cross section, and are formed in a rectangular tube shape with a hollow portion 6c extending from the lower end to the upper end formed therein. Further, each of the pair of masts 6a is provided with a first opening 6d in which a hollow portion 6c is opened on a side surface facing the outer side in the horizontal direction on the lower end side, and an upper end side and a lower end side of the side surfaces facing each other and facing inward. In addition, a second opening 6e and a third opening 6f, each having a hollow portion 6c, are provided.

  Further, as shown in FIG. 2, the guide frame 6 formed in this way has a pair of upper drive units for causing the upper frame member 6 b to drive the upper end side of the guide frame 6 along the ceiling guide rail 4. 9 is provided. Each of the pair of upper drive units 9 includes a pair of guide rollers 9 a provided so as to sandwich the ceiling guide rail 4, and a drive unit 9 b such as a servo motor that rotationally drives the guide rollers 9 a. Yes.

  As shown in FIGS. 2 and 3, the lifting platform 7 is connected to a pair of lateral members 7a extending in parallel in the horizontal direction and having a substantially rectangular cross section, and both ends 7b and 7c of each lateral member 7a. The four vertical members 7d having a substantially rectangular cross section extending upward in the vertical direction, the vertical members 7d connected to the respective one end portions 7b of the pair of horizontal members 7a, and the other of the pair of horizontal members 7a The vertical members 7d connected to the end 7c are composed of four connecting members 7e and 7f having a substantially rectangular cross section for connecting the upper end side and the lower end side of the vertical member 7d, respectively. Further, support members 7g and 7h having a rectangular cross section are fixed to the four connecting members 7e and 7f so as to protrude outward in the extending direction of the pair of lateral members 7a. Furthermore, the extending direction of the pair of horizontal members 7a is connected to the upper surfaces of the pair of horizontal members 7a so that the pair of horizontal members 7a are connected to each upper surface by a slide mechanism or driving means (not shown). The arm part 10 provided with a pair of arm (slide fork) 10a which expands-contracts in the direction orthogonal to is provided.

  On the other hand, as shown in FIGS. 2 and 3, the lifting device 8 of the present embodiment is installed in a pair of masts 6a. Each lifting device 8 includes four upper sheaves 11 provided on the upper end side of the mast 6a, one wire drum 12, and driving means such as a servo motor for rotating the wire drum 12 forward and backward around the axis O1. 13, one lower sheave 14 disposed on the lower end side of the mast 6 a and below the wire drum 12, two lifting wires 15, two counterweight wires 16, and one The jump prevention wire 17 and one counterweight 18 are provided.

  The four upper sheaves 11 and the one lower sheave 14 are formed in the same shape and size, and the upper sheave 11 is arranged in parallel with the rotation axis line on the same axis at the upper end side of the mast 6a. The upper sheave 11 is disposed in the hollow portion 6c of the mast 6a, and is provided so that a part of the outer peripheral side thereof faces the outside (inside the guide frame 6) from the second opening 6e. . On the other hand, the lower sheave 14 is installed in the hollow portion 6c below the mast 6a, and is installed so that a part of the outer peripheral side faces the outside from the third opening 6f.

  The wire drum 12 is formed in a substantially columnar shape, and has a groove formed on the outer peripheral side thereof in a circumferential direction and spirally formed in the direction of the axis O1, and forward and reverse around the axis O1 of the wire drum 12 In accordance with the rotation, the lifting / lowering wire 15 and the jump prevention wire 17 can be wound around the wire drum 12 and fed out from the groove. Here, for example, when the wire drum 12 rotates forward, the lifting wire 15 is sent out, and the jump preventing wire 17 is wound around the groove in which the sent lifting wire 15 is accommodated. On the other hand, when the wire drum 12 rotates in the reverse direction, the jump preventing wire 17 is sent out, and the lifting wire 15 is wound around the groove in which the jump preventing wire 17 is accommodated. The wire drum 12 thus formed is provided such that a part of the outer peripheral side faces the inside of the hollow portion 6c of the mast 6a through the first opening 6d on the lower end side of the mast 6a. Further, the portion of the wire drum 12 located outside the mast 6a and the driving means 13 for rotating the wire drum 12 around the axis O1 are housed in a housing 8a supported by the mast 6a and are isolated from the outside. Yes.

