KR19980055844A - Carriage lowering control device of stacker crane - Google Patents

Abstract

The present invention relates to a stacker crane of an automated warehouse system for transporting cargo while traveling on a certain path, and in particular, even when descending at a speed higher than a reference value due to an electrical malfunction, the cargo 9 is safely stopped by stopping the carriage 9. In order to prevent damage to itself, a separate wire rope 36 and an overspeed detection governor 35 are installed on a carriage 9 for lifting and lowering operation of the stacker crane 3 of an automatic warehouse system. The link is connected to the governor 35 so that the brake cams 56a, 56b, 57a, 57b provided on both sides of the carriage 9 are interlocked, and the carriage 9 is a chain ( 8) The carriage 9 can be stopped even when the speed is lowered by a defect other than cutting and the structure of the brake cams 56 and 57 is changed so that the wear during operation as compared with the conventional eccentric cam 32 is reduced. because of It is possible to minimize the slippage, and by using a separate lifting speed detecting rope 36, even when using multiple wire ropes or chains 8, it can be applied without the use of separate parts. The carriage lowering control device of the stacker crane is able to move the cargo in the desired position.

Description

Carriage lowering control device of stacker crane

The present invention relates to a stacker crane of an automated warehouse system for transporting cargo while traveling on a certain path, and particularly, even when descending at a speed exceeding a reference value due to an electrical malfunction, the carriage is safely stopped to damage the cargo and the system itself. It relates to a carriage lowering control device of the stacker crane that can be prevented.

In general, the automated warehouse system, which has been widely applied in the field of logistics automation, includes a rack for cargo shelf 1 for temporarily storing products and processed products in a factory or warehouse, as shown in FIG. A station 2 is provided for entering and exiting the rail, and a running rail 4 is installed between the racks 1 on both sides, and the stacker crane 3 is placed between the rack 1 and the station 2. The system of returning cargo according to the instructions.

As shown in FIG. 2, the stacker crane 3 has a lower frame 12, a pair of struts 13 fixed vertically in the lower frame 12, and the struts 13 fixed from above. The upper frame 7 to be made up, the carriage 9 which raises and lowers the guide 13 as a guide, and the fork 14 which conveys a cargo to a desired position are comprised.

With this configuration, the traveling direction of the stacker crane 3 moving on the traveling rail 4 along the front surface of the rack 1, the lifting operation of the carriage 9 and the stretching operation of the fork 14 are organic. Consists of cargo loading and unloading. Movement in the driving direction is performed by the driving motor 11 driving the driving wheel installed in the lower frame 12, and the lifting operation of the carriage 9 is the lifting motor for lifting the chain or wire rope 8 for lifting. This is performed by stretching the lifting sprocket driven by 10b.

2 to 5, the stacker crane 3 is provided with a brake rail 33 on the inner side of the pair of struts 13 installed perpendicular to the lower frame 12, the carriage 9 Chains 8 respectively connected to both sides of the coils 8 are wound around the guide sprockets 34 installed on the upper frame 7, and are stretched and operated by the lifting sprockets 10a. Brake devices are respectively provided on both sides of the carriage 9, and the brake devices are coupled to the chain 8 mounted on the carriage 9 via a link, which chain 8 is subjected to the load of the carriage. A brake actuating spring 24 is provided so that the brake is actuated only when cut off. The brake device is provided with an eccentric cam 32 as shown in FIG.

In addition, the conventional brake device generates starting force while the brake actuating spring 24 is tensioned at the moment when the chain 8 is cut by the overload of the carriage 9 or by mechanical defects. The starting force causes the lever 21 to rotate, and the shaft 21 is rotated by the lever 21 and the key 27. The rotation of the shaft 31 rotates the eccentric cam 32 for the brake, and the eccentric cam 32 symmetrically installed about the brake rail 33 is operated in the direction of tightening with each other. The brake is acted upon.

After the eccentric cap 32 operates and passes the critical point, the carriage 9 is stopped by acting in the direction in which the weight and the kinetic energy of the carriage 9 tighten the brake.

However, the brake device of the conventional stacker crane 3 as described above does not operate normally but operates only in a special situation in which the chain 8 is cut. Therefore, when the carriage 9 falls due to an abnormality of the control device or the breakout of the lifting motor 10 or the like at an overspeed, the brake device is not operated. There was a problem that can not prevent damage to the load or damage to the machinery.

In addition, the conventional brake device has a structure in which a link is directly connected to the chain or wire rope 8, so that a corresponding chain or wire rope 8 is required to cope with the case where a heavy load is loaded on the carriage 9. The installation was cumbersome, requiring replacement with a separate part to accommodate).

Accordingly, the present invention has been made to solve the above problems, and the brakes are automatically braked when the carriage or the wire rope is cut, as well as when the carriage overspeeds down due to other causes, thereby causing damage to the load. It is an object of the present invention to provide a carriage lowering control device for a stacker crane that can prevent damage to the machine itself.

