JP5343740B2 - Track carriage with lifting mechanism - Google Patents

Description

  The present invention relates to a track traveling carriage with a lifting mechanism.

The track carriage with a lifting mechanism is used when a heavy load is transported in the horizontal direction and the vertical direction.
For example, in an automatic warehouse that stores luggage on a storage shelf in which a large number of storage units are arranged in the vertical direction and the horizontal direction, the luggage is transported using a stacker crane. This stacker crane is an example of a track traveling carriage with a lifting mechanism.

  The stacker crane includes a carriage that runs on a track that is provided in a horizontal straight line along a luggage storage shelf, and two masts are erected on the carriage, and the elevator that raises and lowers the carriage along the mast. A mechanism is provided, and the loading platform is further provided with a transfer device for delivering the cargo between the loading platform and the storage shelf. In this stacker crane, the carriage is moved on the track to horizontally move the loading platform, the loading platform is moved up and down by the elevating mechanism, the loading platform is positioned in front of the desired storage section, and the transfer device is connected to the storage section. Deliver luggage between.

  An electric motor (hereinafter referred to as a transfer device motor) is used as the actuator of the transfer device, and the transfer device motor and various sensors are mounted on the loading platform. A power cable for supplying power to the transfer device motor, a control cable for transmitting an output signal of the sensor, and the like are disposed between the cargo bed and the control panel fixed to the carriage. These cables are bundled into a flat cross section by a resin mold, and are called so-called flat cables. The middle of the flat cable is fixed at approximately the middle in the height direction of one mast, and the flat cable is connected to the fixed part on the loading platform side. Is bent into a substantially U-shape, and the left and right lengths of the U-shape are changed so that it can cope with the lifting and lowering of the loading platform.

  Further, in the stacker crane, the two masts are centered in the depth direction of the carriage (the direction perpendicular to the running direction and approaching and separating from the storage shelf) at both ends in the width direction of the carriage (the running direction of the carriage). Is installed. Hereinafter, a direction perpendicular to the traveling direction and approaching and separating from the storage shelf is referred to as a depth direction. The mast is located at the center of the loading platform in the depth direction with respect to the loading platform. And the fixed part on the loading platform side of the flat cable is provided at a position offset from the depth direction center of the loading platform to one side in the depth direction, and the flat cable is suspended along one side surface in the depth direction of the mast. (For example, refer patent document 1). The reason for suspending the flat cable on the side of the mast in this way is that the flat cable has a minimum radius when bent into a U-shape. That is, when a flat cable is suspended, it must be bent in a U shape with a curvature radius greater than the minimum radius, and the stacker crane can be easily downsized while ensuring a curvature radius greater than the minimum radius. In this case, it is structurally easy to suspend a flat cable along one side in the depth direction of the mast, and as a result, the flat cable is also arranged at a position eccentric from the center in the depth direction in the loading platform. is there.

JP-A-9-202407

  By the way, in the case of a tall stacker crane, the flat cable may sway in the traveling direction or the opposite direction due to inertia when the carriage starts or stops, and depending on the position of the center of gravity of the flat cable, it is perpendicular to the traveling direction. There is also a case of swinging in the direction of movement, that is, the depth direction. As described above, the flat cable is suspended from the center in the depth direction of the loading platform, so the distance from the storage shelf is short, so if the flat cable swings in the depth direction, the flat cable may interfere with the storage shelf. There is.

Therefore, conventionally, as a means for suppressing the swing of the flat cable in the depth direction, a guide having a substantially U-shaped horizontal cross section is installed on the side surface of the mast so that the flat cable is accommodated inside the guide.
However, even if the guide is provided in this way, if the flat cable deviates from the guide due to the swing in the running direction, it can swing in the depth direction, and it is impossible to completely prevent the swing in the depth direction. Met. Therefore, even when the guide is provided, the flat cable and the storage shelf may interfere with each other.

  Accordingly, the present invention provides a track traveling carriage with an elevating mechanism capable of preventing interference between the binding cable and surrounding members while allowing the binding cable to swing in the depth direction.