  Each of the two lifting wires 15 is fixed to the wire drum 12 at the other end and wound around the wire drum 12 at the other end, and one end side fed out (sent out) from the wire drum 12 is It is inserted into the hollow portion 6c and is wound around and supported by the outer two upper sheaves 11 out of the four upper sheaves 11, respectively. In addition, each of the lifting wires 15 whose one end side extends downward by the upper sheave 11 is arranged on the outer side of the mast 6a from the second opening 6e, and one end is from the upper side of the lifting platform 7. It is connected to the upper support member 7g. Thus, the lifting platform 7 is supported in a suspended state by the lifting wires 15 connected to each of the supporting members 7g.

  One end of each of the two counterweight wires 16 is disposed between the two lifting wires 15 and connected to the same support member 7g to which the lifting wires 15 are connected. Further, the two counterweight wires 16 are supported by being wound around the two upper sheaves 11 on the inner side among the four upper sheaves 11, and the other end side thereof is passed through the second opening 6e of the mast 6a. It is inserted into the hollow portion 6c. The other end of each counterweight wire 16 is connected to the upper end of one counterweight 18 provided in the hollow portion 6c of the mast 6a and disposed between the elevating wires 15. As a result, the weight of the counterweight 18 is applied to the lifting platform 7 via the counterweight wire 16 to adjust the counterbalance.

  On the other hand, the other end of the jump preventing wire 17 is fixed to the wire drum 12 and the other end is wound around the wire drum 12. Further, one end side fed out (sent out) from the wire drum 12 is wound around and supported by the lower sheave 14. The lower sheave 14 extends one end side of the jump preventing wire 17 upward, and one end is connected to the lower support member 7 h from the lower side of the lifting platform 7. In this embodiment, as shown in FIG. 4, the spring member 20 is attached to the support member 7 h to which the jump preventing wire 17 is connected, and one end of the jump preventing wire 17 is connected to the spring member 20. And is connected to the lifting platform 7.

  Next, the operation and effect of the stacker crane 2 having the above configuration will be described.

  First, in the state where the lifting platform 7 is positioned at the lowermost position, for example, the article W loaded in the pallet is placed on the arm 10a together with the pallet. Next, a control means (not shown) that detects this issues an operation command to the stacker crane 2 so as to transport the article W to a predetermined rack 1a in which the article W is stored. The stacker crane 2 that has received this operation command drives the driving means 5d and 9b of the traveling drive unit 5b of the traveling carriage 5 and the upper drive unit 9, and is guided to the floor guide rail 3 and the ceiling guide rail 4 while being stored in the hangar. Move horizontally along 1. At the same time, each wire drum 12 winds up each lifting wire 15 by, for example, reverse rotation of the driving means 13 synchronized. Thereby, the lifting platform 7 supported in a suspended state on each lifting wire 15 of each lifting device 8 rises along the pair of masts 6a.

  At this time, the wire drum 12 rotates reversely so as to wind up the lifting wire 15, and the jump preventing wire 17 is fed out with a feed amount substantially the same as the winding amount of the lifting wire 12. Thereby, the jump preventing wire 17 is fed out while maintaining an appropriate tension state that does not hinder the lifting of the lifting platform 7, and the jump preventing wire 17 is interposed via the spring member 20. By being connected to, the tension force is absorbed, and the elevator 7 is prevented from being pulled down extremely greatly.

  Thus, the horizontal movement of the stacker crane 2 and the lifting of the lifting platform 7 are stopped when the lifting platform 7 is positioned at a predetermined rack 1a position of the hangar 1. Incidentally, the upper drive unit 9 that allows the guide frame 6 to move along the ceiling guide rail 4 is provided on the upper end side of the guide frame 6, so that when the horizontal movement of the stacker crane 2 stops. In addition, the upper end side of the guide frame 6 is prevented from swinging due to the inertial force.

