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JP4556113B2 - Stacker crane - Google Patents

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JP4556113B2
JP4556113B2 JP2004262334A JP2004262334A JP4556113B2 JP 4556113 B2 JP4556113 B2 JP 4556113B2 JP 2004262334 A JP2004262334 A JP 2004262334A JP 2004262334 A JP2004262334 A JP 2004262334A JP 4556113 B2 JP4556113 B2 JP 4556113B2
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traveling
wheel body
supported
pair
traveling wheel
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JP2006076714A (en
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雄一 上田
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Daifuku Co Ltd
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Priority to US11/213,616 priority patent/US20060060106A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B66F9/072—Travelling gear therefor

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Description

本発明は、台車フレームに、駆動手段が固定状態に支持され且つ前記駆動手段にて回転駆動されて走行レールに沿って走行する走行輪体が回転自在に支持されているスタッカークレーンに関する。   The present invention relates to a stacker crane in which a driving means is supported in a fixed state and a traveling wheel body that is driven to rotate by the driving means and travels along a traveling rail is rotatably supported on a carriage frame.

かかるスタッカークレーンは、駆動手段に走行用モータを備え、この走行用モータにて走行輪体を回転駆動させることによりスタッカークレーンを走行レールに沿って走行させて物品を搬送するものであり、従来では、走行輪体を、台車フレームの左右中央部に回転自在に支持し、駆動手段を、走行輪体の一側部に位置させる状態で台車フレームに支持させた走行用モータを備えて、１つの走行用モータにて１つの走行輪体を回転駆動させるように構成されているものがあった（例えば、特許文献１参照。）。   Such a stacker crane is provided with a traveling motor in a driving means, and the traveling wheel is driven to rotate by the traveling motor so that the stacker crane travels along the traveling rail and conveys articles. The traveling wheel body is rotatably supported on the left and right central portion of the carriage frame, and the driving means is provided on the carriage frame in a state where the driving means is positioned on one side of the traveling wheel body. There has been a configuration in which one traveling wheel body is driven to rotate by a traveling motor (see, for example, Patent Document 1).

特開２００２−０４６８０９号公報JP 2002-046809 A

上記従来の構成では、走行用モータが走行輪体の一側部に位置させる状態で台車フレームに支持されているため、走行用モータの荷重が台車フレームにおける走行輪体の一側部側に偏ってしまうので、スタッカークレーンの左右の重量バランスが崩れやすいものであった。   In the above-described conventional configuration, the traveling motor is supported on the carriage frame in a state where the traveling motor is positioned on one side of the traveling wheel, so the load of the traveling motor is biased toward the one side of the traveling wheel in the carriage frame. As a result, the right and left weight balance of the stacker crane was easily broken.

本発明は、上記実状に鑑みて為されたものであって、その目的は、左右の重量バランスが崩れにくいスタッカークレーンを提供する点にある。   The present invention has been made in view of the above circumstances, and an object thereof is to provide a stacker crane in which the right and left weight balance is not easily lost.

この目的を達成するために、本発明にかかるスタッカークレーンの第１特徴構成は、台車フレームに、駆動手段が固定状態に支持され且つ前記駆動手段にて回転駆動されて走行レールに沿って走行する走行輪体が回転自在に支持されているスタッカークレーンにおいて、
前記走行輪体が、前記台車フレームの左右中央部に回転自在に支持され、前記駆動手段が、前記走行輪体の右側部と左側部との夫々に位置させる状態で前記台車フレームに支持させた左右一対の走行用モータを備え、この左右一対の走行用モータにて１つの前記走行輪体を回転駆動させるように構成され、前記台車フレームが、前記走行輪体及び前記駆動手段を支持する左右一対の支持部を備えて構成され、前記走行輪体が、前記左右一対の支持部の間に左右方向の軸心周りに回転自在に支持され、前記左右一対の走行用モータが、前記左右一対の支持部の夫々の外面側において固定状態に支持され、前記走行用モータの夫々が、その走行用モータの駆動軸と前記走行輪体とが同一軸心上にて回転するように設けられ、前記走行レールに対して上方への移動が規制されるように前記走行レールに対して、弾性体として前記走行輪体の外周部に取り付けた走行用タイヤ部分の弾性力にて、接触圧力をもって接する状態に前記台車フレームに支持されて、前記走行輪体の前記走行レールからの浮上を規制する規制輪体が前記走行レールの左右両側に設けられている点にある。 In order to achieve this object, the first characteristic configuration of the stacker crane according to the present invention is such that the driving means is supported in a fixed state on the carriage frame and is driven to rotate by the driving means to travel along the traveling rail. In the stacker crane where the traveling wheel body is rotatably supported,
The traveling wheel body is rotatably supported at the left and right center part of the carriage frame, and the driving means is supported by the carriage frame in a state of being positioned on each of a right side part and a left side part of the traveling wheel body. A pair of left and right traveling motors are provided, and the pair of left and right traveling motors are configured to rotationally drive one of the traveling wheel bodies, and the carriage frame supports the traveling wheel body and the driving means. A pair of support portions, the traveling wheel body is supported between the pair of left and right support portions so as to be rotatable around an axis in the left-right direction, and the pair of left and right traveling motors Each of the travel motors is provided so that the drive shaft of the travel motor and the travel wheel body rotate on the same axis. For the running rail The carriage frame is brought into contact with the running rail with contact pressure by the elastic force of the running tire portion attached to the outer periphery of the running wheel as an elastic body so that upward movement is restricted. A restriction wheel body that is supported and restricts the floating of the traveling wheel body from the traveling rail is provided on both the left and right sides of the traveling rail .