In the track traveling cart with the lifting mechanism according to the present invention, the following means are adopted in order to solve the above problems.
The first invention includes a carriage that travels on a track, a mast that is erected at a substantially center in a direction orthogonal to the traveling direction of the carriage at a front and rear direction in the traveling direction of the carriage, and the mast A loading platform that can be moved up and down, a lifting mechanism that raises and lowers the loading platform, and a plurality of cables connected to electrical devices on the loading platform, and a substantially intermediate portion in the height direction of the loading platform and the mast; A bundling cable provided with a lifting mechanism, wherein the bundling cable includes a bundling cable that is bent so as to be able to bend in a downwardly convex manner and changes a bending position according to the lifting and lowering of the loading platform. The track traveling cart with a lifting mechanism, wherein a fixed portion is provided at a bottom portion of the loading platform, and the binding cable is suspended along a side surface of the mast facing the loading platform.

A second invention is characterized in that, in the first invention, a first cable guide for preventing the bundling cable in the vicinity of the fixed portion from being bent below a predetermined minimum radius is provided on the cargo bed. And

According to a third invention, in the first or second invention, a second cable guide for horizontally guiding the binding cable in the vicinity of the fixed portion in a direction approaching the mast when the loading platform is located at the lowest stage. Is provided in the cart.

According to a fourth aspect of the present invention, in the first aspect, a swing suppression guide that suppresses the binding cable from swinging in a direction orthogonal to the traveling direction of the carriage is provided on the side surface of the mast facing the loading platform. It is characterized by being.

According to a fifth invention, in any one of the first to fourth inventions, the track is configured by two rails installed in parallel to each other, and the carriage travels across the two rails. It is comprised, The said loading platform is arrange | positioned so that it may not overlap with the said trolley | bogie by planar view while being arrange | positioned between the said two rails.

According to a sixth invention, in any one of the first to fifth inventions, a luggage storage shelf having a plurality of floor storage units is installed adjacent to a track on which the carriage travels. And a transfer device for delivering and receiving the load between the storage unit and the storage unit of the load storage shelf, and a drive motor of the transfer device is included in the electric device.

According to the first invention, the mast is erected substantially at the center of the carriage in a direction orthogonal to the traveling direction thereof in a horizontal plane, and the binding cable faces the cargo bed on the side surface of the mast. Since the suspension cable is suspended along the side surface, the allowable swing width when the binding cable swings in a direction orthogonal to the traveling direction is increased, and the binding cable is installed on the outside of the loading platform (for example, a track). And the like can be prevented. In addition, when the binding cable swings in the traveling direction of the carriage and in a direction approaching the mast, the binding cable can be prevented from swinging due to the binding cable leaning against the mast. Further, when the binding cable swings in the traveling direction of the carriage and away from the mast, the lower part of the loading platform is a space, and even if the binding cable swings, there is nothing that interferes with the binding cable. Therefore, the binding cable does not interfere with other devices. Therefore, even if the binding cable swings in any direction, interference between the binding cable and other peripheral devices can be prevented.
Further, by providing the fixing portion of the binding cable to the loading platform at the bottom of the loading platform, even when the loading platform and the mast are arranged close to each other, when the loading platform is positioned at the lowest level, When the bundling cable is guided in a direction approaching the mast from the fixing portion, it is possible to easily ensure bending with a curvature radius larger than a predetermined minimum radius. This makes it possible to reduce the size of the device by shortening the dimension between the two masts.

According to the second invention, the binding cable in the vicinity of the fixed portion can be prevented from being bent to a predetermined minimum radius or less, and an excessive bending load can be prevented from being applied to the binding cable. .

According to the third invention, since the second cable guide prevents the binding cable from hanging down redundantly when the loading platform is positioned at the lowest level, the position of the lowest level of the loading platform is lowered. be able to.

According to a fourth aspect of the present invention, by providing a shaking suppression guide, when the binding cable is positioned close to the mast, the binding cable swings in a direction perpendicular to the traveling direction of the carriage. It can be surely prevented.

According to the fifth invention, since the loading platform is arranged between the two rails and is arranged so as not to overlap with the carriage in plan view, when the loading platform is moved to the lowest stage, There is no orbit on the side. Therefore, interference between the loading platform and the bundling cable and the track can be avoided, so that the lowermost position can be further lowered.

According to a sixth aspect of the present invention, in the track traveling carriage with an elevating mechanism that transfers the load between the loading platform and the storage portion of the luggage storage shelf by the transfer device, the cable of the transfer device driving motor is provided. It is possible to prevent the binding cable including the interference with the luggage storage shelf.