  Next, the arm 10a on which the article W is placed is extended toward the rack 1a while holding the article W, and the article W is placed at a predetermined position on the rack 1a. As described above, the article W is stored in the predetermined rack 1a, and the arm 10a is retracted to the original position. Then, the driving means 5d and 9b of the traveling carriage 5 and the upper drive unit 9 are driven again, and the stacker crane 2 is moved in the horizontal direction toward the original position. At the same time, the wire drum 12 rotates, for example, forwardly. Then, the lifting wire 15 is sent out, and the lifting platform 7 is lowered to its original position by its own weight. At this time, as the wire drum 12 rotates forward, the jump preventing wire 17 is wound around the wire drum 12 while maintaining an appropriate tension force with respect to the descending lift 7. In this case, the lifting / lowering wire 15 sent out to lower the lifting / lowering base 7 is subjected to the weight of the lifting / lowering base 7 to cause a slight elongation, and the jump prevention wire 17 is loosened. In this embodiment, since the jump preventing wire 17 is connected via the spring member 20, the loosening of the jump preventing wire 17 caused by the extension of the lifting wire 15 is absorbed, and the wire 17 may sag. Is prevented. As a result, the jump preventing wire 17 is not wound up in a turbulent winding state because an appropriate tension is applied even when the wire 17 is wound around the wire drum 12.

  On the other hand, when the article W is lifted and transported to the predetermined rack 1a as described above, for example, when an emergency stop is performed, the lifting platform 7 jumping upward due to inertial force is caused. Along with this, there is a case where the lifting wire 15 is slack, for example, overlapped so as to ride on the lifting wire 15 already wound around the groove of the wire drum 12. Further, when the jumping lift 7 is lowered by gravity and is suspended again by the lift wire 15, there is a problem that an impact is generated and the placed article W is damaged.

  On the other hand, in the stacker crane 2 of the present embodiment, the jumping prevention wire 17 is connected to the lifting platform 7 in a state where an appropriate tension force is applied. Pulled from below, the jump is suppressed. Thereby, since the raising / lowering wire 15 does not sag, it is prevented that the wire drum 12 is wound up around the wire drum 12. In addition, the impact is not applied to the article W due to the emergency stop of the lifting platform 7. Further, at this time, since the jump preventing wire 17 is connected via the spring member 20, a slight upward displacement that does not cause turbulent winding of the lifting wire 15 is allowed on the lifting platform 7 that has stopped emergency. Therefore, the lifting platform 7 pulled by the jump preventing wire 17 does not suddenly stop and only the article W jumps with inertial force.

  Therefore, according to the stacker crane 2 of the present embodiment, by providing the jump prevention wire 17, the lifting wire 15 is prevented from sagging with the emergency stop of the lifting platform 7, and is prevented from being randomly wound around the wire drum 12. In addition, since a large impact does not act on the article W, the lifting wire 15 and the article W can be prevented from being damaged. As a result, the lifting platform 7 can be moved up and down at a high speed and with a high acceleration, so that the efficiency of the work for loading and unloading the article W can be improved.

  In the present embodiment, the lifting wire 15 and the jumping prevention wire 17 can be wound and delivered by the single wire drum 12, so that the lifting wire 15 and the jumping prevention wire 15 are moved up and down of the lifting platform 7. The amount of winding 17 and the amount of feeding can be made substantially the same. Thereby, for example, when the lifting platform 7 is raised, the tension force of the jumping prevention wire 17 that is sent out can be maintained in an appropriate state, and even when the lifting platform 7 is brought to an emergency stop, the jumping prevention wire is surely achieved. 17 can prevent jumping of the lifting platform 7.

  Furthermore, when the wire drum 12 is rotated in the forward and reverse directions and the wire to be wound is accommodated in the groove in which the delivered wire is accommodated, the jump prevention wire 17 is provided. One wire drum 12 can be kept small.