すなわち、駆動手段に左右一対の走行用モータを備え、この左右一対の走行用モータにて１つの走行輪体を回転駆動させるように構成しており、２つの走行用モータを走行輪体の右側部と左側部との夫々に位置する状態で台車フレームに支持されており、２つの走行用モータの台車フレームにおける走行輪体より右側にかかる荷重と左側にかかる荷重とを略均等にすることができるので台車フレームの左右の重量バランスを崩れ難くすることができ、もって、左右の重量バランスが崩れにくいスタッカークレーンを提供することができるに至った。
また、１つの走行輪体の駆動力を２つの走行用モータにて得ることにより各走行用モータの小型化を図ることができるので、走行用モータの配設スペースを確保し易いものとなる。
さらに、走行用モータの駆動軸と前記走行輪体とが同一軸心上にて回転するように構成されているので、走行用モータの回転軸と走行輪体とを容易に連動連結させることができ動力伝達構造を簡素に構成することができる。
しかも、規制輪体が、走行レールに対して弾性体の弾性力にて接触圧力をもって接することによって、弾性体の弾性力の反動により走行輪体が走行レールに圧接されて走行輪体の走行レールからの浮上が規制されるので、走行輪体の浮上を十分に規制することができ、走行輪体のグリップ力の低下が抑制されてスリップが生じにくくなる。
例えば、走行輪体を物品搬送車に前後一対設けた場合に、加速時や減速時の慣性力等により物品搬送車が前傾状態や後傾状態になり、一方の走行輪体の軸重が小さく他方の走行輪体の軸重が大きくなったとしても、輪重の小さな走行輪体のグリップ力の低下が抑制されてスリップが生じにくくトルクを十分に引き出せるため、輪重の大きな他方の走行輪体を回転駆動させる駆動手段にて負担するトルクを軽減させることができるので、駆動手段の小型化を図ることができる。
また、走行輪体を物品搬送車の前後一方側に設け、他方側に回転自在な遊転輪体を設けた場合では、走行輪体を設けた方向へ走行している物品搬送車の加速や走行輪体を設けた方向とは反対方向へ走行している物品搬送車の減速により、物品搬送車が傾く傾斜状態になるが、走行輪体の軸重が小さくなることによるグリップ力の低下が抑制されてスリップが生じにくくなるため、加減速度を高くすることができる。 That is, the driving means includes a pair of left and right traveling motors, and the pair of left and right traveling motors are configured to rotationally drive one traveling wheel body, and the two traveling motors are connected to the right side of the traveling wheel body. The load applied to the right side and the load applied to the left side of the traveling wheel body in the carriage frame of the two traveling motors can be made substantially equal. As a result, the weight balance between the left and right sides of the carriage frame can be made difficult to be lost, and thus a stacker crane can be provided in which the weight balance between the left and right sides is not easily lost.
Further, by obtaining the driving force of one traveling wheel body with two traveling motors, each traveling motor can be miniaturized, so that it is easy to secure a space for disposing the traveling motors.
Furthermore, since the drive shaft of the traveling motor and the traveling wheel body are configured to rotate on the same axis, the rotating shaft of the traveling motor and the traveling wheel body can be easily linked together. The power transmission structure can be configured simply.
In addition, the regulation wheel is brought into contact with the travel rail with contact pressure by the elastic force of the elastic body, so that the travel wheel is pressed against the travel rail by the reaction of the elastic force of the elastic body, and the travel rail of the travel wheel Therefore, the floating of the traveling wheel body can be sufficiently restricted, and the decrease in the gripping force of the traveling wheel body is suppressed, so that slip does not easily occur.
For example, when a pair of front and rear traveling wheels are provided on the article transport vehicle, the article transport vehicle is tilted forward or backward due to inertial force during acceleration or deceleration, and the axial weight of one traveling wheel body is increased. Even if the axle weight of the other traveling wheel body is small and the gripping force of the traveling wheel body having the small wheel weight is suppressed, the slip of the other traveling wheel body is suppressed, and the torque can be pulled out sufficiently. Since the torque borne by the driving means for rotationally driving the ring body can be reduced, the size of the driving means can be reduced.
In addition, when the traveling wheel body is provided on one side of the article transporting vehicle and the other side is provided with a rotatable rolling wheel body, the acceleration of the article transporting vehicle traveling in the direction in which the traveling wheel body is provided or Although the article transport vehicle is tilted by the deceleration of the article transport vehicle traveling in the direction opposite to the direction in which the traveling wheel body is provided, the grip force is reduced due to the reduced axle load of the traveling wheel body. Since it is suppressed and slip is less likely to occur, the acceleration / deceleration can be increased.

本発明にかかる第２特徴構成は、第１特徴構成において、前記走行輪体が、前後一対設けられて前記台車フレームの前端部と後端部との夫々に回転自在に支持され、前記駆動手段が、前後一対設けられて前記台車フレームの前端部と後端部との夫々に固定状態に支持されている点にある。   According to a second characteristic configuration of the present invention, in the first characteristic configuration, the traveling wheel body is provided in a pair of front and rear, and is rotatably supported on each of a front end portion and a rear end portion of the carriage frame, and the driving means. However, a pair of front and rear is provided and are supported in a fixed state by the front end portion and the rear end portion of the carriage frame.