It is a front view of the automatic warehouse equipment provided with the stacker crane which is an example of the track traveling cart with a raising and lowering mechanism concerning this invention. It is a top view of the automatic warehouse equipment. It is a front view of the stacker crane. It is a right view of the said stacker crane. It is a left view of the said stacker crane. It is a front view which shows the position of the lowest stage and uppermost stage of a loading platform in the said stacker crane. It is a top view which abbreviate | omits and shows a part of said stacker crane. It is a front view which expands and shows the principal part when the loading platform of the said stacker crane is located in the lowest stage. It is a front view which expands and shows the principal part of FIG. It is a front view which expands and shows the principal part when the loading platform of the said stacker crane is located in the uppermost stage. It is the perspective view which looked at the loading platform of the said stacker crane from the bottom. It is a schematic plan view in another Example of a stacker crane.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a track traveling carriage with a lifting mechanism according to the present invention will be described below with reference to the drawings of FIGS.
In addition, the track traveling carriage with a lifting mechanism in this embodiment is an aspect as a stacker crane that is installed in an automatic warehouse facility and delivers a luggage to and from a luggage storage shelf.

1 and 2 are a front view and a plan view of the automatic warehouse facility. In the automatic warehouse facility, two luggage storage shelves 1A and 1B having a large number of storage units 2 in the horizontal direction and the vertical direction are spaced apart from each other by a predetermined interval. A pair of rails (tracks) 3 are straight on the floor between the two luggage storage shelves 1A and 1B at the same distance from the two luggage storage shelves 1A and 1B. A stacker crane (track traveling carriage with lifting mechanism) 10 is installed on the rail 3 so as to be able to travel. The rail 3 is extended and laid to the loading / unloading table 5 provided adjacent to the luggage storage shelves 1A and 1B. Note that the luggage storage shelves 1A and 1B can be said to be luggage storage shelves having storage units 2 on a plurality of floors.
Support floor portions 4 for receiving the bottom of the pallet P carrying the loads W are provided on both lower sides of the storage portions 2 of the luggage storage shelves 1A and 1B.

  In the following description, the direction in which the rail 3 extends, that is, the traveling direction of the stacker crane 10 is the X direction, and the direction perpendicular to the traveling direction of the stacker crane 10 in the horizontal plane, that is, the depth direction in the stacker crane 10 is the Y direction. The height direction of 1A and 1B is defined as the Z direction, and arrows X, Y, and Z in the drawings indicate these directions.

Next, the stacker crane 10 will be described in detail.
3 is a front view of the stacker crane 10, FIG. 4 is a right side view thereof, and FIG. 5 is a left side view thereof.
The stacker crane 10 includes a carriage 11 traveling on the rail 3, two masts 12A and 12B erected on the carriage 11, an upper frame 13 connecting the upper portions of the masts 12A and 12B, and the masts 12A and 12B. And a carrier 14 installed in the mast 12A, 12B so as to be able to move up and down, and a transfer for delivering the luggage W between the carrier 14 and the storage unit 2 of the luggage storage racks 1A, 1B. Loading device 15.
FIG. 6 is a view showing the lowermost and uppermost positions of the loading platform 14, and FIG. 7 is a plan view of the stacker crane 10 with the upper frame 13 omitted.

  The carriage 11 has a frame 16 arranged so as to straddle the rail 3 from above. The frame 16 has a substantially U-shaped cross section orthogonal to the X direction, with the lower side open and convex upward, and is elongated in the X direction. Wheels 17 that roll on the rail 3 are provided below both ends of the frame 16 in the X direction. One of the two wheels 17 is a drive wheel, and this drive wheel is a reduction gear 19 (see FIG. 4) by a travel drive electric motor (hereinafter abbreviated as a travel motor) 18 installed on the frame 16. Is driven to rotate.

  The two masts 12 </ b> A and 12 </ b> B are installed at both ends in the X direction of the frame 16 and are spaced apart from each other inside the wheels 17 and 17, and extend straight along the Z direction. The masts 12A and 12B have a tubular shape with a square horizontal cross section, and have a hollow inside and are used as a space for cable wiring. The dimensions of the masts 12A and 12B in the Y direction are the same as the dimensions of the frame 16 in the Y direction. Therefore, it can be said that the masts 12 </ b> A and 12 </ b> B are erected at the center in the direction orthogonal to the traveling direction of the carriage 11 in the front and rear portions of the carriage 11 in the traveling direction.

