JP2009269729A - Stacker crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stacker crane having a short length in a traveling direction of a traveling carriage by preventing the disposing work of a wire-like body from being complicated. <P>SOLUTION: Wire-like body portions 17b and 18b linked with a wire-like body driving means 19 in wire-like bodies 17 and 18 are disposed to pass through the inside of an elevating guide mast 4, pass through an upper wall 9c of a wheel supporting frame 9 and extend downward. A lower side guide rotating body 20 for guiding the wire-like bodies 17b and 18b passing through the upper wall 9c of the wheel supporting frame 9 and extending downward in a direction away from a carriage frame 8 is provided in a supported state by the wheel supporting frame 9 at a portion which is the lower side of the upper wall 9c of the wheel supporting frame 9 and is corresponding to a lower side of the elevating guide mast 4. The wire-like body driving means 19 is provided in a linked state with the wire-like bodies 17b and 18b guided by the lower side guide rotating body 20. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a traveling cart that travels along a traveling route, a cylindrical lifting guide mast provided in a state standing from the traveling cart, and a cord-like body that is guided by the lifting guide mast so as to be movable up and down. The traveling carriage has a wheel support frame that supports the traveling wheels and the driving means thereof at the end of the elongated carriage frame along the traveling direction. A pair of cords that are wound and guided so as to extend downward by an upper guide rotating body provided at an upper end portion of the lifting guide mast. One of the body parts is provided in a state where it is linked to a cord-like body driving means provided at a position corresponding to the upper part of the traveling wheel and the other is connected to the lifting platform, and the lifting guide is provided above the wheel support frame. The lower end of the mast is connected On stacker cranes are lifting.

  The stacker crane as described above is used in, for example, an automatic warehouse, and performs an operation of storing an article in any of a plurality of storage units in an article storage shelf or an operation of taking out an article from the storage unit. The stacker crane moves the traveling carriage by rotating the traveling wheel by the driving means, and moves the lifting platform by moving the lifting body by driving the rope-like body by the rope-like body driving means. The product is moved to the target position, and then the transfer operation is performed by the product transfer device provided in the lifting platform, whereby the product is stored in the storage unit or taken out from the storage unit.

  In a conventional stacker crane, a wheel support frame that supports a traveling wheel and its driving means is attached to each of one end and the other end of a long bogie frame along the traveling direction. In each of the wheel support frames, the lower end portion of the lifting guide mast is connected and supported by the upper wall portion of the wheel support frame. Two cord-like bodies that suspend and support the lifting platform are provided, one connected to one end of the lifting platform in the traveling direction and the other connected to the other end of the lifting platform in the traveling direction. The cord driving means is provided on one side of the lifting guide mast. One of the two cord-like bodies is wound and guided so as to extend downward by an upper-side guide rotating body provided at an upper end portion on one side of the lifting guide mast, and is linked to the cord-like body driving means. And after the other is guided along the horizontal direction by the upper guide rotating body provided at the upper end of the other side of the lifting guide mast, the upper side provided at the upper end of one side of the lifting guide mast. The guide rotating body is wound and guided so as to extend downward, and is arranged so as to be linked to the cord-like body driving means. The cord driving means is provided above the lower end portion of the lifting guide mast and on the lateral side portion of the lifting guide mast. The cord portion linked to the cord driving means is disposed so as to extend downward through the outside of the lifting guide mast and reach the cord driving means (for example, see Patent Document 1).

  In this conventional stacker crane, the lower end portion of the lifting guide mast is connected and supported on the upper wall portion of the wheel support frame, and the location where the lifting guide mast is present and the location where the traveling wheel is present are overlapped in the traveling direction. Yes. Also, the cord driving means is provided at a location corresponding to the upper side of the traveling wheel (the location above the traveling wheel and overlapping the location of the traveling wheel in the traveling direction). The location and the location where the traveling wheel exists are overlapped in the traveling direction. Thereby, the length of the stacker crane in the traveling direction is shortened.