すなわち、走行輪体を前後一対設けて、その走行輪体の夫々を駆動手段にて回転駆動させるように構成して、前後一対の走行輪体の夫々を左右一対の走行用モータにて回転駆動させることにより、スタッカークレーンの駆動力が４つの走行用モータにて得ることができ、各走行用モータの小型化をより図ることができる。   That is, a pair of front and rear traveling wheel bodies are provided, and each of the traveling wheel bodies is configured to be rotationally driven by a driving means, and each of the pair of front and rear traveling wheel bodies is rotationally driven by a pair of left and right traveling motors. By doing so, the driving force of the stacker crane can be obtained by the four traveling motors, and each traveling motor can be further downsized.

本発明にかかる第３特徴構成は、第１又は第２特徴構成において、前記台車フレームが、前記走行輪体並びに前記駆動手段を支持する前後一対の支持枠を連結枠にて接続して構成されている点にある。   According to a third characteristic configuration of the present invention, in the first or second characteristic configuration, the carriage frame is configured by connecting a pair of front and rear support frames that support the traveling wheel body and the driving unit with a connection frame. There is in point.

すなわち、前後一対の比較的小さな支持枠の夫々に駆動手段と走行輪体を支持させてから、その前後一対の支持枠を連結枠にて連結するように構成されているため、駆動手段や走行輪体が台車フレームに組み付け易く、スタッカークレーンの製造の簡易化を図ることができる。   That is, since the driving means and the traveling wheel are supported on each of the pair of front and rear relatively small support frames, the pair of front and rear support frames are connected by the connecting frame. The ring body can be easily assembled to the bogie frame, and the production of the stacker crane can be simplified.

本発明にかかる第４特徴構成は、第３特徴構成において、昇降台に備えた被案内部を昇降案内する案内部を備えた前後一対の支柱が設けられ、前記支持枠の夫々が、左右中央部に前記走行輪体を回転自在に支持し、右側部と左側部との夫々に前記走行用モータを固定状態に支持し、上部に前記支柱の下端部を連結支持するように構成されている点にある。   According to a fourth feature configuration of the present invention, in the third feature configuration, a pair of front and rear support columns including a guide unit that guides the guide unit provided on the elevator platform is provided, and each of the support frames has a left-right center. The traveling wheel body is rotatably supported by the portion, the traveling motor is supported in a fixed state on each of the right side portion and the left side portion, and the lower end portion of the support column is connected and supported on the upper portion. In the point.

すなわち、支持枠の夫々の上部に支柱の下端部が連結支持されるように構成されているので、支持枠やこれに支持される駆動手段並びに走行輪体を支柱の下方に上下に重複するように位置させて、支柱の前方や後方に支持枠やこれに支持される駆動手段並びに走行輪体を突出しないように或いは突出量を抑えるように配設することができるので、スタッカークレーンの前後長さを短く構成することができる。   That is, since the lower end portion of the support column is connected and supported to the upper part of each support frame, the support frame, the driving means supported by the support frame, and the traveling wheel body are vertically overlapped below the support column. It is possible to dispose the support frame, the driving means supported by this and the traveling wheel body so as not to protrude or restrain the protruding amount, so that the length of the stacker crane can be reduced. The length can be shortened.

以下、本発明によるスタッカークレーンについて実施の形態を図面に基づいて説明する。
図１に示すように、スタッカークレーンＡは、収納棚の間に形成された作業通路に沿って床面上に設置された単一の走行レール２上を走行自在に構成されており、走行レール２に沿って走行する走行台車３に、昇降台４を昇降案内する前後一対の支柱５を走行方向の前後端箇所に立設し、支柱５の上端側部分どうしは、作業通路の上方に設置されたガイドレール６に案内される上部フレーム７にて連結されている。そして、このスタッカークレーンＡは、前記作業通路を自動走行して、収納棚との間で物品を移載するように構成されており、スタッカークレーンＡと収納棚とで自動倉庫が構成されている。 Hereinafter, an embodiment of a stacker crane according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, the stacker crane A is configured so as to be able to travel on a single traveling rail 2 installed on the floor along a work path formed between storage shelves. A pair of front and rear columns 5 for elevating and lowering the lifting platform 4 are erected on the traveling cart 3 that travels along the path 2, and the upper end portions of the columns 5 are installed above the work path. The upper frame 7 guided by the guide rail 6 is connected. The stacker crane A is configured to automatically travel along the work path and transfer articles to and from the storage shelf, and the stacker crane A and the storage shelf constitute an automatic warehouse. .

前記昇降台４は、その前後両端部の夫々に昇降用ワイヤ１３が連結されて吊下げ支持されており、昇降台４には、２基の物品移載装置１４が走行台車３の走行方向である前後方向に並設されており、この物品移載装置１４にて収納棚との間で物品を移載するように構成されている。
そして、前記昇降用ワイヤ１３は、その一端側が昇降台４に連結され、中間部が上部フレーム７に設けられた従動プーリ１５に巻き掛けられて、他端側が前後一対の支柱５の一方に支持された巻き取りドラム１７に連結されている。よって、巻き取りドラム１７を昇降用電動モータＭ２にて正逆に駆動回転させることにより、昇降用ワイヤ１３の繰り出しや巻き取り操作で昇降台４が駆動昇降されるように構成されている。 The lifting platform 4 is supported by being suspended by lifting and lowering wires 13 connected to both front and rear ends, and two articles transfer devices 14 are mounted on the lifting platform 4 in the traveling direction of the traveling carriage 3. It is arranged in parallel in a certain front-rear direction, and the article transfer device 14 is configured to transfer articles between the storage shelves.
The lifting wire 13 has one end connected to the lifting platform 4, an intermediate portion wound around a driven pulley 15 provided on the upper frame 7, and the other end supported on one of the pair of front and rear columns 5. The take-up drum 17 is connected. Therefore, the lifting / lowering table 4 is driven up and down by feeding and winding operation of the lifting / lowering wire 13 by rotating the winding drum 17 forward and backward by the lifting / lowering electric motor M2.

