JPH05229607A - Stacker crane - Google Patents

Abstract

PURPOSE:To prevent the collapse of cargoes at the time of loading and unloading without any need of enlarging a facility by providing a means to incline a ramp. CONSTITUTION:At the time of loading a cargo on a shelf with a slide fork 4, the magnitude of the downward deflection of the slide fork 4 due to cargo weight is detected, and a drive motor 34 is actuated with a control section 40. As a result, a threaded member rotates and, in collaboration with a female thread 36, causes a turning frame 32 to turn. Thus, a ramp 33 is inclined in downgrade from the side of the shelf, thereby lifting the forward end of the slide fork 4. Consequently, the forward end of the slide fork 4, even when deflected down due to the weight of a heavy cargo under loading or unloading, can be corrected to be horizontal, thereby ensuring the prevention of the collapse of cargoes.

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION The present invention relates to a stacker crane. In particular, the present invention relates to a stacker crane that can prevent collapse of loads when loading and unloading.

[0002]

2. Description of the Related Art FIG. 8 is a schematic front view showing a conventional stacker crane.

In the figure, reference numeral 1 denotes a traveling machine body of a crane, which is adapted to travel along a rail R provided on the floor of a building. Reference numerals 2 and 2 are a pair of masts provided on the traveling machine body 1. Reference numeral 3 is an elevating table that moves up and down along the pair of masts 2 and 2. Reference numeral 4 is a slide fork provided on the lifting table 3 so as to move back and forth with respect to the shelf T to load and unload loads. Reference numeral 5 is a control unit provided in the traveling machine body 1, and controls the traveling of the traveling machine body 1, the up-and-down movement of the lifting platform 3, and the forward and backward movement of the slide fork 4.

In such a stacker crane, after the traveling machine body 1 travels toward the shelf T, the elevating table 3 is controlled to elevate and descend to a predetermined position, and the slide fork 4 of the elevating table 3 moves back and forth to move to a rack. It is designed to deliver cargo between the two.

[0005]

The above-mentioned conventional stacker crane has the following problems.

When the slide fork 4 is slid toward the shelf side for a long time, the tip of the slide fork 4 sometimes bends downward due to the weight of the load. Therefore, the load may be caught on the rack and fall off the fork.

As a means for preventing the collapse of the load due to the bending of the fork, the rack is formed high in consideration of the bending amount of the fork so that the load can be accommodated in the rack even when the fork is bent. However, if such a measure is taken, there is an adverse effect that the entire facility becomes large.

An object of the present invention is to solve the above problems and to provide a stacker crane capable of preventing the collapse of the load at the time of loading and unloading the load without increasing the size of the equipment.

[0009]

In order to achieve the above object, the present invention provides, as a first configuration, a stacker crane in which a slide fork for loading and unloading a load to and from a shelf is provided on a lift table. Elevating table inclining means for inclining the elevating table from the shelf side to the opposite side of the shelf in a downward sloping manner was provided.

Further, according to a second aspect of the present invention, there is provided a stacker crane in which a slide fork for loading / unloading a load to / from a shelf is provided on a lift table, the slide fork being moved from the shelf side to the opposite side of the shelf. Fork inclining means for inclining in a downward inclining direction was provided.

[0011]

Since the stacker crane of the present invention has the above-mentioned structure, it has the following effects.

Regarding the first configuration,

Since the elevating table is provided with the elevating table inclining means, it is possible to incline the elevating table from the shelf side to the side opposite to the shelf in a downwardly inclined manner.

Therefore, according to the first aspect of the present invention, even if the tip of the fork is bent downward due to the weight of the load when loading and unloading the load, the platform is inclined downward from the shelf side to the opposite side of the shelf. Since the tip of the fork can be lifted upward by inclining, there is an effect that it is not necessary to upsize the equipment and it is possible to prevent the collapse of the load at the time of loading and unloading.

Regarding the second configuration,

Since the slide fork of the lift table is provided with the fork inclining means, it is possible to incline the slide fork downward from the shelf side toward the opposite side of the shelf.

Therefore, according to the second configuration of the present invention, even if the tip of the fork bends downward due to the weight of the load when the load is put in and out, the fork is inclined downward from the shelf side to the opposite side of the shelf. By inclining, the tip of the fork can be lifted upward, so that there is no need to upsize the equipment and it is possible to prevent collapse of the load during loading and unloading.

[0018]

Embodiments of the present invention will be described below with reference to the drawings.

<First Embodiment>

FIG. 1 is a perspective view of an essential part showing a first embodiment of a stacker crane according to the present invention, FIG. 2 is a plan view showing the structure of a supporting part of a lifting platform, and FIG. 3 is a view taken along the arrow III in FIG. is there.

In these drawings, the stacker crane according to the present embodiment is provided with lifting platform tilting means. The elevating table tilting means includes an elevating table 33 including a supporting portion 31 and a rotating frame 32, a driving motor 34 provided on the supporting portion 31, and a screw member 3 rotated by the driving motor 34.
5 and a female screw portion 36 provided on the rotating frame 32 and screwed with the screw member 35.

A guide roller 31b for raising and lowering guides is provided on the support portion 31 so as to sandwich the mast 2 of the crane from both sides.

The support portion 31 and the rotating frame 32 are connected so as to be rotatable around a support shaft 37, and the support portion 3
Stepped portions 31 a and 32 a that are in flush contact with each other are provided on the opposing surfaces of 1 and the rotating frame 32.

