JPH0564109U - Stacker crane - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a stacker crane capable of smoothly loading and unloading a lift even if the traveling vehicle and the lift have low stop position accuracy. [Structure] In a stacker crane in which a slide fork 4 for loading and unloading a load to and from a shelf is provided on a lift table 3, a position adjusting means 10 for adjusting the position of the slide fork 4 is provided on the lift table 3. It is characterized by

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a stacker crane. In particular, the present invention relates to a stacker crane that can improve the cycle time during loading and unloading.

[0002]

[Prior Art]

 FIG. 3 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 a floor surface of a building. Reference numerals 2 and 2 are a pair of masts provided on the traveling 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 denotes a slide fork provided on the lift 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 lifting platform 3 is controlled to move up and down to a predetermined position, and the slide fork 4 of the lifting platform 3 moves back and forth to move the rack. It is designed to deliver cargo to and from.

[0005]

[Problems to be solved by the device]

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

The traveling of the traveling machine body 1 and the raising and lowering of the lifting platform are performed by a traveling motor and an ascending / descending motor provided inside the traveling machine body 1, respectively. Therefore, the stop position accuracy of the traveling machine body 1 and the lift position accuracy of the lift table 3 were low.

In order to improve the stop position accuracy, it takes a long time to position the traveling machine body 1 and the lifting platform, and the cycle time becomes long.

An object of the present invention is to solve the above problems and to provide a stacker crane capable of smoothly loading and unloading the lifting platform even if the stop position accuracy of the traveling body and the lifting platform is low. To provide.

[0009]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention provides a stacker crane having a slide fork for loading and unloading a load to and from a shelf, which is provided with a position adjusting means for adjusting the position of the slide fork. It is provided on the table.

[0010]

[Operation effect]

 Since the stacker crane of the present invention is configured as described above, it has the following operational effects.

That is, since the elevation table is provided with the position adjusting means, the position of the slide fork can be adjusted.

Therefore, according to the stacker crane of the present embodiment, even if the stop position accuracy of the traveling machine body and the lifting platform is low, the position of the slide fork can be adjusted accurately by the position adjusting means. It is possible to correct the displacement of the lifting platform, and it is possible to smoothly load and unload loads.

[0013]

【Example】

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

FIG. 1 (a) is a structural explanatory perspective view showing an embodiment of a stacker crane according to the present invention, FIG. 1 (b) is the same structural explanatory front view, and FIG. 1 (c) is a structural explanatory view of FIG. 1 (b). FIG. 2 is a front view of the lifting platform as viewed from the direction of arrow A.

In these drawings, 10 is a position adjusting means provided on the lifting table 3. The slide fork 4 is arranged above the position adjusting means 10. The position adjusting means 10 includes an up-down adjusting mechanism 20 and a left-right adjusting mechanism 30.

The vertical adjustment mechanism 20 includes a drive motor 21, a speed reducer 22, an interlocking portion 23, and a rod portion 24.

The drive motor 21 is rotatably supported by a support portion 33 a on a movable table 33 slidably provided on the lift table 3. The speed reducer 22 is connected to the drive motor 21. The output shaft 22a of the speed reducer 22 is threaded, and the output shaft 22a is screwed with the female screw of the interlocking portion 23. The interlocking portion 23 is rotatably supported by a support rod 23b provided over the rod 24.

The rod portion 24 has a pantograph structure composed of four rods 24, and is arranged between the moving table 33 and the slide fork 4. A rotatable roller 25 is provided at both ends of each rod 24, and as shown in FIG. 1C, a guide groove 33c and a guide groove 33c provided in a moving base 33 and a support base 44 of the slide fork 4 are The guide grooves 44a are engaged with each other.

As a result, when the drive motor 21 is driven, the output shaft 22a rotates, and the rod portion 24 expands and contracts in the vertical direction according to the rotating direction so that the slide fork 4 moves up and down. ing.

The left-right adjustment mechanism 30 includes a drive motor 31, a speed reducer 32, and supporting portions 33 b and 33 b of the moving table 33.

The speed reducer 32 is connected to the drive motor 31, and the output shaft 32a is threaded. Female screws are cut on the support portions 3b and 3b of the lift 3 and the output shaft 32a of the speed reducer 32 is screwed.

As a result, when the drive motor 31 is driven, the output shaft 32a rotates, and the movable table 33 moves in the left-right direction X in correspondence with the rotating direction.

The drive control of the drive motor 21 and the drive motor 31 is performed by a drive control unit (not shown) detecting a displacement of the lift table by a photo sensor or the like.

Next, the operation of the stacker crane having the above configuration will be described with reference to FIG.

When the elevating table 3 stops at a predetermined rack T 1 due to the traveling of the traveling machine body 1 and the elevating table 3 ascending / descending, a position shift of the elevating table with respect to the rack T 2 is detected by a sensor not shown.

When it is detected that the lift table 3 is displaced in the forward / backward movement direction of the traveling machine body 1, that is, in the x direction in FIG. 3, the control unit (not shown) drives the adjustment mechanism 30 in the left / right direction. The motor 31 is driven and the position of the slide fork 4 in the left-right direction is adjusted.

When it is detected that the lift table 3 is displaced in the vertical movement direction of the lift table 3, that is, in the y direction in FIG. 3, the controller (not shown) drives the vertical adjustment mechanism 20. The motor 21 is driven and the vertical position of the slide fork 4 is adjusted.

As described above, according to the stacker crane of the present embodiment, even if the traveling machine body 1 and the lifting platform 3 are displaced and stopped, the slide fork 4 can be precisely adjusted by the position adjusting means 10. Since it is possible to correct the positional deviation of the lifting platform 3, the load W can be smoothly taken in and out.

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

[Brief description of drawings]

1A is a structural explanatory perspective view showing an embodiment of a stacker crane according to the present invention, FIG. 1B is a similar structural explanatory front view, and FIG. 1C is a view seen from an arrow A in FIG. 1B.

FIG. 2 is a front view of a lift.

FIG. 3 is a schematic front view showing a conventional stacker crane.

[Explanation of symbols]

 3 Lifting table 4 Slide fork 10 Position adjusting means

Claims (1)

[Scope of utility model registration request] 1. A stacker crane having a slide fork for loading and unloading a load to and from a shelf, the stacker crane being provided with position adjusting means for adjusting the position of the slide fork. A stacker crane.