図２に示すように、前記支柱５は、昇降台４に備えた被案内部としての案内ローラ８を昇降案内するように構成されており、支柱５には長手方向に沿って案内部としての突条部５ａが設けられ、案内ローラ８が突条部５ａに案内されることにより昇降台４が昇降経路に沿って案内されるように構成されている。
つまり、昇降台４の前端部と後端部との夫々には、突条部５ａの頂部と両側面との夫々に対応して設けられた３つの案内ローラ８が設けられており、前記昇降用電動モータＭ２にて巻き取りドラム１７を正逆に駆動回転させて昇降台４を駆動昇降させる際に、案内ローラ８が突条部５ａに接当することにより昇降台４が支柱４にて前後方向並びに左右方向に移動することが規制されながら昇降案内されて、昇降台４が昇降経路に沿って昇降する。 As shown in FIG. 2, the support column 5 is configured to guide the guide roller 8 as a guided portion provided in the lifting platform 4 in the up-and-down direction, and the support column 5 serves as a guide unit along the longitudinal direction. The protrusion 5a is provided, and the elevator 4 is guided along the lifting path by the guide roller 8 being guided by the protrusion 5a.
That is, each of the front end portion and the rear end portion of the lifting platform 4 is provided with three guide rollers 8 provided corresponding to the top portion and both side surfaces of the protrusion 5a. When the hoisting drum 17 is driven and rotated by the electric motor M2 in the forward and reverse directions to drive the elevating table 4 up and down, the elevating table 4 is supported by the support column 4 by the guide roller 8 coming into contact with the protrusion 5a. The elevator 4 is lifted and lowered along the lifting path while being guided to be lifted while being restricted from moving in the front-rear direction and the left-right direction.

次に、前記走行台車３について説明する。
図３に示すように、走行台車３には、駆動手段１０にて回転駆動されて走行レール２に沿って走行する前後一対の走行輪体９が設けられており、走行台車３における台車フレーム１６に、駆動手段１０が固定状態に支持され且つ走行輪体９が回転自在に支持されており、走行輪体９が、前後一対設けられて台車フレーム１６の前端部と後端部との夫々に回転自在に支持され、駆動手段１０が、前後一対設けられて台車フレーム１６の前端部と後端部との夫々に固定状態に支持されている。
そして、図６に示すように、走行輪体９が、台車フレーム１６の左右中央部に回転自在に支持され、駆動手段１０が、走行輪体９の右側部と左側部との夫々に位置させる状態で台車フレーム１６に支持させた左右一対の走行用モータＭ１を備え、この左右一対の走行用モータＭ１にて１つの走行輪体９を回転駆動させるように構成されており、前後一対の２つの走行輪体９は４つの走行用モータＭ１にて回転駆動される。
図２、図５に示すように、台車フレーム１６は、走行輪体９並びに駆動手段１０を支持する前後一対の支持枠２５を連結枠１２にて接続して構成されている。また、連結枠１２は、走行レール２の横側方のそれぞれに位置する左右一対のフレーム部材１２ａにて構成されている。 Next, the traveling carriage 3 will be described.
As shown in FIG. 3, the traveling carriage 3 is provided with a pair of front and rear traveling wheels 9 that are driven to rotate by the driving means 10 and travel along the traveling rail 2. A carriage frame 16 in the traveling carriage 3 is provided. Further, the driving means 10 is supported in a fixed state and the traveling wheel body 9 is rotatably supported, and a pair of traveling wheel bodies 9 are provided on the front and rear ends of the carriage frame 16 respectively. A pair of front and rear driving means 10 are provided so as to be rotatable, and are supported in a fixed state on the front end portion and the rear end portion of the carriage frame 16.
Then, as shown in FIG. 6, the traveling wheel body 9 is rotatably supported by the left and right center portions of the carriage frame 16, and the driving means 10 is positioned on each of the right side portion and the left side portion of the traveling wheel body 9. A pair of left and right traveling motors M1 supported by the carriage frame 16 in a state is provided, and the pair of left and right traveling motors M1 are configured to rotationally drive one traveling wheel body 9. One traveling wheel body 9 is rotationally driven by four traveling motors M1.
As shown in FIGS. 2 and 5, the bogie frame 16 is configured by connecting a pair of front and rear support frames 25 that support the traveling wheel body 9 and the driving means 10 with a connecting frame 12. Further, the connecting frame 12 is constituted by a pair of left and right frame members 12 a located on the lateral sides of the traveling rail 2.

そして、支持枠２５の夫々が、左右中央部に前記走行輪体９を回転自在に支持し、右側部と左側部との夫々に前記走行用モータＭ１を固定状態に支持し、上部に前記支柱５の下端部が連結支持されるように構成されており、支持枠２５に走行輪体９や駆動手段１０が一体的に組み付けられて走行ドライブユニット１１が構成されている。   Each of the support frames 25 rotatably supports the traveling wheel body 9 at the left and right central portions, supports the traveling motor M1 in a fixed state on each of the right side portion and the left side portion, and the support column on the upper portion. 5 is configured to be connected and supported, and the traveling wheel unit 9 and the driving means 10 are integrally assembled to the support frame 25 to constitute the traveling drive unit 11.