JP 2006-76715 A

  In the above-described conventional stacker crane, the rope-like body portion linked to the rope-like drive means is disposed so as to extend downward through the outside of the lifting guide mast to reach the rope-like drive means. In the direction, a space for arranging the cord-like body between the lifting guide mast and the cord-like driving means is required. For this purpose, the driving rotating body and the driving means in the cord driving means are disposed at a position away from the lifting guide mast, and the cord driving means is installed in a state of protruding in the traveling direction. become. Therefore, the length of the stacker crane in the traveling direction becomes long.

  Therefore, the cord-like body is arranged between the lifting guide mast and the cord-like driving means by arranging the cord-like portion linked to the cord-like driving means so as to pass through the inside of the lifting guide mast. It is conceivable that the space to be used is unnecessary. However, since the cord driving means is provided on the lateral side portion of the lifting guide mast, the cord-like body portion extending downward through the inside of the lifting guide mast passes through the side wall portion of the lifting guide mast and is located on the lateral side. It will arrange | position so that it may extend in the direction. For this reason, it is necessary to perform a machining operation for providing an opening penetrating the side wall portion of the lifting guide mast, which complicates the arrangement of the cord-like body.

  The present invention has been made paying attention to such a point, and an object of the present invention is to prevent a stacking crane having a short length in the traveling direction of the traveling carriage by preventing the arrangement work of the cords from being complicated. The point is to provide.

In order to achieve this object, a first characteristic configuration of a stacker crane according to the present invention includes a traveling cart that travels along a traveling route, and a cylindrical lifting guide mast provided in a state of standing from the traveling cart. And a lifting platform that is guided by the lifting guide mast so as to be movable up and down and is supported by suspension with a cord-like body, and the traveling carriage travels on a wheel support frame that supports a traveling wheel and its driving means. It is configured to be attached to the end of the long bogie frame along the direction so as to protrude upward from the bogie frame, and the cord-like body is provided in the upper guide rotation provided at the upper end of the elevating guide mast. One of a pair of cord-like body portions that are wound and guided so as to extend downward in the body is linked to a cord-like body driving means provided at a location corresponding to the upper side of the traveling wheel, and the other is connected to the lifting platform. In the state Is, the upper wall portion of the wheel supporting frame, a stacker crane lower end of the lift guide masts is connected and supported,
A cord-like portion linked to the cord-like driving means in the cord-like body is disposed so as to pass through the inside of the lifting guide mast and pass through the upper wall portion of the wheel support frame and extend downward. A cable-like body portion extending downward through the upper wall portion of the wheel support frame is provided at a position below the upper wall portion of the wheel support frame and below the lifting guide mast. A lower guide rotator that is guided in a direction away from the lower support rotator is supported by the wheel support frame, and the cord drive means is guided by the lower guide rotator. It exists in the point provided in the state linked with a part.

That is, the portion of the cord-like body linked to the cord-like body driving means is arranged so as to pass through the inside of the raising / lowering guide mast, so that the elevation guide mast and the cord-like body driving means are arranged in the traveling direction of the traveling carriage. The space for arranging the cord-like body between them is not required, and the cord-like body driving means can be provided at a position close to the lifting guide mast. Thereby, it can suppress that a cable-shaped body drive means protrudes in a running direction, and the length of the running direction of a stacker crane can be shortened. The cord-like body portion linked to the cord-like driving means is disposed so as to extend downward through the upper wall portion of the wheel support frame after passing through the inside of the lifting guide mast, and then the lower side guide. It is guided toward the direction away from the carriage frame by the rotating body. The cord driving means is linked to the cord-like body portion guided in the direction away from the carriage frame by the lower guide rotating body, so that the cord driving means does not interfere with other members. While being disposed, the cord-like body can be accurately linked to the cord-like body driving means. Moreover, the lower guide rotating body is provided so as to guide the cord-like body portion at a position below the upper wall portion of the wheel support frame and at the lower portion of the lift guide mast. By arranging the portion of the cord-like body passing through the lower portion of the lifting guide mast so as to simply extend downward using the opening at the lower end portion of the lifting guide mast, it is possible to dispose the lower guide rotating body. Accordingly, the cord-like body can be disposed without requiring a processing operation such as providing an opening in the lifting guide mast.
From the above, the cord-like body can be accurately linked to the cord-like body driving means, the arrangement work of the cord-like body is prevented from becoming complicated, and the length of the traveling carriage in the traveling direction is short. A stacker crane has been realized.