A control panel 20 is installed below one mast 12 </ b> A, and a drive unit 22 for an elevating mechanism 21 that raises and lowers the loading platform 14 is installed above the control panel 20. The drive unit 22 is configured such that a pair of winding drums 23, 23 is rotationally driven via a speed reducer 25 by a lift drive electric motor (hereinafter abbreviated as a lift motor) 24. Wires 26, 26 for raising and lowering the loading platform 14 are wound around the take-up drums 23, 23. The wires 26, 26 extend along the mast 12 </ b> A, and both ends of the upper frame 13 in the X direction. The pulleys 27 and 27 are pivotally installed so as to be changed in direction and extend downward, and are respectively connected to corresponding suspension portions 38 and 38 in the loading platform 14 described later. The lifting mechanism 21 includes a drive unit 22 , a pulley 27, and a wire 26.

  FIG. 11 is a perspective view of the loading platform 14 as viewed obliquely from below. The loading platform 14 includes base frames 30A and 30B disposed on both sides in the Y direction with the frame 16 of the carriage 11 therebetween, Side frames 31A and 31B that connect X-direction ends facing each other in 30B, and a transfer device 32 that is disposed at the center in the X direction of the base frames 30A and 30B and is installed across the base frames 30A and 30B. And a rectangular saddle-shaped sensor support frame 33 supported by the side frames 31A and 31B.

  The base frames 30 </ b> A and 30 </ b> B are arranged in parallel to the frame 16 at an equal interval from the frame 16 of the carriage 11 when the loading platform 14 is positioned at the lowest level. The side frames 31A and 31B include leg portions 34 and 34 that protrude outward in the X direction and extend in the vertical direction (Z direction) at both ends in the Y direction. A pair of upper and lower guide rollers 35, 35 are rotatably attached to the leg portions 34, 34 of the side frames 31A, 31B, respectively. As shown in FIG. 7, these guide rollers 35, 35 are masts. 12A and 12B are arranged so as to contact and roll on the side surfaces 12a and 12b facing the luggage storage shelves 1A and 1B. A guide roller 37 is also rotatably attached to a back plate portion 36 connecting the leg portions 34, 34 in the side frames 31A, 31B. As shown in FIG. 7, the guide roller 37 is a mast 12A. , 12B are arranged so as to abut on the side surface 12c facing the loading platform 14 and roll.

  The loading platform 14 rolls while the guide rollers 35 and 35 of the side frame 31A are in contact with the side surfaces 12a and 12b of the mast 12A, and the guide roller 37 of the side frame 31A is rolled while being in contact with the side surface 12c of the mast 12A. The guide rollers 35 and 35 of the side frame 31B roll while abutting on the side surfaces 12a and 12b of the mast 12B, and the guide roller 37 of the side frame 31B rolls while abutting on the side surface 12c of the mast 12B, thereby rolling the mast 12A. , 12B can be smoothly moved up and down along the masts 12A, 12B without leaving.

  Moreover, as shown in FIG. 7, the suspension part 38 is each provided inside each side frame 31A, 31B. Both suspension portions 38 are disposed eccentrically from the center in the Y direction of the loading platform 14 and are located diagonally to each other. The ends of the wires 26 and 26 wound around the take-up drums 23 and 23 of the lifting mechanism 21 described above are connected to the suspension portions 38 and 38, and the lifting motors 24 are driven to connect the wires 26 and 26. The loading platform 14 can be raised by winding, and the loading platform 14 can be lowered by pulling out the wires 26 and 26.

  As shown in FIG. 11, the lower side of the back plate portion 36 of each side frame 31A, 31B is notched, and when the loading platform 14 is positioned at the lowest level, the carriage 11 is placed inside the notch 39. The frame 16 is accommodated with a gap to avoid interference between the carriage 11 and the loading platform 14. As shown in FIG. 9, when the loading platform 14 is positioned at the lowest level, the lower surfaces of the base frames 30 </ b> A and 30 </ b> B are positioned slightly above the upper surface of the rail 3.