次に、前記走行ドライブユニット１１について説明する。
図４〜７に示すように、走行ドライブユニット１１の夫々には、前記走行輪体９と前記駆動手段１０と前記支持枠２５との他に、前記駆動手段１０を覆うユニットカバー１９と、走行レール２に対して側方への移動が規制されるように接触して前記スタッカークレーンＡを走行レール２に沿って案内する案内輪体２０と、走行レール２に対して上方への移動が規制されるように接触して前記走行輪体９の走行レール２からの浮上を規制する規制輪体２１と、規制輪体２１を昇降操作して規制輪体２１の走行レール２に対する接触圧力を調節する倍力式の調節手段２４とが設けられている。
そして、走行輪体９の外周部には、ウレタンゴムにて構成された弾性体としての環状の走行用タイヤ部分９ａが取り付けられ、規制輪体２１の外周部にはウレタンゴムにて構成された環状の弾性体としての規制用タイヤ部分２１ａが取り付けられている。 Next, the traveling drive unit 11 will be described.
As shown in FIGS. 4 to 7, each traveling drive unit 11 includes, in addition to the traveling wheel body 9, the driving unit 10, and the support frame 25, a unit cover 19 that covers the driving unit 10, and a traveling rail. 2 and the guide wheel body 20 that guides the stacker crane A along the traveling rail 2 so that the lateral movement is restricted, and the upward movement with respect to the traveling rail 2 is restricted. The regulating wheel body 21 that regulates the floating of the traveling wheel body 9 from the traveling rail 2 and the regulating wheel body 21 is moved up and down to adjust the contact pressure of the regulating wheel body 21 to the traveling rail 2. A booster type adjusting means 24 is provided.
An annular traveling tire portion 9a as an elastic body made of urethane rubber is attached to the outer peripheral portion of the traveling wheel body 9, and the outer peripheral portion of the regulating wheel body 21 is made of urethane rubber. A restricting tire portion 21a as an annular elastic body is attached.

つまり、案内輪体２０の走行レール２の側面への接当により走行レール２に対して側方への移動が規制され、走行輪体９を駆動手段１０にて回転駆動させて前後方向視の断面形状がＴ字状に形成された走行レール２の上面を走行することにより、スタッカークレーンＡが走行レール２上をその走行レール２に沿って走行するように構成されている。そして、規制輪体２１の走行レール２の下面への接当により走行輪体９の走行レール２からの浮上を規制して、スタッカークレーンＡの加速や減速による走行輪体９の浮上が規制されて走行輪体９のスリップを防止するように構成されている。   In other words, the movement of the guide wheel 20 to the side of the travel rail 2 by the contact with the side surface of the travel rail 2 is restricted, and the travel wheel 9 is driven to rotate by the driving means 10 to be viewed in the front-rear direction. The stacker crane A is configured to travel on the traveling rail 2 along the traveling rail 2 by traveling on the upper surface of the traveling rail 2 having a T-shaped cross section. Then, the rising of the traveling wheel 9 from the traveling rail 2 is restricted by the contact of the restricted wheel 21 with the lower surface of the traveling rail 2, and the flying of the traveling wheel 9 due to acceleration or deceleration of the stacker crane A is restricted. In this way, the traveling wheel body 9 is prevented from slipping.

また、図５に示すように、支持枠２５の夫々に、前記昇降台４の案内ローラ８を昇降案内する延長案内レール２２が、支柱５の突条部５ａに連なる状態で備えられており、昇降台４がスタッカークレーンＡの下端近くまで下降可能に構成されている。   Further, as shown in FIG. 5, each of the support frames 25 is provided with an extended guide rail 22 for raising and lowering the guide roller 8 of the lifting platform 4 so as to be continuous with the protrusion 5 a of the column 5. The lifting platform 4 is configured to be able to descend to near the lower end of the stacker crane A.

図６に示すように、前記走行輪体９は、支持枠２５に左右方向の軸心周りに回転自在に支持され、前記駆動手段１０は、走行輪体９の横側部に位置するように前記支持枠２５に支持されている。そして、駆動手段１０は、支持枠２５の右側部と左側部との夫々に走行用モータＭ１を固定状態に支持し、この左右一対の走行用モータＭ１にて１つの走行輪体９を回転駆動させるように構成されている。尚、駆動手段１０には、図示しないが走行用モータＭ１の他に減速機構やブレーキ機構が備えられている。   As shown in FIG. 6, the traveling wheel body 9 is supported by a support frame 25 so as to be rotatable around an axis in the left-right direction, and the driving means 10 is positioned on a lateral side portion of the traveling wheel body 9. It is supported by the support frame 25. The driving means 10 supports the traveling motor M1 in a fixed state on each of the right and left sides of the support frame 25, and rotationally drives one traveling wheel body 9 with the pair of left and right traveling motors M1. It is configured to let you. Although not shown, the drive means 10 is provided with a speed reduction mechanism and a brake mechanism in addition to the traveling motor M1.