  A second characteristic configuration of the stacker crane according to the present invention is that the portion of the rope-like body linked to the rope-like body driving means in the rope-like body is attached to the carriage frame by the driving rotary body in the rope-like body driving means. It is guided so as to be reversed toward the approaching direction, and is guided upward by the relay guide rotating body so as to be connected to the lifting platform.

  In other words, the cord portion linked to the cord driving means is linked to a drive rotator provided at a location corresponding to the upper side of the traveling wheel, but in the direction approaching the carriage frame by the drive rotator. It is guided to turn over. As a result, the cord portion linked to the cord driving means can be disposed without interfering with the traveling wheels. The cord-like body portion thus arranged is guided upward by the relay guide rotating body and connected to the lifting platform. Therefore, for example, even when a chain, belt, or the like is used as the cable-shaped body, the cable-shaped body can be disposed so as not to interfere with the traveling wheel, but both ends thereof are connected to the lift platform to accurately lift and lower the lift platform. Can be done.

  A third characteristic configuration of the stacker crane according to the present invention is that the drive rotating body is provided in a state of being supported by the wheel support frame so as to be positioned adjacent to the lower guide rotating body.

  That is, the drive rotator is positioned adjacent to the lower guide rotator and is supported by the wheel support frame, so that the drive rotator is disposed at a position close to the lifting guide mast in the traveling direction. The wheel support frame can also be used to support the driving rotating body. As a result, the support structure can be simplified while accurately preventing the cord-like body driving means from protruding in the traveling direction.

  The 4th characteristic structure of the stacker crane which concerns on this invention exists in the point from which the said drive rotary body is provided below rather than the upper wall part of the said wheel support frame.

  That is, since the position of the drive rotator is below the upper wall portion of the wheel support frame, for example, the lower guide rotator and the drive rotator can be provided in a state of being aligned in the horizontal direction. This eliminates the need to increase the height of the wheel support frame in order to support the drive rotator, and does not require processing such as providing a new opening to support the drive rotator. It is only necessary to support the drive rotator so that it is aligned horizontally with the rotator. Therefore, simplification and compactness of the structure of the wheel support frame can be achieved.

  According to a fifth characteristic configuration of the stacker crane according to the present invention, the driving means for rotationally driving the driving rotary body is provided on a lateral side portion of the wheel support frame in a state in which the support shaft portion of the driving rotary body is rotationally driven. There is in point.

  In other words, the driving means can have a simple configuration in which only the support shaft portion of the driving rotating body is rotationally driven. And since a drive means is provided in the side part of a wheel support frame, the length in a running direction can be shortened, without a drive means projecting in a running direction.

  According to a sixth characteristic configuration of the stacker crane according to the present invention, the wheel support frame is provided with a swing support that can swing around a horizontal axis, and the traveling wheel travels on the swing support. It exists in each of the one end side and other end side of the traveling direction of a trolley | bogie.

  In other words, the load can be shared by the traveling wheels provided on one end side and the other end side in the traveling direction in the swing support, and even if the load of the stacker crane becomes heavy, the size of the traveling wheel can be reduced. It is possible to suppress the increase. In addition, since the traveling wheels are provided on a swinging support that can swing around the horizontal axis, any of the traveling wheels comes into contact with the traveling surface accurately, and the traveling carriage is moved along the traveling path. Can be driven accurately.