The drive motor 34 is arranged inside the support portion 31. The screw member 35 is connected to the motor 34 via the transmission 34a, and is passed from the support portion 31 to the rotating frame 32 through an insertion hole (not shown) provided on the facing surfaces of the step portions 31a and 32a.

The female screw portion 36 is arranged in the rotating frame 32 and is supported rotatably about a fulcrum 36a.

The drive control of the drive motor 34 is performed by the control unit 40 provided on the rotating frame 32. In this case, a bending amount of the slide fork 4 is detected by a detection unit (not shown) connected to the control unit 40, and the drive motor 34 is driven so that the tip of the slide fork 4 becomes horizontal.

After the transfer is completed, the slide fork 4
When the bending of the
Rotates in the opposite direction, and the lift table 33 returns to the horizontal position.

Next, the operation of the stacker crane having the above structure will be described.

When the slide fork 4 is bent downward due to the weight of the load W when the slide fork 4 stores the load W on the shelf T, the amount of bending of the slide fork 4 is detected by a detection unit (not shown), and the control unit is controlled. Drive motor 3 by 40
4 is driven.

When the drive motor 34 is driven, the screw member 35 rotates, and by the action of the female screw 36, the rotating frame 32 rotates about the support shaft 37 in the direction of arrow B in FIGS. To do. As a result, as shown in FIG. 5, the lift table 33 is inclined downward from the shelf T side toward the opposite side of the shelf T, and as a result, the tip of the slide fork 4 can be lifted upward. ..

As described above, according to the stacker crane of this embodiment, even when the tip of the slide fork 4 is bent downward due to the weight of the load W when the load W is taken in and out, the slide fork 4 is directed from the shelf T side to the opposite side of the shelf T. The tip of the slide fork 4 can be lifted upward and leveled by inclining the elevating table 33 in a downward slope so that there is no need to upsize the equipment and collapse of the load when loading and unloading the load W is avoided. Can be prevented.

<Second Embodiment>

FIG. 6 is a side view showing a second embodiment of the stacker crane according to the present invention, and FIG. 7 is a structural explanatory perspective view of the fork tilting means.

The stacker crane of this embodiment is provided with fork tilting means 50 for tilting the slide fork 4 from the shelf T toward the side opposite to the shelf T in a downwardly inclined shape.

The fork tilting means 50 is provided on one end side (shelf T side) of the slide fork 4 and has a drive motor 51.
And a screw member 53 rotated by the drive motor 51.
And a female screw portion 54 screwed to the screw member 53. The other end of the slide fork 4 is shown in FIG.
As shown in FIG. 5, the support shaft 44b rotatably supports the lift table 3.

The drive motor 51 is used for the frame 3 of the lift table 3.
It is rotatably supported on a by a support portion 33a.
The screw member 53 is connected to the drive motor 51 via the transmission 52, and is arranged from the lift 3 toward the slide fork 4.

The female screw portion 54 is arranged in the slide fork 4 and is supported rotatably around a fulcrum 54a.

The drive control of the drive motor 51 is performed by the control unit 60 provided on the lift table 3. In this case, the amount of bending of the slide fork 4 is detected by a detector (not shown) connected to the controller 60, and the drive motor 51 is driven so that the tip of the slide fork 4 is horizontal.

After the transfer is completed, the slide fork 4
When the flexure of the drive motor 51 disappears, the control unit 60 controls the drive motor 51
Rotates in the opposite direction, and the slide fork 4 returns to the horizontal position.

Next, the operation of the stacker crane having the above structure will be described.

When the load W is stored on the shelf T by the slide fork 4, if the slide fork 4 bends downward due to the weight of the load W, the amount of bend of the slide fork 4 is detected by a detection unit (not shown), and the control unit 60 controls the control unit 60. The drive motor 51 is driven.

When the drive motor 51 is driven, the one end side of the slide fork 4 is lifted by the above-mentioned action. As a result, the slide fork 4 is inclined downward from the shelf T side toward the side opposite to the shelf T, and as a result,
The tip of the slide fork 4 is lifted upward.

As described above, according to the stacker crane of this embodiment, even when the tip of the slide fork 4 is bent downward due to the weight of the load W when the load W is put in and taken out, it is directed from the shelf T side to the opposite side of the shelf T. By tilting the slide fork 4 in a downward slope, the tip of the slide fork 4 can be made horizontal, so there is no need to upsize the equipment.
It is possible to prevent the collapse of the load when the load W is taken in and out.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications can be appropriately made within the scope of the gist of the present invention.

[Brief description of drawings]

FIG. 1 is a perspective view of essential parts showing a first embodiment of a stacker crane according to the present invention.

FIG. 2 is a plan view illustrating a structure of a lift support section.

FIG. 3 is a view on arrow III in FIG.

FIG. 4 is an operation explanatory view of a main part when the lift is tilted.

FIG. 5 is an operation explanatory view.

FIG. 6 is a perspective view of essential parts showing a second embodiment of the stacker crane according to the present invention.

FIG. 7 is a structural explanatory perspective view of a fork tilting unit.

FIG. 8 is a schematic front view showing a conventional stacker crane.

[Explanation of symbols]

 3 Lift 2 Mast

Claims (2)

[Claims] 1. A stacker crane in which a slide fork for loading and unloading a load to and from a shelf is provided on a lift table, wherein the lift table is inclined downward from the shelf side toward the opposite side of the shelf. A stacker crane characterized by being provided with a tilting means. 2. A stacker crane provided with a slide fork for loading and unloading a load to and from a shelf, the stacker crane comprising:
A stacker crane comprising fork tilting means for tilting the slide fork downward from the shelf side to the side opposite to the shelf.