前記支持枠２５について説明を加えると、図４、図６に示すように、前記支持枠２５は、前記支柱５の下端部を支持する支持台部２５ａと、支持台部２５ａより下方に位置して走行輪体９や駆動手段１０を支持する左右一対の支持部２５ｂとを備えて構成されている。
そして、支持枠２５が支持台部２５ａに支柱５の下端部に備えられたフランジ部とボルトナットにより連結されており、走行輪体９の上端や駆動手段１０の上端より支柱５の下端が上方に位置するように支柱５が支持されている。
また、右側の支持部２５ｂと左側の支持部２５ｂとの間に前記走行輪体９が左右方向の軸心周りに回転自在に支持されている。そして、右側の支持部２５ｂと左側の支持部２５ｂとの夫々外面側には走行用モータＭ１が固定状態に支持されており、走行用モータＭ１の夫々が、その走行用モータＭ１の駆動軸と走行輪体９とが同一軸心上にて回転するように支持枠２５に設けられている。 The support frame 25 will be described below. As shown in FIGS. 4 and 6, the support frame 25 includes a support base portion 25 a that supports the lower end portion of the support column 5, and a lower portion than the support base portion 25 a. It is configured to include a pair of left and right support portions 25 b for supporting the running wheel body 9 and the drive means 10 located.
The supporting frame 25 is coupled by a flange portion and a bolt and nut provided at the lower end portion of the strut 5 to the support portion 25 a, the lower end of the column 5 from the upper end of the upper end and the drive means 10 of the running wheel body 9 The support column 5 is supported so as to be positioned above.
Also, is rotatably supported on the running wheel body 9 is the lateral direction of the axis around between the right support portion 25 b and the left support portion 25 b. The traveling motor M1 is fixedly supported on the outer surfaces of the right support portion 25b and the left support portion 25b, and each of the traveling motors M1 drives the traveling motor M1. The shaft and the traveling wheel body 9 are provided on the support frame 25 so as to rotate on the same axis.

図４、図７に示すように、前側の支持枠２５における左右一対の支持部２５ｂの後端部夫々と後側の支持枠２５における左右一対の支持部２５ｂの前端部夫々とに前記フレーム部材１２ａが連結されており、これにより前後一対の支持枠２５が連結枠１２にて接続されている。
また、前側の支持枠２５における左右一対の支持部２５ｂの前端部夫々と、後側の支持枠２５における左右一対の支持部２５ｂの後端部夫々とには、案内用支持体２３を介して案内輪体２０が縦方向の軸心周りに回転自在に支持されている。
そして、また、前側の支持枠２５における左右一対の支持部２５ｂの前後中央部夫々と、後側の支持枠２５における左右一対の支持部２５ｂの前後中央部夫々とには、調節手段２４を介して規制輪体２１が左右方向の軸心周りに回転自在に支持されている。 4, as shown in FIG. 7, the in the front end respectively of the pair of left and right support portions 25 b s in the pair of left and right support portions 25 b rear end respectively and the rear of the support frame 25 of the front support frame 25 The frame member 12 a is connected, and thereby a pair of front and rear support frames 25 are connected by the connection frame 12.
Further, a guide support 23 is provided on each of the front end portions of the pair of left and right support portions 25 b in the front support frame 25 and each of the rear end portions of the pair of left and right support portions 25 b in the rear support frame 25. Thus, the guide wheel body 20 is rotatably supported around the longitudinal axis.
Further, the adjusting means 24 is provided for each of the front and rear center portions of the pair of left and right support portions 25b in the front support frame 25 and each of the front and rear center portions of the pair of left and right support portions 25b of the rear support frame 25. The restricting ring body 21 is rotatably supported around the axis in the left-right direction.

前記規制輪体２１は、走行レール２に対して前記規制用タイヤ部分２１ａの弾性力にて接触圧力をもって接する状態に支持枠２５に支持されており、規制輪体２１が接触圧力をもって走行レール２の下面に接することによって走行輪体９の走行レール２からの浮上を規制するように構成されている。また、規制輪体２１は、走行ドライブユニット１１の夫々に昇降可能に支持されており、前記調節手段２４にて昇降操作されて規制用タイヤ部分２１ａが弾性変形することにより規制輪体２１の走行レール２に対する接触圧力が変圧調節されるように構成されている。   The restriction wheel body 21 is supported by the support frame 25 so as to be in contact with the traveling rail 2 with contact pressure by the elastic force of the restriction tire portion 21a, and the restriction wheel body 21 is contacted with the traveling rail 2 with contact pressure. Is configured to regulate the floating of the traveling wheel body 9 from the traveling rail 2. The restricting wheel body 21 is supported by each of the travel drive units 11 so as to be movable up and down, and the restricting tire portion 21a is elastically deformed by the lifting and lowering operation by the adjusting means 24, whereby the traveling wheel of the restricting wheel body 21 is supported. 2 is configured such that the contact pressure with respect to 2 is regulated.