An embodiment of a stacker crane according to the present invention will be described based on the drawings.
This stacker crane, for example, automatically travels along a moving path formed between a pair of article storage shelves to store articles in any of a plurality of storage units in the article storage shelves, It is configured to take out an article from any of the storage units.

  As shown in FIGS. 1 and 2, the stacker crane 1 includes a traveling carriage 3 that travels along a traveling rail 2 (corresponding to a traveling path), and a cylindrical shape provided in a state of standing from the traveling carriage 3. Elevating guide mast 4, elevating platform 6 guided by elevating guide mast 4 so as to be movable up and down and supported by being suspended by elevating chain 5 (corresponding to a cord-like body), and articles provided in elevating platform 6 A transfer device 7 is provided. The article transfer device 7 is constituted by a fork type transfer device provided with a fork for placing and supporting the article so as to be freely retractable. 1 and 2 show a state in which the fork is placing and supporting an article.

  As shown in FIG. 1 to FIG. 3, the traveling carriage 3 is provided with a long carriage frame 8 along the traveling direction of the traveling carriage 3 (left and right direction in FIG. 1) and both ends of the carriage frame 8. It is comprised from the wheel support frame 9 attached. The bogie frame 8 has two long bodies 10 arranged at intervals along the running direction, and the long bodies 10 are connected to each other by a plurality of connecting bodies 11 along the running direction. It is configured in a long shape. The wheel support frame 9 is attached to an end portion of the carriage frame 8 so as to protrude upward from the carriage frame 8 and is configured to support the traveling wheel 12 and the traveling electric motor 13. The traveling vehicle 3 is configured to travel along the traveling rail 5 by rotationally driving the traveling wheels 12 by the traveling electric motor 13.

  The wheel support frame 9 is attached to each of both end portions of the bogie frame 8, but the first wheel support frame 9 </ b> A disposed on one end side (right side in FIG. 1) in the traveling direction includes the traveling wheel 12 and In addition to the traveling electric motor 13, a cord driving means 19 linked to the lifting chain 5 is supported at a position corresponding to the upper portion of the traveling wheel 12. Therefore, the height of the first wheel support frame 9A protruding upward is higher than the second wheel support frame 9B disposed on the other end side in the traveling direction (left side in FIG. 1). It is configured.

  As shown in FIG. 3, each of the wheel support frames 9 has an attachment side wall portion 9a having an attachment surface attached to the end portion of the carriage frame 8, and the entire length of the vertical width from each of both end portions of the attachment side wall portion 9a. And a pair of support side wall portions 9b extending along the traveling direction. Each of the wheel support frames 9 includes an upper wall portion 9c that extends in the traveling direction from the upper end portion of the attachment side wall portion 9a over the entire length of the lateral width portion and connects the upper end portions of the pair of support side wall portions 9b. .

  Returning to FIG. 1 and FIG. 2, each of the wheel support frames 9 is provided with a swing support 14 that can swing around a horizontal axis. The traveling wheels 12 are provided on each of one end side and the other end side in the traveling direction of the traveling carriage 3 in the swing support 14. In other words, two traveling wheels 12 are provided at each of both ends in the traveling direction of the carriage frame 8, and the two traveling wheels 12 are arranged around the horizontal axis on the wheel support frame 9 by the swing support 14. It is provided so as to be swingable. As a result, any of the traveling wheels 12 can accurately contact the traveling rail 5 while suppressing an increase in the size of the traveling wheel 12, and the traveling carriage 3 can travel accurately along the traveling rail 2. Can do.

  The traveling electric motor 13 is supported by the first wheel support frame 9A so as to rotationally drive the traveling wheel 12 positioned on one end side (right side in FIG. 1) of the carriage frame 8 in the traveling direction. The traveling electric motor 13 is a direction orthogonal to the traveling direction from the first wheel support frame 9 </ b> A so as to rotationally drive the support shaft portion of the traveling wheel 12 located on the side away from the carriage frame 8 among the two traveling wheels 12. Is provided on the lateral side portion of the first wheel support frame 9A.

