JP2009274779A - Container retaining device of reach stacker - Google Patents

Container retaining device of reach stacker Download PDF

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JP2009274779A
JP2009274779A JP2008125350A JP2008125350A JP2009274779A JP 2009274779 A JP2009274779 A JP 2009274779A JP 2008125350 A JP2008125350 A JP 2008125350A JP 2008125350 A JP2008125350 A JP 2008125350A JP 2009274779 A JP2009274779 A JP 2009274779A
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container
boom
turning
spreader
posture
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JP5213516B2 (en
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Tatsuo Sato
達夫 佐藤
Koji Ichinose
浩司 一ノ瀬
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TCM Corp
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TCM Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To enable a spreader or a container to be positioned along the direction of vehicle width while in a certain turning attitude and to enable a container to be accurately held or stacked while in a certain turning attitude. <P>SOLUTION: A boom 4 is provided at a self-propelled vehicle body 1 in such a way as to be vertically oscillatable and capable of expansion and contraction. A top boom 4a which can move into and out of the boom 4 toward its tip side is provided with a spreader 7 which can hold a container via an attitude adjusting mechanism 10. At the attitude adjusting mechanism 10, a longitudinal tilting device 11 capable of oscillating longitudinally about a horizontal axis, a side shifting device 12 capable of shifting horizontally, and a turning device 13 capable of turning about a vertical axis are disposed between the top boom 4a and the spreader 7 from the side of the top boom 4a. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、自走式の車両本体に上下方向に揺動自在でかつ伸縮自在なブームを設け、このブームから先端側に出退自在なトップブームに、姿勢調整機構を介して荷保持具を設けたリーチスタッカのコンテナ保持装置に関する。   According to the present invention, a self-propelled vehicle body is provided with a boom that is swingable in the vertical direction and telescopic, and a load holding tool is attached to the top boom that can be moved back and forth from the boom via a posture adjusting mechanism. The present invention relates to a container holding device for a reach stacker provided.

たとえば特許文献１に示されるリーチスタッカは、前部および後部にそれぞれ左右一対の走行車輪を有する自走式の車両本体に、後部から前方に伸びて傾動シリンダにより上下方向に揺動される伸縮式ブームを設け、前記ブームから先端側に出退されるトップブームに、車幅方向のピンを介して前後方向に揺動自在な傾動機構を設け、この傾動機構の傾動部材に、垂直方向の軸心周りに旋回自在な旋回機構を設け、この旋回機構の旋回部材に車幅方向に移動自在なサイドシフト機構を設け、このサイドシフト機構のシフト部材にスプレッダを設け、このスプレッダによりコンテナを保持するように構成したものである。   For example, a reach stacker disclosed in Patent Document 1 is a telescopic vehicle body that has a pair of left and right traveling wheels at the front and rear, respectively, and extends forward from the rear and is swung up and down by a tilting cylinder. A boom is provided, and a tilt mechanism that is swingable in the front-rear direction via a pin in the vehicle width direction is provided on the top boom that is withdrawn from the boom to the front end side, and a vertical axis is provided on the tilt member of the tilt mechanism. A turning mechanism that can turn around the center is provided, and a side shift mechanism that is movable in the vehicle width direction is provided on the turning member of the turning mechanism. A spreader is provided on the shift member of the side shift mechanism, and the container is held by the spreader. It is comprised as follows.

そして、スプレッダによりコンテナを保持し、ブームを伸縮および揺動してコンテナを持ち上げ、車両本体を移動してこのコンテナを、目的とするコンテナヤードやコンテナ上に積み付ける。この時、傾動機構によりコンテナの傾斜姿勢を調整するとともに、旋回機構によりコンテナの旋回姿勢を調整し、さらにサイドシフト機構により車幅方向に位置決めし、コンテナを降下させて積み付けを行っている。
特開２００５−９６９６６号公報 Then, the container is held by the spreader, the boom is expanded and contracted and lifted to lift the container, the vehicle main body is moved, and the container is stacked on a target container yard or container. At this time, the inclination posture of the container is adjusted by the tilting mechanism, the turning posture of the container is adjusted by the turning mechanism, and the container is positioned in the vehicle width direction by the side shift mechanism, and the container is lowered and stacked.
JP 2005-96966 A