  As shown in FIG. 11, the transfer device 32 includes a base 40 that is fixed over the base frames 30 </ b> A and 30 </ b> B at the center in the X direction of the base frames 30 </ b> A and 30 </ b> B, and the base 40 in the Y direction. A first fork 41 slidably attached, a second fork 42 slidably attached to the first fork 41 in the Y direction, and a first fork 41 and a second fork installed at the bottom of the base 40 And a fork drive electric motor (hereinafter abbreviated as a fork motor) 43 as an actuator for sliding the slide 42. The fork motor 43 is installed outside the base frame 30 </ b> A at the bottom of the base 40.

  In the transfer device 32, the first fork 41 and the second fork 42 are projected from the base 40 in a direction approaching the luggage storage shelf 1A or 1B by operation control including the rotation direction of the fork motor 43, It can be pulled back to the base 40 side. The drive mechanism provided between the fork motor 43 and the first and second forks 41 and 42 is the same as that of the conventional one and is not the gist of the present invention, so illustration and description thereof are omitted.

  The base 40 and the first and second forks 41 and 42 have the same dimension in the Y direction. When the loading platform 14 is raised and lowered, the first and second forks 41 and 42 are pulled in and overlap the base 40. It will be in the state. Hereinafter, the state in which the first and second forks 41 and 42 are drawn and overlapped with the base 40 is referred to as a neutral state of the transfer device 32. The luggage W is placed on the first fork 41 together with the pallet P.

The sensor support frame 33 includes four vertical frames 44 arranged on the outer side in the Y direction of the leg portions 34 of the side frames 31 </ b> A and 31 </ b> B and extending in the vertical direction (Z direction). 34, and the upper ends of two vertical frames 44 arranged on the base frame 30A side or the base frame 30B side are connected to each other by a horizontal frame 45, and two arranged on the side frame 31A side or the side frame 31B side. The vicinity of the upper ends of the vertical frames 44 is connected by a connecting frame 46. The four vertical frames 44 are arranged at the same distance from the center of the first fork 41 in the neutral state.
In addition, the sensor support frame 33 is disposed at a position where it does not interfere with the load W when the pallet P and the load W having the maximum allowable size are loaded on the center of the first fork 41 in the neutral state.

In each of the two vertical frames 44 arranged on the base frame 30A side or the base frame 30B side, it is detected whether or not the load W loaded on the loading platform 14 is within the maximum allowable width dimension (allowable dimension in the X direction). A width sensor detection unit 48 is installed to be rotatable about the Z axis.
Although not shown, the sensor support frame 33 includes a depth sensor that detects whether or not the load W loaded with the pallet P on the loading platform 14 is within the maximum allowable depth dimension (allowable dimension in the Y direction), and a loading platform. Various sensors such as a height sensor that detects whether or not the load W loaded with the pallet P is within the maximum allowable height dimension (allowable dimension in the Z direction) are installed.

All electric devices installed on the cargo bed 14 such as a power cable for supplying electric power to the fork motor 43 and a control cable for transmitting output signals of various sensors installed on the sensor support frame 33 Cables (both not shown) connected to are collected in the center of the loading platform 14 in plan view.
As shown in FIGS. 7 to 10, a bracket 49 for connecting the upper ends of the base frames 30A and 30B to each other is provided substantially at the center in the X direction of the base frames 30A and 30B. A plate-shaped first cable guide 51 extends from the center in a direction approaching the mast 12A. The starting end of the cable chain 60 is fixed to the center of the bracket 49 in the Y direction, and the cleat 50 is fixed to the mast 12B side of the bracket 49 on the extension of the first cable guide 51. The cables collected in the center of the loading platform 14 in plan view are connected to cables (not shown) housed in the cable chain 60 via cleats 50.

  The cable chain 60 is made of resin or metal, and is configured by connecting a plurality of pieces so as to be capable of rotating relative to each other like a chain. The cable chain 60 can be stored in a state where a plurality of cables are aligned. Further, the cable chain 60 employs a structure in which each cable is partitioned so that the stored cables are not entangled and the arrangement of the cables does not change. In this embodiment, a bundled cable is realized by the cable chain 60 that stores the cables.