  Each of the pair of elevating guide masts 4 has a lower end portion connected to and supported by the upper wall portion 9c of the wheel support frame 9 and is erected on both end portions of the carriage frame 8 in the traveling direction of the traveling carriage 3. Is provided. An upper frame 15 that connects the upper ends of the pair of lifting guide masts 4 is provided at the upper end of the lifting guide mast 4. Although not shown, the upper frame 15 is provided with a guide roller that is guided by the upper rail 16. As a result, the upper frame 15 moves in the horizontal direction while being guided by the upper rail 16.

  The lifting platform 6 is disposed between the pair of lifting guide masts 4 in the traveling direction of the traveling carriage 3 and is guided by the pair of lifting guide masts 4 while being supported by being suspended by the lifting chains 5. The The elevating chain 5 is connected to one end side (right side in FIG. 1) of the elevating platform 6 in the traveling direction and to the other end side (left side in FIG. 1) of the elevating platform 6 in the traveling direction. Two of the second lifting and lowering chains 18 to be connected are provided. The upper frame 15 that connects the upper ends of the lifting guide masts 4 extends in a downward direction corresponding to each of the pair of lifting guide masts 4 and the first lifting chain 17 and the second lifting chain 18. First and second upper guide rotating bodies 23a and 23b for guiding are provided.

The first lifting / lowering chain 17 includes a first cord-like body portion 17a and a second cord-like body portion 17a extending downward at a first upper guide rotating body 23a provided at one end portion (right side in FIG. 1) of the lifting platform 6 in the traveling direction. It arrange | positions so that it may provide with the cord-shaped body part 17b. The end portion of the first cord-like body portion 17 a is connected to the lifting platform 6, and the second measure-like body portion 17 b is provided so as to be linked to the cord-like body driving means 19.
The second lifting / lowering chain 18 includes a first cord-like body portion 18a extending downward by a second upper guide rotating body 23b provided at the other end portion (left side in FIG. 1) in the traveling direction of the lifting platform 6. After being guided along the traveling direction by the second upper guide rotating body 23b, the first upper guide rotating body 23a is disposed so as to include a second cord-like body portion 18b extending downward. The end of the first cord portion 18a is connected to the lifting platform 6, and the second cord portion 18b extending downward in the first upper guide rotating body 23a is linked to the cord drive means 19. It is provided so that.
By driving the lifting / lowering chain 5 to move in the longitudinal direction by the cord-like body driving means 19, the lifting / lowering platform 6 is lifted and lowered by the lifting / lowering guide mast 4.

  As shown in FIGS. 1 and 4, the second cord portion 17 b of the first lifting chain 17 and the second cord portion 18 b of the second lifting chain 18 are connected to the first upper guide rotating body 23 a. After being guided downward, it passes through the inside of the lifting guide mast 4 and extends downward through the upper wall portion 9c of the first wheel support frame 9A. The upper wall portion 9c of the first wheel support frame 9A is formed with a penetrating portion 9d (see FIG. 3) for being arranged in a state of penetrating the lifting chain 5 (see FIG. 3). The body portions 17b and 18b are arranged so as to penetrate the upper wall portion 9c of the first wheel support frame 9A. As a result, the second rope-like body portion 17b of the first lifting / lowering chain 17 and the second rope-like body portion 18b of the second lifting / lowering chain 18 are disposed so as to pass through the interior of the lifting guide mast 4. In the traveling direction of the traveling carriage 3, there is no need for a space for arranging the lifting chain 5 between the lifting guide mast 4 and the cable driving means 19, and the cable driving means 19 protrudes in the driving direction. And the length of the stacker crane 1 in the traveling direction can be shortened.