  Further, since the jump preventing wire 17 is connected to the lifting platform 7 via the spring member 20, when the lifting platform 7 is lowered, the jump preventing wire 17 is maintained in a tension state and hangs. This can be surely prevented, and the wire drum 12 can be prevented from being randomly wound. On the other hand, when the lifting platform 7 is raised, it is possible to reliably prevent only the article W from jumping due to the inertial force even when stopped in the middle of the raising.

  In addition, since the elevating wire 15 and the jump preventing wire 17 are inserted into the hollow portion 6c of the mast 6a, dust may be scattered from the wires 15 and 17. The scattered dust can be kept inside the mast 6a. Thereby, for example, even if the article W to be transported is an article that does not like to be attached with fine flaws or dust, it is possible to prevent dust from adhering to the article W, and the environment in which the article W is loaded and unloaded is cleaner. Can be maintained in a state.

  In addition, this invention is not limited to said 1st Embodiment, In the range which does not deviate from the meaning, it can change suitably. For example, in this embodiment, two lifting wires 15, two counterweight wires 16, and one jump prevention wire 17 are provided for one lifting device 8. The number of the wires 15, 16, and 17 is not particularly limited. Further, although the jump preventing wire 17 is connected to the support member 7h below the lifting platform 7 via the spring member 20, the jump preventing wire 17 is directly connected to the lifting platform 7 without the spring member 20. If the jumping prevention wire 17 of this embodiment is connected to the lifting platform 7 from below and can pull the lifting platform 7 downward during an emergency stop, the lifting / lowering platform 17 is particularly lifted / lowered. The connection location to the base 7 may not be limited. Further, the jump preventing wire 17 is connected to the lifting platform 7 via the lower sheave 14. However, the lower sheave 14 is not provided, and one end side fed out from the wire drum 12 is directly connected to the lifting platform 7. It may be.

  In addition, the stacker crane 2 of the present embodiment includes the floor guide rail 3 and the ceiling guide rail 4, and is guided and moved while being supported by the rails 3 and 4. The guide frame 6 is supported by the ceiling guide rail 4 in a suspended state, and is applied to a stacker crane that moves horizontally along the ceiling guide rail 4, or the lifting platform 7 is supported in a cantilever state by only one mast 6a. May be applied to a stacker crane.

  Furthermore, in this embodiment, the lifting wire 15, the counterweight wire 16, and the jump preventing wire 17 are inserted into the hollow portion 6c of the mast 6a, and the upper sheave that supports the wires 15, 16, and 17 so as to be driven. 11 and the lower sheave 14 are provided in the hollow portion 6c of the mast 6a. However, the wires 15, 16, 17 and the sheaves 11 and 14 are not necessarily arranged in the mast 6a. The wires 15, 16, 17 and the sheaves 11, 14 and the wire drum 12 may be disposed completely outside the mast 6a, and a housing for separately enclosing and covering these members may be provided. .

  Next, a stacker crane according to a second embodiment of the present invention will be described with reference to FIG. In the present embodiment, as in the first embodiment, for example, it relates to a stacker crane that transports articles in an automatic warehouse. Only the configuration of the lifting device is different, and the other configurations are the same as those in the first embodiment. Therefore, here, the same reference numerals are given to the components common to the first embodiment, and the detailed description thereof is omitted.

  As shown in FIG. 5, the lifting device 30 according to the present embodiment includes, in addition to the four upper sheaves 11 arranged coaxially with the rotation axis, on the outside of the four upper sheaves 11, the lower sheave 14 according to the first embodiment. One upper sheave 31 is provided instead. Further, the upper sheave 31 is wound around one end side of the jump preventing wire 17 drawn out from the wire drum 12 and supports one end side of the jump preventing wire 17 so as to be driven. One end of the jump preventing wire 17 extending downward by the upper sheave 31 is connected to the upper end of the counterweight 18. That is, in the lifting device 30 of the present embodiment, the jump preventing wire 17 is connected to the counterweight 18 from above via the upper sheave 31 provided on the upper end side of the mast 6a.

