JPH06156634A - Current collector for stacker crane in automated warehouse - Google Patents

Abstract

PURPOSE:To prevent the positioning accuracy of a stacker crane in an automated warehouse from being lowered because of frictional resistance between collector rings and a feed trolley at the time of feeding the stacker crane from the feed trolley. CONSTITUTION:A bracket 17 or the like provided at the upper end of a stacker crane 1 is provided with a slider 18 slidable along the travel direction of the stacker crane 1, and the collector rings 21 fitted to the slider 18 are brought into contact with a feed trolley 13. Even in the case of the stacker crane 1 being put in forward tilting attitude by inertial force at the travel stop time, the upper end of the stacker crane 1 is easily moved backward by the presence of the slider 18. The stacker crane 1 is not therefore left in the forward tilting state because of frictional resistance between the collector rings 21 and the feed trolley 13, so that the positioning accuracy of the stacker crane 1 is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention installs a stacker crane in which a slide fork device is liftably mounted in a passage along the front surface of a shelf frame in which a large number of shelves are formed in a multi-tiered manner so that the stacker can travel horizontally. The present invention relates to a current collector that supplies electric power to the stacker crane in an automatic warehouse in which luggage can be put in and taken out of an arbitrary shelf by controlling a traveling position of a crane and a height of a slide fork device.

[0002]

2. Description of the Related Art As shown in FIG. 10, a stacker crane 30 in an automatic warehouse has wheels 31,
It is designed to run by driving 31
Further, in order to supply power to the stacker crane 30, generally, a power feeding trolley 32 is arranged on the ceiling portion, while a current collector 33 that comes into contact with a conductive wire of the power feeding trolley 32 is provided at the upper end of the stacker crane 30. It is configured.

In this case, since the current collector 33 is strongly pressed against the conductive wire of the power feeding trolley 32 so as to ensure the power feeding from the power feeding trolley 32, a large gap is present between the current collector 33 and the power feeding trolley 32. There is frictional resistance.

[0004]

By the way, the stacker crane 30 generally has a height of about 10 meters or more, and the ratio of the height to the distance between the front and rear wheels 31, 31 is large. Even if a slight resistance acts on the upper end, it tends to lean forward or backward, and when the traveling is stopped, a large inertial force acts, so that the chain line O in FIG.
As shown in exaggerated form, the subject tends to lean forward.

When the stacker crane 30 has a tendency to lean forward when the traveling is stopped, frictional resistance is generated between the current collector 33 and the power feeding trolley 33, while the stacker crane 30 is placed in a vertical posture. Since the force to return the stacker crane 30 is extremely small, the stacker crane 30 is held in the forward tilted posture without returning to the vertically extending posture, and therefore the positioning accuracy of the stacker crane 30 is low. There was a problem to say.

An object of the present invention is to enable the stacker crane to be accurately positioned without impairing the power feeding function from the power feeding trolley to the current collector.

[0007]

In order to achieve this object, the present invention provides a slide fork device for loading and unloading luggage into and from a passage along an opening surface of a shelf frame in which multiple shelves are formed in multiple stages. A vertically stackable stacker crane, which is mounted so that it can be lifted up and down, is installed so that it can run horizontally, and a current collector is provided at the upper end of the stacker crane, while a power supply trolley that contacts the current collector is provided at the ceiling of the passage. In an automatic warehouse arranged so as to extend in the traveling direction of the crane, the current collector, to the stacker crane,
The stacker crane is configured to be mounted via a slider that is slidable along the traveling direction.

[0008]

According to this structure, frictional resistance is generated between the current collector and the stacker crane, while frictional resistance is not generated between the stacker crane and the slider. Is running with the slider fully moved in either direction, and when the running is stopped, a large inertial force acts,
The stacker crane tends to lean forward toward the front in the traveling direction.

A large frictional resistance is generated between the current collector and the power supply trolley in the forward leaning state after the traveling is stopped. However, since there is no frictional resistance between the slider and the stacker crane, the stacker is not. The upper end of the crane slides back with respect to the slider due to the posture correcting action to return to the stable posture, and thus the stacker crane is held in the vertically extending posture.

As described above, according to the present invention, the stacker crane is operated under the condition that a large frictional resistance is generated between the current collector and the power feeding trolley, in other words, the current collector and the power feeding trolley are surely brought into contact with each other. When traveling is stopped, it is possible to prevent it from falling down forward in the traveling direction,
This has the effect of significantly improving the positioning accuracy of the stacker crane without impairing the reliability of the power supply function.