One end side of the cable chain 60 is set in a horizontal posture and is fixed to the bracket 49 of the loading platform 14. As shown in FIG. 3, the other end side of the cable chain 60 is in the height direction (Z) of the side surface 12c of one mast 12A. Direction) and is drawn into the mast 12A from an opening (not shown) provided in a substantially middle portion, and is fixed to the mast 12A in the vicinity of the opening. That is, the cable chain 60 is suspended along the side surface 12c facing the loading platform 14 in the mast 12A. For convenience of the following description, a portion of the cable chain 60 that is fixed to the bracket 49 is referred to as a loading platform side fixing portion 60a, and a portion that is fixed to the mast 12A is referred to as a mast side fixing portion 60b.
The cable led out from the cable chain 60 drawn into the mast 12A is drawn into the control panel 20 attached to the mast 12A and wired in a predetermined manner.

  As shown in FIG. 6, the shape of the cable chain 60 changes as the loading platform 14 moves up and down, and when the loading platform 14 is positioned at the uppermost stage, the cable chain 60 is moved upward in the vicinity of the loading platform side fixing portion 60 a. In the vicinity of the other end 60 b, the bent shape is convex downward, and the downwardly convex bent portion 60 c moves downward as the loading platform 14 is lowered.

  By the way, the cable chain 60 cannot freely bend the front end side in a straight state, for example, from plus 180 degrees to minus 180 degrees. The direction in which the cable chain 60 can be bent by 180 degrees is either the plus side or the minus side. One of them is determined, and the other side has a bending characteristic that it can be bent only about 20 degrees, for example. Further, the cable chain 60 has a minimum bend radius at the time of bending, and cannot be bent with a radius of curvature equal to or less than the minimum bend radius.

  Therefore, in the stacker crane 10, as shown in FIG. 9, the bending angle in the upward convex bending form from the starting end on the loading platform side fixing portion 60 a side to the point A of a predetermined length in the cable chain 60. Using the first cable chain 61 having a large bending characteristic, a bending characteristic that allows a large bending angle in a downwardly convex bending form on the mast side fixing part 60b side (that is, the mast 12A side) from the point A is provided. The first cable chain 61 and the second cable chain 62 are connected at point A to form one cable chain 60. Hereinafter, the point A is referred to as a connecting portion 63.

  In addition, the first cable guide 51 extending from the bracket 49 is disposed below the first cable chain 61, and a portion of the first cable chain 61 close to the loading platform side fixing portion 60a is positioned below. It is installed so that it can be supported from the side. The first cable guide 51 has a horizontal straight line shape on the base side as viewed from the front, and has a circular arc shape protruding upward on the distal end side, and is gradually lowered toward the distal end. In the first cable guide 51, the radius of curvature of the arc portion 51a on the distal end side is larger than the minimum radius of curvature of the first cable chain 61, and the cable stored in the cable chain 61 is excessive when the cable is bent. It is set to a radius of curvature that does not add a heavy load. It should be noted that when the loading platform 14 is positioned at the lowermost stage, the tip of the first cable guide 51 is set to be positioned slightly above the upper surface of the rail 3, and the first cable guide 51, the rail 3, Is not to interfere.

  Since the first cable guide 61 having such a shape is used to support the first cable chain 61 from below, it is possible to prevent the cable chain 61 from being bent with a curvature radius equal to or less than the minimum bending radius. Further, it is possible to prevent an excessive load from being applied to the first cable chain 61 in the vicinity of the loading platform side fixing portion 60a of the first cable chain 61. Furthermore, it is possible to prevent an excessive load from being applied to the cable stored in the first cable chain 61.

  On the other hand, when the loading platform 14 is lowered to the lowest level, it is necessary to prevent the downwardly convex curved portion 60 c from interfering with the rail 3 in the cable chain 60. In order to cope with this, in the stacker crane 10, as shown in FIG. 9, the second cable guide 52 is provided on the frame 16 of the carriage 11. The second cable guide 52 has a flat plate shape and is installed in a horizontal posture at a position above the upper end of the rail 3 by a predetermined dimension. The second cable guide 52 can support the front and rear of the cable chain 60 including the connecting portion 63 of the first cable chain 61 and the second cable chain 62 when the loading platform 14 is positioned at the lowest level. Have dimensions.