しかし、コンテナヤードの関係などで、車両本体の前後方向に向く旋回姿勢のコンテナを保持したり、また前後方向に向く旋回姿勢のコンテナ上に、コンテナを積み付ける場合がある。この場合、従来構成では、旋回機構によりスプレッダを９０°旋回してスプレッダを前後方向に向けると、サイドシフト機構よりコンテナが前後方向にのみシフトされるため、コンテナを車幅方向に位置合わせすることができない。これにより、前後方向に向く旋回姿勢のコンテナの積み付け作業や保持作業が困難になったり、積み付け精度が低下するという問題があった。   However, there is a case where a container with a turning posture facing the front-rear direction of the vehicle body is held or a container is stacked on a container with a turning posture facing the front-rear direction due to the container yard. In this case, in the conventional configuration, when the spreader is turned 90 ° by the turning mechanism and the spreader is turned in the front-rear direction, the container is shifted only in the front-rear direction by the side shift mechanism, so that the container is aligned in the vehicle width direction. I can't. As a result, there has been a problem that it is difficult to stack and hold containers in a turning posture facing in the front-rear direction, and the stacking accuracy is reduced.

本発明は上記問題点を解決して、コンテナの旋回姿勢に関係なくコンテナ（スプレッダ）を車幅方向に位置合わせが可能で、任意な旋回姿勢のコンテナの積み付け作業や保持作業を精度良く迅速に行うことができるリーチスタッカのコンテナ保持装置を提供することを目的とする。   The present invention solves the above-mentioned problems, and can position the container (spreader) in the vehicle width direction regardless of the turning posture of the container, and can quickly and accurately load and hold containers with any turning posture. It is an object of the present invention to provide a container holding device for reach stacker that can be performed in the same manner.

請求項１記載の発明は、自走式の車両本体(1)にブーム(4)を上下方向に揺動自在でかつ伸縮自在に設け、ブーム(4)から先端側に出退自在なトップブーム(4a)に姿勢調整機構(10)を介してコンテナ保持具(7)を設けたリーチスタッカのコンテナ保持装置であって、前記姿勢調整機構(10)は、トップブーム(4a)とコンテナ保持具(7)との間に、トップブーム(4a)側から順に、車幅方向の水平軸心周りに揺動自在な前後傾動装置(11)と、水平方向にシフト自在なサイドシフト装置(12)と、垂直軸心周りに回転自在な旋回装置(13)とが配設されたものである。   According to the first aspect of the present invention, a boom (4) is provided on a self-propelled vehicle body (1) so as to be swingable in a vertical direction and extendable and retractable. (4a) is a reach stacker container holding device provided with a container holder (7) via a posture adjustment mechanism (10), the posture adjustment mechanism (10) comprising a top boom (4a) and a container holder (7), in order from the top boom (4a) side, the forward / backward tilt device (11) swingable around the horizontal axis in the vehicle width direction and the side shift device (12) freely shiftable in the horizontal direction And a turning device (13) rotatable around a vertical axis.

なお、括弧内の符号は、実施の形態の構成部材に対応する符号を示す。   In addition, the code | symbol in a parenthesis shows the code | symbol corresponding to the structural member of embodiment.

請求項１記載の発明によれば、車幅方向のコンテナはもちろん、コンテナを車両本体の前後方向の旋回姿勢で保持したり積み付ける場合など、どのような旋回姿勢であっても、サイドシフト装置によりコンテナ保持具（コンテナ）を車幅方向にシフトさせて位置合わせすることができるので、従来に車幅方向の位置合わせが困難であった前後方向に向く旋回姿勢のコンテナの保持作業や積み付け作業を容易に行うことができる。したがって、任意な旋回姿勢のコンテナを、精度良くかつ迅速に保持したり、積み付けることができ、作業の幅が広がって作業能力を向上させることができる。   According to the first aspect of the present invention, the side shift device can be used in any turning posture, such as when the container is held or stacked in the turning posture in the front-rear direction of the vehicle body as well as the container in the vehicle width direction. The container holder (container) can be shifted and aligned in the vehicle width direction by using the Work can be done easily. Therefore, containers having an arbitrary turning posture can be held and stacked with high accuracy and speed, and the work width can be widened to improve work ability.