[0011]

Embodiments of the present invention will now be described with reference to the drawings (FIGS. 1 to 9).
It will be described based on. In the figure, reference numeral 1 indicates a stacker crane of an automatic warehouse, reference numeral 2 indicates shelf frames arranged on both sides of the traveling passage of the stacker crane 1, and the left and right shelf frames 2 and 2 face the traveling passage. A large number of shelves (not shown) that are opened in a vertical direction are arranged in a matrix to form a multi-tiered structure.

The stacker crane 1 has a lower frame 3 extending long along the traveling direction, and a first frame standing upright from the lower frame 3.
And two second front and rear struts 4 and 5, a plate-shaped upper frame 6 is fixed to the upper ends of both struts 4 and 5, and horizontal rotation is provided at both front and rear ends of the upper frame 6. The upper end of the stacker crane 1 is guided by rotatably abutting a pair of free ceiling guide rollers 7 on the left and right side surfaces of a ceiling rail 9 provided on a ceiling surface 8.

A slide fork device 10 is mounted on the first support column 4 so as to be able to move up and down.
By controlling the traveling position and the height of the slide fork device 10 and moving a fork body (not shown) of the slide fork device 10 in and out, any luggage W can be taken in and out. The two columns 4 and 5 are connected to each other by a plurality of connecting rods 11, and a ladder 12 is provided on the back surface of the second column 5.

A three-phase AC type power supply trolley 13 is provided on a portion of the ceiling surface 8 on the side of the ceiling guide rail 9 so as to extend along the ceiling guide rail 9. The power feeding trolley 13 has a structure in which each of four parallel conductive wires 14 is sandwiched by a downward opening groove type separator 15 made of an insulator, and each separator 15 is held by a holder 16.

On the other hand, on the back surface of the upper end of the first support column 4,
A bracket 17 is fixed so as to overlap the power feeding trolley 13 in a plan view, and a ball bearing slider 18 is slidable on the upper surface of the bracket 17 by a certain dimension along the traveling direction of the stacker crane 1. The support member 19 fixed to the upper surface of the slider 18 is fixed with four insulating current collecting arms 20 bifurcated in a side view corresponding to the conductive wires 14 of the power feeding trolley 13. At both ends of the current collecting arm 20, current collectors 21 that contact the corresponding conductive wires 14 are attached.

In the above structure, since a large frictional resistance is generated between each current collector 21 and each conductive wire 14 of the power feeding trolley 13, as shown in FIG. When the stacker crane 1 travels in a state where it has been fully moved in one direction or the other and stops traveling, a large inertial force acts, so that the stacker crane 1 is directed toward the traveling direction as shown by an exaggerated dashed line in FIG. A leaning forward posture.

In this stopped state, the backward movement of the bracket 17 with respect to the slider 18 is allowed, in other words, there is no resistance acting on the upper end of the stacker crane 1, so that as shown in FIG. In addition, due to the posture correcting function of the stacker crane 1 itself that tries to return to a stable posture, the upper end portion of the stacker crane 1 moves backward while the bracket 17 slides with respect to the slider 18, and as a result, the stacker crane 1 moves backward. The crane 1 can be held in a posture in which its axis is vertical.

The form of the current collector and the power supply trolley,
Needless to say, the form of the slider is not limited to the embodiment, and various other forms can be adopted. Needless to say, the slider may be provided on another member such as the upper surface of the top frame.

[Brief description of drawings]

FIG. 1 is a side view of a stacker crane.

FIG. 2 is a II-II view of FIG.

FIG. 3 is a plan view of a stacker crane.

FIG. 4 is a side view of an upper portion of the stacker crane.

FIG. 5 is a plan view of a main part of the stacker crane.

6 is a sectional view taken along line VI-VI of FIG.

7 is a sectional view taken along line VII-VII in FIG.

FIG. 8 is a diagram showing an operation.

FIG. 9 is a diagram showing an operation.

FIG. 10 is a side view of a stacker crane including a conventional current collector.

[Explanation of symbols]

 1 Stacker crane 2 Shelf frame 4,5 Struts 7 Top guide roller 8 Ceiling surface 9 Top guide rail 13 Power feeding trolley 14 Conductive wire 17 Bracket 18 Slider 20 Current collecting arm 21 Current collecting

Claims (1)

[Claims] 1. A vertically stackable stacker crane in which a slide fork device for loading and unloading luggage into and from the shelves is horizontally installed in a passage along an opening surface of a shelf frame in which a large number of shelves are formed in multiple stages. The stacker crane is freely installed, and a current collector is provided at the upper end of the stacker crane, while a power supply trolley, which contacts the current collector, is arranged on the ceiling of the passage so as to extend in the traveling direction of the stacker crane. In a warehouse, the above-mentioned collector is
A stacker crane current collector in an automated warehouse, characterized by being mounted via a slider that is slidable along the traveling direction of the stacker crane.