前記調節手段２４について説明を加えると、図６、図８、図９に示すように、前記調節手段２４は、前記支持枠２５の右側の支持部２５ｂと左側の支持部２５ｂとの夫々の外面側に固定支持されたベースホルダ２６に左右方向の軸心周りに回転操作自在に支持された操作部材２７と、ベアリングを介して前後一対の規制輪体２１を回転自在に支持し且つ前記操作部材２７の回転軸心に対して偏心状態で揺動自在に操作部材２７に外嵌支持される支持部材２８とを備えて偏心カム機構による倍力式に構成されている。また、調節手段２４には、前記操作部材２７の回転を固定する固定状態と回転の固定を解除した固定解除状態とに切り換え可能なロック機構２９も備えられている。 Adding describes the adjusting means 24, 6, 8, 9, said adjusting means 24, each of the right support portion 25 b and the left support portion 25 b of the support frame 25 s A base holder 26 fixedly supported on the outer surface side of the control member 27 rotatably supports an operation member 27 supported so as to be rotatable around a left and right axis, and a pair of front and rear restricting wheel bodies 21 via a bearing. A support member 28 that is externally supported by the operation member 27 so as to be swingable in an eccentric state with respect to the rotation axis of the operation member 27 is configured to be a boost type by an eccentric cam mechanism. The adjusting means 24 is also provided with a lock mechanism 29 that can be switched between a fixed state in which the rotation of the operation member 27 is fixed and a fixed release state in which the rotation is released.

図９に示すように、支持部材２８の偏心カム機構は、その揺動軸心Ｙが操作部材２７の回転軸心Ｘと平行で且つこの回転軸心Ｘに対して偏心するように、支持部材２８の軸部２８ａが操作部材２７に外嵌支持されており、操作部材２７を回転軸心Ｘ周りに回転操作することにより、自重並びに走行レール２との接当により軸部２８ａが揺動軸心Ｙ周りに相対回転し、支持部材２８は姿勢を維持させながら回転軸心Ｘを中心に移動して支持部材２８が走行ドライブユニット１１に対して昇降するように構成されている。そして、このように支持部材２８が昇降することにより、支持部材２８に支持されている２つの規制輪体２１も走行ドライブユニット１１に対して昇降して、規制用タイヤ部分２１ａが走行レール２の下面との接当により弾性変形されて規制輪体２１の走行レール２の下面に対する接触圧力が変圧調節されるように構成されている。   As shown in FIG. 9, the eccentric cam mechanism of the support member 28 is configured so that the swing axis Y is parallel to the rotation axis X of the operation member 27 and is eccentric to the rotation axis X. The shaft portion 28a is externally supported by the operation member 27. When the operation member 27 is rotated around the rotation axis X, the shaft portion 28a is pivoted by its own weight and contact with the traveling rail 2. The support member 28 moves relative to the rotational axis X while maintaining the posture, and the support member 28 moves up and down with respect to the traveling drive unit 11. As the support member 28 moves up and down in this way, the two restricting wheel bodies 21 supported by the support member 28 also move up and down with respect to the traveling drive unit 11, and the restricting tire portion 21 a is the lower surface of the traveling rail 2. The contact pressure with respect to the lower surface of the traveling rail 2 of the restricted wheel 21 is subjected to transformation adjustment.

〔別実施の形態〕
（１） 上記実施の形態では、駆動手段１０にて回転駆動される走行輪体９を台車フレーム１６の前端部と後端部との前後一対設けたが、走行輪体９を台車フレーム１６の前端部或いは後端部のいずれか一方にだけ設けて、走行輪体９が設けられていない台車フレーム１６の前端部或いは後端部には遊転する従動輪体を設けるように構成してもよい。 [Another embodiment]
(1) In the above embodiment, the traveling wheel body 9 that is rotationally driven by the driving means 10 is provided in the front and rear pairs of the front end portion and the rear end portion of the carriage frame 16. It is also possible to provide a driven wheel body that is provided only at either the front end portion or the rear end portion, and that freely rotates at the front end portion or the rear end portion of the carriage frame 16 that is not provided with the traveling wheel body 9. Good.

（２） 上記実施の形態では、台車フレーム１６を前後一対の支持枠２５を連結枠１２にて接続して構成したが、台車フレーム１６を１つの枠体にて構成してもよい。
また、上記実施の形態では、走行輪体９や駆動手段１０を支持枠２５に支持させたが、走行輪体９や駆動手段１０を連結枠１２に支持させてもよい。 (2) In the above-described embodiment, the cart frame 16 is configured by connecting the pair of front and rear support frames 25 by the connecting frame 12, but the cart frame 16 may be configured by one frame.
In the above embodiment, the traveling wheel body 9 and the driving means 10 are supported by the support frame 25, but the traveling wheel body 9 and the driving means 10 may be supported by the connecting frame 12.

（３） 上記実施の形態では、支持枠２５の夫々が、上部に支柱５の下端部を連結支持するように構成したが、下部や前部や後部に支柱５の下端部を連結支持するように構成してもよく、また、台車フレーム１６に支柱５の下端部を連結支持するように構成してもよい。 (3) In the above embodiment, each of the support frames 25 is configured to connect and support the lower end portion of the support column 5 at the upper portion. However, the lower end portion of the support column 5 is connected to and supported by the lower portion, the front portion, and the rear portion. Alternatively, the lower end of the column 5 may be connected to and supported by the carriage frame 16.

（４） 上記実施の形態では、規制輪体２１を、走行レール２に対して弾性体２１ａの弾性力にて接触圧力をもって接する状態に支持枠２５に支持させたが、弾性体２１ａを設けずに走行レール２に対して接触圧力をもって接する状態に支持枠２５に支持させてもよい。 ( 4 ) In the above-described embodiment, the regulating wheel body 21 is supported by the support frame 25 so as to be in contact with the traveling rail 2 with the contact pressure by the elastic force of the elastic body 21a. However, the elastic body 21a is not provided. Alternatively, the support frame 25 may be supported so as to be in contact with the traveling rail 2 with contact pressure.