When the loading platform 14 descends and reaches the lowest stage, the front and rear of the connecting portion 63 in the cable chain 60 rest on the second cable guide 52, and then the first cable chain 61 before and after the connecting portion 63. The attitude of the second cable chain 62 is controlled by the second cable guide 52 in a horizontal straight line. Further, the length of the cable chain 60 is set in advance so as to be so.
That is, the second cable guide 52 can be said to be a guide that holds the cable chain 60 around the connecting portion 63 in a substantially horizontal posture when the loading platform 14 is positioned at the lowest level, and the loading platform 14 is the lowest level. It can be said that the cable chain 60 in the vicinity of the loading platform side fixing portion 60a is guided horizontally in the direction approaching the mast 12A when positioned at the position.
By providing the second cable guide 52, it is possible to prevent the cable chain 60 and the rail 3 from interfering when the loading platform 14 is positioned at the lowest level. Further, it is possible to prevent the cable chain 60 from hanging down redundantly when the loading platform 14 is positioned at the lowest level. Thereby, it becomes possible to make the position of the lowest stage of the loading platform 14 lower.

By providing the first cable guide 51 on the loading platform 14 and the second cable guide 52 on the carriage 11 as described above, the loading platform 14 is disposed below the loading platform 14 when positioned at the lowest level. The cable chain 60 can be gently bent and guided almost horizontally to the vicinity of the mast 12A while avoiding interference with the rail 3.
Thereby, it becomes possible to set the lowest stage of the loading platform 14 to a lower position. Further, it is possible to suspend the cable chain 60 along the side surface 12c of the mast 12A while arranging the loading platform 14 and the mast 12A close to each other, and the stacker crane 10 can be downsized.

  In FIG. 9, reference numeral 53 denotes a third cable guide 53 installed on the frame 16 and the mast 12 </ b> A of the carriage 11, and the third cable guide 53 is a mast 12 </ b> A when the loading platform 14 is positioned at the lowest level. The cable chain 60 is guided so that the mounting flange 12d and the cable chain 60 do not interfere with each other.

  According to the stacker crane 10 configured as described above, the distance from the mast 12A to the luggage storage racks 1A and 1B is the same, and the cable chain 60 is suspended along the side surface 12c facing the loading platform 14 in the mast 12A. Since the suspension is suspended, the allowable swing width in the Y direction of the cable chain 60 becomes larger than when the cable is suspended at a position eccentric from the mast as in the prior art. When the 60 swings in the direction approaching the luggage storage rack 1A or 1B (Y direction), the cable chain 60 does not interfere with the luggage storage racks 1A and 1B.

Further, when the cable chain 60 swings in the traveling direction (X direction) of the carriage 11 and in the direction approaching the mast 12A, the cable chain 60 is prevented from shaking by contacting the mast 12A. Can do.
On the other hand, when the cable chain 60 swings in the traveling direction (X direction) of the carriage 11 and away from the mast 12A, the space below the loading platform 14 is a space, and there are things that interfere when the cable chain 60 swings. Therefore, the cable chain 60 does not interfere with other devices.
Therefore, even if the cable chain 60 sways in any direction, it is possible to prevent the cable chain 60 from interfering with other peripheral devices.

  In addition, since the loading platform side fixing portion 60a of the cable chain 60 is provided at the bottom of the loading platform 14, even when the loading platform 14 and the mast 12A are arranged close to each other, when the loading platform 14 is positioned at the lowest level, the loading platform side When the cable chain 60 is guided in a direction approaching the mast 12A from the fixing portion 60a, it is possible to easily ensure bending with a curvature radius larger than the minimum bending radius. As a result, the distance between the masts 12A and 12B can be shortened to reduce the size of the apparatus.

  As shown in FIG. 3, a fourth cable guide (swaying) having a substantially U-shaped horizontal section with the mast 12B side opened in a region below the mast side fixing portion 60b of the cable chain 60 on the side surface 12c of the mast 12A. It is also possible to install the suppression guides 54 at appropriate intervals. Providing the fourth cable guide 54 can reliably prevent the cable chain 60 from swinging in the Y direction when the cable chain 60 is positioned close to the mast 12A.

The cable chain 60 can be freely set in the cable arrangement according to the thickness and number of cables to be accommodated therein, and is extremely versatile. The specification of the stacker crane 10 can be changed. There is an advantage that it can be easily handled.
However, in the present invention, means for bundling a plurality of cables connected to the electrical equipment on the loading platform 14 is not limited to the cable chain. For example, a resin mold may be used as the bundling means, and a plurality of cables may be bundled in a flat shape by the resin mold to form a bundling cable.