  In the stacker crane 33 including the lifting device 30 configured as described above, the counterweight 18 that descends as the lifting platform 7 is lifted can be held by the jump prevention wire 17 together with the emergency stop of the lifting platform 7. Thereby, with the emergency stop, the load addition of the counterweight 18 to the lifting platform 7 is separated from the lifting platform 7, and the lifting platform 7 can be acted on the downward force due to its own weight. That is, the urging force of the lifting movement of the lifting platform 7 by the counterweight 18 disappears together with the emergency stop, whereby the lifting platform 7 is pulled downward by its own weight, and the lifting platform 7 can be stopped without jumping.

  Therefore, according to the stacker crane 33 of the present embodiment, by providing the jump prevention wire 17 connected to the counterweight 18, the counterweight 18 can be held together with the emergency stop of the elevator 7. Can be held without jumping. Thereby, it is possible to prevent the lifting wire 15 from sagging and being wound around the wire drum 12 and to prevent a large impact from acting on the article W. Therefore, it is possible to prevent the lifting wire 15 and the article W from being damaged.

It is a perspective view which shows the automatic warehouse provided with the stacker crane which concerns on 1st Embodiment of this invention. It is sectional drawing which shows the stacker crane which concerns on 1st Embodiment of this invention. It is a perspective view which shows the raising / lowering apparatus of the stacker crane of FIG. It is sectional drawing to which the connection part of the wire for jump prevention of the raising / lowering apparatus shown in FIG. 3 and a raising / lowering base was expanded. It is a perspective view which shows the raising / lowering apparatus of the stacker crane which concerns on 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hangar 1a Rack 2 Stacker crane 3 Floor guide rail 4 Ceiling guide rail 5 Traveling carriage 6 Guide frame 6a Mast 6c Hollow part 7 Lifting base 8 Lifting device 11 Upper sheave 12 Wire drum 13 Driving means 14 Lower sheave 15 Lifting wire 16 Counter Weight wire 17 Jump prevention wire 18 Counterweight 20 Spring member 30 Lifting device 31 Upper sheave 33 Stacker crane A Automatic warehouse W

Claims (4)

A mast that is erected so as to be movable in a substantially horizontal direction, and a lift that is supported so as to be movable up and down along the mast, and that is used for loading and unloading articles between the mast, and connected to the lift A stacker crane provided with a counterweight and an elevating device provided integrally with the mast and elevating the elevating platform,
The lifting device includes a counterweight wire having one end connected to the lifting platform and the other end connected to a counterweight, and one lifting end that is connected to the lifting platform and supports the lifting platform in a suspended state. A wire drum that is rotated forward and backward about an axis to wind or send out the lifting wire to raise and lower the lifting platform; and provided on an upper end side of the mast, the counterweight wire and the wire And an upper sheave that supports the elevating wire so as to be driven freely, and one end fed from the wire drum is connected to the elevating platform from the lower side via a lower sheave provided below the wire drum. A stacker crane comprising a wire for preventing jumping. A mast that is erected so as to be movable in a substantially horizontal direction, and a lift that is supported so as to be movable up and down along the mast, and that is used for loading and unloading articles between the mast, and connected to the lift A stacker crane provided with a counterweight and an elevating device provided integrally with the mast and elevating the elevating platform,
The lifting device includes a counterweight wire having one end connected to the lifting platform and the other end connected to a counterweight, and one lifting end that is connected to the lifting platform and supports the lifting platform in a suspended state. A wire drum that is rotated forward and backward around an axis to wind or lift the lifting wire to raise and lower the lifting platform; and provided on an upper end side of the mast, the counterweight wire and the wire An upper sheave that supports the elevating wire so as to be driven, and one end fed from the wire drum is connected to the counterweight from above via the upper sheave provided on the upper end side of the mast. A stacker crane comprising a wire for preventing jumping. The stacker crane according to claim 1 or 2,
The jumper prevention wire is characterized in that the one end thereof is connected to the lifting platform or the counterweight via a spring member. In the stacker crane according to any one of claims 1 to 3,
The mast is formed with a hollow portion therein, and the elevating wire and the jump preventing wire are inserted into the hollow portion and connected to the elevating platform or the counterweight. Stacker crane.

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