1 is a schematic perspective view of an automatic warehouse system to which a general stacker crane is applied;

2 is a perspective view for explaining a general stacker crane,

3 is a schematic view of a brake device according to the prior art,

4 is an inner side view of a brake operating unit according to the prior art;

5 is a schematic diagram of a brake cam according to the prior art,

6 is a plan view of the carriage lowering control apparatus according to the present invention,

7 is a front view of the carriage lowering control device according to the present invention,

8 is a detailed view of the carriage lowering control apparatus according to the present invention,

9 is a schematic diagram of an overspeed detection apparatus according to the present invention;

10 is a front view of the governor for speed detection according to the present invention;

11 is a side view of the governor for speed detection according to the present invention;

12 is a plan view of a link for brake operation according to the present invention;

13 is a front view of a link for brake operation according to the invention,

14 is a side view of a link for brake operation according to the present invention;

15 is a plan view of a brake unit according to the present invention;

16 is a front view of the brake unit according to the present invention;

17 is an explanatory view of the operation of the brake unit according to the present invention.

* Description of the symbols for the main parts of the drawings *

One ; Rack2; station

3; Stacker crane 4; Running rail

5; Guide roller 6; Guide rail

7; Upper frame 8; Chain or wire rope

9; Carriage 12; Lower frame

14; Fork 24; Brake spring

31a, 31b,; Axes 32a, 32b; Brake cam

35; Governor 35a; Pulley

35b, 35c; Balance weight 36; Speed Detection Wire Rope

37; Idle pulleys 40, 41, 42, 68a, 68b; shaft

43, 44; Gears 46, 54, 55; road

50; Springs for initial setting 56a, 56b, 57a, 57b; Brake cam

59, 62; Pin 63, 64, 65; Connecting plate

35d, 35h, 39, 45, 47, 52, 53, 60, 66, 67; lever

Carriage lowering control device of the stacker crane according to the present invention for achieving the above object is to install a separate wire rope and the speed detection governor in the carriage for the lifting operation of the stacker crane of the automatic warehouse system, interlocked with the governor By connecting the link so that the brake cams provided on both sides of the carriage are interlocked, the overspeed descent of the carriage can be prevented when the speed is lowered above the specified speed.

In addition, the carriage lowering control device of the stacker crane according to the present invention is characterized in that the linkage is installed on the lower portion of the carriage so as not to interfere with the lifting stroke of the carriage.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

6 to 9, the stacker crane 3 according to the present invention installs the brake rails 33 on both inner surfaces of the pair of struts 13 fixed perpendicularly to the lower frame 12. The one end of the wire rope 8 is fixed to the carriage 9 which is guided along the support 13 and moves up and down. After the wire rope 8 is wound on the guide roller 34 installed on the frame 7, the wire rope 8 is wound around the lifting drive sheave 10a 'installed on the lower frame 12, and has a pair of struts ( The other end of the said wire rope 8 is fixed to the balance weight provided so that it may ride up and down on either side of the support | pillar 13 in 13). The lifting drive motor 10b is connected to the driving sieve 10a 'to perform the lifting operation of the carriage 9.

In addition, as shown in Figure 10 and 11, the governor 35 is installed on the lower frame 12 is provided with a separate wire rope 36 is connected to the brake operation link installed in the carriage (9) The upper frame 7 is provided with an idle roller 37 of this wire rope 36.

12 to 14, the carriage 9 is provided with brake devices on both sides thereof, and links are provided so that the brake devices can operate at the same time. The brake device is provided with gear-shaped eccentric cams 56 and 57 that are symmetric about the brake rail 33, and the eccentric cams 56 and 57 are interlocked with the governor device 35 by the link. It can be operated.

Referring to the operating state of the present invention configured as described above are as follows.