スタッカークレーンの側面図Side view of stacker crane 支柱の断面図Cross section of support 走行台車の側面図Side view of traveling cart 走行ドライブユニットの側面図Side view of traveling drive unit 走行ドライブユニットの正面図Front view of traveling drive unit 走行ドライブユニットの正面断面図Front sectional view of the drive unit 走行ドライブユニットの平面断面図Plan sectional view of traveling drive unit 調節手段の側面図Side view of adjusting means 調節機構の正面図Front view of adjustment mechanism

符号の説明Explanation of symbols

２ 走行レール
４ 昇降台
５ 支柱
５ａ 案内部
８ 被案内部
９ 走行輪体
１０ 駆動手段
１２ 連結枠
１６ 台車フレーム
２１ 規制輪体
２１ａ 弾性体
２５ 支持枠
Ａ スタッカークレーン
Ｍ１ 走行用モータ Reference Signs List 2 Traveling rail 4 Elevator 5 Strut 5a Guide section 8 Guided section 9 Traveling wheel body 10 Driving means 12 Connection frame 16 Bogie frame 21 Restriction wheel body 21a Elastic body 25 Support frame A Stacker crane M1 Motor for traveling

Claims (4)

台車フレームに、駆動手段が固定状態に支持され且つ前記駆動手段にて回転駆動されて走行レールに沿って走行する走行輪体が回転自在に支持されているスタッカークレーンであって、
前記走行輪体が、前記台車フレームの左右中央部に回転自在に支持され、
前記駆動手段が、前記走行輪体の右側部と左側部との夫々に位置させる状態で前記台車フレームに支持させた左右一対の走行用モータを備え、この左右一対の走行用モータにて１つの前記走行輪体を回転駆動させるように構成され、
前記台車フレームが、前記走行輪体及び前記駆動手段を支持する左右一対の支持部を備えて構成され、
前記走行輪体が、前記左右一対の支持部の間に左右方向の軸心周りに回転自在に支持され、
前記左右一対の走行用モータが、前記左右一対の支持部の夫々の外面側において固定状態に支持され、
前記走行用モータの夫々が、その走行用モータの駆動軸と前記走行輪体とが同一軸心上にて回転するように設けられ、
前記走行レールに対して上方への移動が規制されるように前記走行レールに対して、弾性体として前記走行輪体の外周部に取り付けた走行用タイヤ部分の弾性力にて、接触圧力をもって接する状態に前記台車フレームに支持されて、前記走行輪体の前記走行レールからの浮上を規制する規制輪体が前記走行レールの左右両側に設けられているスタッカークレーン。 A stacker crane in which a driving means is supported in a fixed state on a carriage frame, and a traveling wheel body that is rotationally driven by the driving means and travels along a traveling rail is rotatably supported,
The traveling wheel body is rotatably supported at the left and right center of the carriage frame,
The driving means includes a pair of left and right traveling motors supported by the carriage frame in a state of being positioned on the right side and the left side of the traveling wheel body, respectively. Configured to rotationally drive the traveling wheel body,
The cart frame is configured to include a pair of left and right support portions that support the traveling wheel body and the driving means,
The traveling wheel body is supported between the pair of left and right support portions so as to be rotatable around a horizontal axis.
The pair of left and right traveling motors are supported in a fixed state on the outer surface sides of the pair of left and right support portions,
Each of the travel motors is provided such that the drive shaft of the travel motor and the travel wheel rotate on the same axis,
The traveling rail is contacted with the contact pressure by the elastic force of the traveling tire portion attached to the outer peripheral portion of the traveling wheel body as an elastic body so that the upward movement of the traveling rail is restricted. A stacker crane that is supported by the bogie frame in a state and that is provided with restriction wheel bodies that restrict the floating of the traveling wheel body from the traveling rail, on both left and right sides of the traveling rail . 前記走行輪体が、前後一対設けられて前記台車フレームの前端部と後端部との夫々に回転自在に支持され、
前記駆動手段が、前後一対設けられて前記台車フレームの前端部と後端部との夫々に固定状態に支持されている請求項１記載のスタッカークレーン。 The traveling wheel body is provided in a pair of front and rear and is rotatably supported on each of a front end portion and a rear end portion of the carriage frame,
The stacker crane according to claim 1, wherein the driving means is provided in a pair of front and rear and is supported in a fixed state by a front end portion and a rear end portion of the carriage frame. 前記台車フレームが、前記走行輪体並びに前記駆動手段を支持する前後一対の支持枠を連結枠にて接続して構成されている請求項２記載のスタッカークレーン。   The stacker crane according to claim 2, wherein the carriage frame is configured by connecting a pair of front and rear support frames that support the traveling wheel body and the driving means with a connection frame. 昇降台に備えた被案内部を昇降案内する案内部を備えた前後一対の支柱が設けられ、
前記支持枠の夫々が、左右中央部に前記走行輪体を回転自在に支持し、右側部と左側部との夫々に前記走行用モータを固定状態に支持し、上部に前記支柱の下端部を連結支持するように構成されている請求項３記載のスタッカークレーン。 A pair of front and rear support columns provided with a guide unit for ascending and descending the guided part provided in the elevator platform are provided,
Each of the support frames rotatably supports the traveling wheel at the left and right center, supports the traveling motor in a fixed state on each of the right side and the left side, and has the lower end of the column on the top. The stacker crane according to claim 3, wherein the stacker crane is configured to be connected and supported.
JP2004262334A 2004-09-09 2004-09-09 Stacker crane Expired - Lifetime JP4556113B2 (en)

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