  A lower guide rotating body 20 that winds and guides each of the second cord portions 17b and 18b extending downward through the upper wall portion 9c of the first wheel support frame 9A is formed by the first wheel support frame 9A. It is provided in a supported state. The lower guide rotating body 20 is located below the upper wall portion 9c of the first wheel support frame 9A and corresponding to the lower part of the lifting guide mast 4 (below the position where the lifting guide mast 4 is present and in the horizontal direction). The second cord-like body portions 17b and 18b are provided so as to guide each of the second cord-like body portions 17b and 18b toward the direction away from the carriage frame 8 in the horizontal direction. Accordingly, the second cord-like body portions 17b and 18b that have passed through the inside of the lifting guide mast 4 are disposed so as to simply extend downward using the opening at the lower end portion of the lifting guide mast 4, so that the lower side The guide rotating body 20 can be arranged. Therefore, the elevating chain 5 can be arranged so as to pass through the inside of the elevating guide mast 4 without requiring a processing operation such as providing an opening in the elevating guide mast 4.

  As shown in FIGS. 4 and 5, the cord driving means 19 includes a driving rotary body 21 linked to the lifting chain 5, and a lifting electric motor 22 that rotates the driving rotary body 21 (in the driving means). And is provided in a state of being supported by the first wheel support frame 9A. The cord driving means 19 is connected to the upper part of the traveling wheel 12 (the traveling wheel 12) in a state in which the driving rotor 21 is linked to the second cord portions 17b and 18b guided by the lower guide rotating body 20. Above the location where the traveling wheel 12 exists and in the horizontal direction, the location overlaps with the location where the traveling wheel 12 exists. The drive rotator 21 is supported by the first wheel support frame 9A so as to be adjacent to the lower guide rotator 20 in a state of being aligned in the horizontal direction. The drive rotor 21 is supported by the first wheel support frame 9A so as to be positioned below the upper wall portion 9c of the first wheel support frame 9A. The drive rotator 21 is rotatably supported by the first wheel support frame 9 </ b> A by the support shaft 24, but the lifting electric motor 22 is configured to rotationally drive a portion extending in the horizontal direction of the support shaft 24. Thus, the first wheel support frame 9A is provided on the lateral side of the first wheel support frame 9A so as to protrude in a direction orthogonal to the traveling direction.

  Thereby, support of the lower side guide rotation body 20 and the cable-shaped body drive means 19 can be shared by the 1st wheel support frame 9A. Moreover, by providing the lower guide rotator 20 and the drive rotator 21 in a state of being aligned in the horizontal direction, the height of the first wheel support frame 9A is increased in order to support the drive rotator 21, or the drive rotation Processing such as providing a new opening to support the body 21 is not required. Therefore, the configuration of the first wheel support frame 9A can be simplified and made compact. 9 A of 1st wheel support frames are formed as an integral member which provided the attachment side wall part 9a, the support side wall part 9b, and the upper wall part 9c integrally, and the structure is simple. Moreover, although the first wheel support frame 9A supports the lower guide rotating body 20 and the cord-like body driving means 19, the first wheel support frame 9A only has a height projecting upward from the second wheel support frame 9B. This is a simple configuration and is also significant from this point. In the first wheel support frame 9A, the traveling wheel 12, the lower guide rotating body 20, and the driving rotating body 21 are arranged so as to overlap in the traveling direction. Thereby, the length of the stacker crane 1 in the traveling direction can be shortened while each member can be appropriately arranged without interfering with each other.

  As shown in FIGS. 1 and 4, the second rope-like body portion 17 b of the first lifting / lowering chain 17 and the second rope-like body portion 18 b of the second lifting / lowering chain 18 are connected to the carriage frame 8 by the drive rotating body 21. It is guided so as to be reversed in a direction approaching to, and is guided upward by the relay guide rotating body 25 so as to be connected to the lifting platform 6. Accordingly, the first elevating chain 17 and the second elevating chain 18 can be connected to the elevating platform 6 while being properly arranged without interfering with the traveling wheel 12, and the elevating platform 6 can be accurately raised and lowered. It can be carried out.