FIG. 12 is a schematic plan view of a stacker crane 10 according to another embodiment.
The stacker crane 100 is configured to travel across two rails (tracks) 3A and 3B installed in parallel to each other.
The frame 116 of the carriage 111 has a rectangular frame shape in plan view, and wheels 117 that roll on the rails 3A and 3B are provided at the four corners. Masts 112A and 112B are vertically fixed to the Y-direction frame 116y of the frame 116 at positions equidistant from the rails 3A and 3B. The loading platform 114 is disposed inside the frame 116 and the masts 112A and 112B of the carriage 111. That is, the loading platform 114 is disposed so as not to overlap the cart 111 in plan view.

  In the stacker crane 100 of this example, the point that the loading platform 114 moves up and down along the masts 112A and 112B is the same as the above-described example, but the loading platform 114 is arranged so as not to overlap the carriage 111 in plan view, and Since the rails 3A and 3B do not exist below the loading platform 114, when the loading platform 114 is moved downward, the loading platform 114 is moved into the opening 111a of the carriage 111, whereby the loading platform 114 is laid on the rails 3A and 3B. It is possible to move to a position closer to the floor surface.

  In the stacker crane 100, as in the above-described embodiment, the loading part fixing portion of the cable chain is disposed at the bottom of the loading bed 114, and the cable chain is suspended along the side surface 112c facing the loading bed 114 on the side surface of the mast 112A. By doing so, when the loading platform 114 is moved to the lowest level, interference between the loading platform 114 and the cable chain 60 and the rails 3A and 3B can be avoided, so that the position of the lowest level of the loading platform 114 can be further lowered. .

[Other Examples]
The present invention is not limited to the embodiment described above.
For example, the track traveling cart with the lifting mechanism is not limited to the stacker crane, but can be applied to a cart of another transport device that is not classified as a stacker crane, and transports loads in the vertical and horizontal directions.

1A, 1B Luggage storage shelf 2 Storage section 3, 3A, 3B Rail (track)
10 Stacker crane (track running carriage with lifting mechanism)
11,111 Carriages 12A, 12B, 112A, 112B Mast 14, 114 Cargo 15 Transfer Device 21 Lifting Mechanism 43 Fork Drive Electric Motor (Electric Device)
51 1st cable guide 52 2nd cable guide 54 4th cable guide (swing suppression guide)
60 Cable chain (Bundled cable)
60a Loading side fixing part (fixing part)
60c side

Claims (5)

A truck traveling on the track;
A mast erected at a substantially center in a direction orthogonal to the traveling direction of the carriage in a horizontal plane at the front and rear portions in the traveling direction of the carriage;
A cargo bed that can be raised and lowered along the mast;
An elevating mechanism for elevating the cargo bed;
A plurality of cables connected to electrical devices on the loading platform are bundled, and are arranged between the loading platform and a substantially intermediate portion in the height direction of the mast, and are suspended so as to be bent downward and convex. A bundling cable that changes the bending position according to the lifting and lowering of the loading platform;
In a track traveling carriage with a lifting mechanism comprising:
A fixing portion of the binding cable to the loading platform is provided at the bottom of the loading platform,
The binding cable is suspended along a side surface of the mast facing the cargo bed ,
A track traveling cart with an elevating mechanism , wherein a first cable guide for preventing the binding cable in the vicinity of the fixed portion from bending at a predetermined minimum radius or less is provided on the cargo bed . The cart is provided with a second cable guide that horizontally guides the bundling cable in the vicinity of the fixed portion in a direction approaching the mast when the loading platform is positioned at the lowest level. Item 10. A track traveling carriage with a lifting mechanism according to item 1. The swing restraining guide for restraining the binding cable from swinging in a direction perpendicular to the traveling direction of the carriage is provided on the side surface of the mast facing the loading platform . An orbital carriage with a lifting mechanism. The track is composed of two rails installed in parallel to each other, the carriage is configured to travel across the two rails, and the loading platform is disposed between the two rails. The track traveling cart with a lifting mechanism according to any one of claims 1 to 3, wherein the track traveling cart is arranged so as not to overlap with the cart in plan view . A luggage storage shelf having a plurality of floor storage units is installed adjacent to the track on which the carriage travels, and the cargo is transferred to and from the storage platform between the storage platform and the storage unit of the luggage storage shelf. The track traveling cart with a lifting mechanism according to any one of claims 1 to 4, wherein a transfer device is provided, and a drive motor of the transfer device is included in the electric device .

Images