When the carriage 9 descends at an overspeed range defined by an abnormality in the control device, breakout of the motor or reduction in friction between the elevating drive sieve 10a 'and the wire rope 8, the upper frame 12 is lowered. The rotational speed of the pulley 35a of the governor 35 installed at is higher than the adjusted rotational speed. Accordingly, the balance weights 35b and 35c symmetrically installed on the pulley 35a are opened to the outside of the pulley 35a by centrifugal force to operate the first lever 35d. The first lever 35d is installed on the pulley 35a and rotates together with the pulley 35a at a normal speed, and then, when the counterweights 35b and 35c are opened to the outside, the first lever 35d is installed on the lever 35d. The pulley 35a is stopped by entering the groove of the ratchet 35f fixed by the restoring force of the spring 35e. The fixing force of the ratchet 35f is designed to be variable by the second spring 35g and can be adjusted according to the carriage 9 and the lifting speed. At the time when the pulley 35a is stopped, the counterweights 35b and 35c release the second lever 35h holding the rope clamp 35j, and the rope clamp 35j is a rope clamp actuating spring ( The speed detecting wire rope 36 is clamped by the restoring force of 35i, so that the wire rope 36 stops rotating and is fixed. At this time, the carriage 9 continues to fall so that the third lever 39 connected to the wire rope 36 installed on the carriage 9 is raised to rotate the first shaft 40 clockwise. The rotation of the first gear 43 fixed to the first shaft 40 causes the second gear 44 to rotate counterclockwise. By the rotation of the second gear 44, the second shaft 41, which is interlocked by the key with the second gear 44, is rotated counterclockwise, and the rotation is provided on the second shaft 41 and the key Rotates the fifth lever 47 interlocked in the counterclockwise direction, and the second rod 54 connected to the fifth lever 47 is lowered. At the same time, the fourth lever 45 mounted on the second shaft 41 and interlocked with the second shaft 41 by a key to operate the brake device installed on the opposite side of the carriage 9 at the same time in the counterclockwise direction. This rotation causes the first rod 46, which is kept in a steady state by the initial setting spring 50, to move in the direction in which the spring 50 is further compressed. The movement of the first rod 46 causes the sixth lever 52 to be fixed to rotate the interlocking third shaft 42 clockwise. When the third shaft 42 is rotated in the clockwise direction, the seventh lever 53 which is interlocked by the third shaft 42 is rotated in the clockwise direction, and thus the third shaft 42 and the third rod 54 are simultaneously rotated in the third direction. The rod 55 is also lowered.

When the second rod 54 is lowered as shown in FIGS. 15 and 16, the eighth lever 60, which is connected to the upper end of the second rod 54 by the pin 59, may fix the fixing pin 61. It rotates in a clockwise direction as a reference to raise the first connecting plate 63. The second connecting plate 64 and the third connecting plate 65 coupled to the first connecting plate 63 by pins are moved upwards at the same time so that the ninth and tenth levers 66 and 67 are removed. It will rotate in the symmetrical direction on the center line. The rotation of the ninth and tenth levers 66, 67 causes the fourth and fifth rotary shafts 68a and 68b to rotate in opposite directions, and the fourth and fifth shafts 68a and 68b. The first and second brake cams 56a and 56b fixed to the brakes generate the brake starting force in the direction in which the brake rails 33a are tightened.

The contact points of the first and first brake cams 56a and 56b with the rails 33a are eccentric with the fourth and fifth rotation shafts 68a and 68b, so that the brake cams 56a The angle formed between the vertical pressure N acting from the moment when 56b starts to rotate and contacts the brake rail 33a and the frictional force F and the total force R between the vertical inputs N becomes a friction angle, and this friction angle is applied to the friction material. It is determined by the value. Therefore, the direction of action of the force R is determined according to the materials of the first and second brake cams 56a and 56b, and the direction of action is the direction in which the brake is tightened with respect to the fourth and fifth rotation shafts 68a and 68b. Will work.

Therefore, the brake cams 56a and 56b self-lock due to the weight of the carriage 9 and the force of its own falling kinetic energy. In this way, when the brake starts to operate, the position energy and kinetic energy of the carriage 9 are consumed by heat generation due to friction, and then stopped. The surface shape of the brake cams 56a, 56b, 57a and 57b prevents excessive slipping by allowing metal powder into the grooves due to abrasion during friction with the brake rails 33a and 33b. In this way, even when the carriage 9 descends at an overspeed exceeding the prescribed speed, the brake devices on both sides are operated and stopped at the same time, thereby preventing the collapse of the cargo loaded on the carriage 9.

If the wire rope 8 fixed to the carriage 9 is broken and the carriage 9 is lifted and operated, the carriage 9 is in a free fall state, which is a governor at an overspeed of a specified speed. The carriage 9 is stopped by being detected by 35 to drive the brake device.

The effects of the present invention that can be expected by the configuration and action as described above are as follows.

The carriage lowering control device of the stacker crane according to the present invention is installed on the outside of the carriage 9 which is lifted by the lifting motor 10, by installing a speed detecting governor 35 which is linked with the carriage 9. It is possible to detect the falling speed of 9) and to generate the starting force of the brake device by the operation of the link interlocking with the governor 35, so that the carriage 9 is not cut by the chain 8 The carriage 9 can be stopped even when the speed is lowered due to other defects, and the structure of the brake cams 56 and 57 is changed to minimize slippage due to wear during operation as compared with the conventional eccentric cam 32. By using a separate lifting speed detecting rope 36, even when using multiple wire ropes or chains 8, it can be applied without the use of separate parts. top It has the advantage that you can move on.

Claims (2)

By installing a separate wire rope and an overspeed detection governor on the cargo lifting operation carriage of the stacker crane of the automatic warehouse system, and connecting the link to interlock with the governor, the brake cams installed on both sides of the carriage are interlocked. A carriage lowering control device for a stacker crane, which is capable of preventing overspeed descent of the carriage when overspeeding down a specified speed. 2. The carriage lowering control apparatus for a stacker crane according to claim 1, wherein the linkage device is installed under the carriage so as not to interfere with the lifting stroke of the carriage.