  As the relay guide rotator 25, a first relay guide rotator 25a, a second relay guide rotator 25b, and a third relay guide rotator 25c are provided. The first rotation guide body 25a is configured to guide the second cord-like body portions 17b and 18b guided downward in the direction approaching the carriage frame 8 by the drive rotation body 21 downward. Yes. The second relay guide rotating body 25b guides the second cord-like body portion 17b of the first lifting / lowering chain 17 guided downward by the first relay guide rotating body 25a by reversing upward, and The second cable-like body portion 18b of the second lifting / lowering chain 18 guided downward by the first relay guide rotating body 25a is configured to be guided along the traveling direction. The third relay guide rotating body 25c is configured to guide the second cord-like body portion 18b of the second lifting / lowering chain 18 guided in the traveling direction by the second relay guide rotating body 25b upward. Has been. The second cord portion 17b of the first lifting / lowering chain 17 is guided upward by the second relay guide rotating body 25b and connected to the lifting platform 6. The second cord portion 18b of the second lifting / lowering chain 18 is guided upward by the third relay guide rotating body 25c and coupled to the lifting platform 6.

  As shown in FIGS. 1 and 6, each of the pair of lifting guide masts 4 is configured to lift and guide a guide roller 26 provided on the lifting platform 6. The guide roller 26 includes a first guide roller 26 a guided by the lifting guide mast 4 so as to restrict the movement of the lifting platform 6 in a direction orthogonal to the traveling direction of the traveling cart 3, and the traveling direction of the traveling cart 3. It is comprised from the 2nd guide roller guided with the raising / lowering guide mast 4 so that the movement of the raising / lowering stand 6 may be controlled. The first guide roller 26a is rotatably provided in contact with the outer wall portion of the lifting guide mast 4 so as to sandwich the lifting guide mast 4 formed in a rectangular shape in a direction orthogonal to the traveling direction of the traveling carriage 3. Yes. Although not shown, the second guide roller is rotatably provided in contact with the outer wall portion of the lifting guide mast 4 that faces the lifting platform 6.

  Since the lower end guide mast 4 is connected and supported at its lower end to the upper wall portion 9c of the wheel support frame 9, the elevating guide mast 4 alone moves the guide roller 26 to the position of the upper wall portion 9c of the wheel support frame 9. However, it can only be guided downward. Therefore, each of the wheel support frames 9 is provided with an extended guide portion 28 that guides the guide roller 26 downward while being continuous with the lifting guide mast 4. That is, each of the pair of lifting guide masts 4 is provided so as to protrude toward the side closer to the carriage frame 8 than the end of the upper wall portion 9c of the wheel support frame 9 on the side closer to the carriage frame 8. . The extension guide portion 28 is formed in a U-shape having the same width as the lifting guide mast 4 in a direction orthogonal to the traveling direction, and extends downward from a portion of the lifting guide mast 4 that protrudes closer to the carriage frame 8. It is provided to extend continuously to the side. Thereby, the guide roller 26 of the lifting platform 6 can be guided to a lower position, and the lowest position where the lifting platform 6 can be moved up and down can be set as low as possible.

  As shown in FIG. 6, each of the pair of lifting guide masts 4 is provided with a cover body 27 that covers the guide roller 26 and the lifting chain 5. A pair of the cover bodies 27 is provided in a state in which a portion facing the lifting platform 6 is a slit along the vertical direction. A cover belt 29 is provided so as to close a slit between the pair of cover bodies 27. The cover belt 29 has an upper end connected to the upper frame 15 and a lower end connected to the traveling carriage 3, and is provided over the entire length of the lifting guide mast 4. Thereby, it is possible to prevent the dust generated by the contact between the guide roller 26 and the lifting guide mast 4 and the dust from the lifting chain 5 from being scattered. The cover belt 29 is arranged so as to be guided along the vertical direction by being guided by the guide body 30 toward the side approaching the elevator platform 6 at each of the upper end portion and the lower end portion thereof. Thus, a space for connecting the lifting chain 5 is secured at a position near the lifting guide mast 4 of the lifting platform 6, and the space between the pair of cover bodies 27 along the vertical direction without interfering with the space. The cover belt 29 can be disposed so as to close the slit.

[Another embodiment]
(1) In the above embodiment, an example in which the lifting / lowering chain 5 is used as a cord-like body has been shown. However, for example, an lifting belt or a lifting / lowering wire can be used as the rope-like body. Incidentally, when the lifting wire is used, only one end of the lifting wire is connected to the lifting platform 6.

(2) In the above embodiment, the arrangement of the driving rotator 21 and the relay guiding rotator 25 in the first wheel support frame 9A can be changed as appropriate.

Side view of stacker crane Expanded side view of the main part of a stacker crane The figure which shows a bogie frame and a wheel support frame Cross section of the main part of a stacker crane Sectional view of the main part of the stacker crane in plan view Sectional view of the main part of the stacker crane in plan view

Explanation of symbols

2 Travel route (travel rail)
3 Traveling carriage 4 Elevating guide mast 5 Cord body (elevating chain)
6 Lifting base 8 Bogie frame 9 Wheel support frame 12 Traveling wheel 13 Driving means (traveling electric motor)
DESCRIPTION OF SYMBOLS 14 Oscillation support body 19 Cord-shaped body drive means 20 Lower side guide rotation body 21 Drive rotation body 22 Drive means (electric motor for raising / lowering)
23a, 23b Upper guide rotator 24 Support shaft 25 Relay guide rotator

Claims (6)

A traveling carriage that travels along the traveling path;
A cylindrical lifting guide mast provided in a standing state from the traveling carriage;
A lifting platform which is guided by the lifting guide mast so as to freely move up and down and is supported by being suspended by a cord-like body;
The traveling carriage is configured to be mounted in a state in which a wheel support frame that supports a traveling wheel and its driving means is protruded above the carriage frame at the end of the elongated carriage frame along the traveling direction.
The cord-like body is provided above one of the pair of cord-like body portions that are wound and guided so as to extend downward by an upper guide rotating body provided at an upper end portion of the lifting guide mast. It is provided in a state where it is linked to the cord-like body driving means provided at a corresponding place and the other is connected to the lifting platform,
A stacker crane in which a lower end portion of the lifting guide mast is connected and supported on an upper wall portion of the wheel support frame,
A cord-like portion linked to the cord-like driving means in the cord-like body is disposed so as to pass through the inside of the lifting guide mast and pass through the upper wall portion of the wheel support frame and extend downward. ,
A cord-like body portion that extends downward through the upper wall portion of the wheel support frame from the cart frame is located below the upper wall portion of the wheel support frame and at a lower portion of the lifting guide mast. A lower guide rotating body for guiding in the direction of leaving is provided in a state of being supported by the wheel support frame;
The cord-like body driving means is a stacker crane provided in a state of being linked to a cord-like portion guided by the lower side guide rotating body.   A cord portion linked to the cord driving means in the cord-like body is guided so as to be reversed in a direction approaching the carriage frame by a driving rotary body in the cord-like driving means, The stacker crane according to claim 1, wherein the stacker crane is configured to be guided upward by a relay guide rotating body and to be connected to the lifting platform.   3. The stacker crane according to claim 1, wherein the drive rotator is provided in a state of being supported by the wheel support frame so as to be adjacent to the lower guide rotator.   The stacker crane according to claim 3, wherein the drive rotator is provided below an upper wall portion of the wheel support frame.   5. The driving means for rotationally driving the drive rotator is provided on a lateral side portion of the wheel support frame in a state in which a support shaft portion of the drive rotator is rotationally driven. The stacker crane described. The wheel support frame is provided with a swing support that can swing around a horizontal axis,
The stacker crane according to any one of claims 1 to 5, wherein the traveling wheel is provided on each of one end side and the other end side in the traveling direction of the traveling carriage in the swing support body.

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