以下、本発明の実施の形態を図面に基づいて説明する。
［実施の形態１］
図２〜図４に示すように、左右一対の前輪２Ｆと左右一対の後輪２Ｒとを有する自走式の車両本体１の後部に、ブーム支持部３が設けられており、このブーム支持部３に、車幅方向の支軸３ａを介して前方に伸びるブーム４が上下方向に揺動自在でかつ伸縮自在に支持されている。そしてこのブーム４は、左右一対の傾動シリンダ５により上下方向に揺動され、また内装された伸縮シリンダ（図示せず）によりトップブーム４ａが先端側に出退されて伸縮自在に構成されている。また車両本体１上には、操縦席を収容したキャビン６が、良好な視界を確保できるように、車両本体１の前後方向に移動自在に配置されている。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Embodiment 1]
As shown in FIGS. 2 to 4, a boom support portion 3 is provided at the rear portion of the self-propelled vehicle main body 1 having a pair of left and right front wheels 2 </ b> F and a pair of left and right rear wheels 2 </ b> R. 3, a boom 4 extending forward via a support shaft 3a in the vehicle width direction is supported so as to be swingable in the vertical direction and extendable. The boom 4 is swingable in the vertical direction by a pair of left and right tilt cylinders 5, and the top boom 4 a is extended and retracted to the front end side by a built-in telescopic cylinder (not shown). . On the vehicle main body 1, a cabin 6 accommodating a cockpit seat is disposed so as to be movable in the front-rear direction of the vehicle main body 1 so as to ensure a good field of view.

前記トップブーム４ａに、姿勢調整機構１０を介してコンテナを保持可能なコンテナ保持具であるスプレッダ７が設けられている。このスプレッダ７は、本体部７ａの両側部にスライドブーム７ｂを介して保持部材７ｃが出退自在に配設され、左右の保持部材７ｃの前後両側に、ロック爪をコンテナ四隅の係合穴に係合してコンテナを保持可能なツイストロック装置８が設けられている。また、本体部７ａには、左右のスライドブーム７ｂを介して保持部材７ｃをそれぞれ出退可能な位置決めシリンダ７ｄが内装され、これら位置決めシリンダ７ｄにより、コンテナの大きさに対応して保持部材７ｃを出退させてツイストロック装置８の位置をコンテナの係合穴に合わせて調整することができる。   The top boom 4 a is provided with a spreader 7 that is a container holder that can hold a container via the posture adjusting mechanism 10. The spreader 7 is provided with a holding member 7c on both sides of the main body 7a through a slide boom 7b so that the holding member 7c can be retracted and retracted on both front and rear sides of the left and right holding members 7c. A twist lock device 8 that can be engaged to hold the container is provided. Further, the main body 7a is provided with positioning cylinders 7d in which the holding members 7c can be withdrawn and retracted via the left and right slide booms 7b, respectively. The position of the twist lock device 8 can be adjusted according to the engagement hole of the container by withdrawing and withdrawing.

前記姿勢調整機構１０は、図１に示すように、トップブーム４ａとスプレッダ７との間に、トップブーム４ａから順に、車幅方向の吊下ピン１４を中心にスプレッダ７を前後に揺動可能な前後傾動装置１１と、スプレッダ７を水平方向にスライド可能なサイドシフト装置１２と、スプレッダ７を垂直方向の軸心周りに旋回可能な旋回装置１３とが配設されている。   As shown in FIG. 1, the posture adjusting mechanism 10 can swing the spreader 7 back and forth between the top boom 4a and the spreader 7 in order from the top boom 4a around the suspension pin 14 in the vehicle width direction. A forward / backward tilting device 11, a side shift device 12 capable of sliding the spreader 7 in the horizontal direction, and a turning device 13 capable of turning the spreader 7 around the vertical axis are disposed.

前後傾動装置１１は、トップブーム４ａ先端の吊下フレーム２１に、左右一対の吊下ブラケット２１ａが設けられており、これら吊下ブラケット２１ａに、サイドシフト装置１２のスライド支持枠２２に設けられた受ブラケット２２ａが吊下ピン１４を介して連結され、サイドシフト装置１２が吊下ピン１４を中心に前後方向に揺動自在に支持されている。そして、吊下フレーム２１の左右両側に設けられた前後傾動シリンダ２３のピストンロッドが、受ブラケット２２ａの受動部２２ｂにピン連結され、これら前後傾動シリンダ２３によりサイドシフト装置１２のスライド支持枠２２が吊下ピン１４を中心に前後方向に揺動され傾斜角が調整される。   The front / rear tilting device 11 is provided with a pair of left and right suspension brackets 21a on a suspension frame 21 at the tip of the top boom 4a. The suspension bracket 21a is provided on a slide support frame 22 of the side shift device 12. The receiving bracket 22a is connected via the suspension pin 14, and the side shift device 12 is supported so as to be swingable in the front-rear direction around the suspension pin 14. The piston rods of the front and rear tilt cylinders 23 provided on the left and right sides of the suspension frame 21 are pin-connected to the passive portion 22b of the receiving bracket 22a, and the slide support frame 22 of the side shift device 12 is supported by the front and rear tilt cylinders 23. The tilt angle is adjusted by swinging back and forth about the suspension pin 14.

サイドシフト装置１２は、スライド支持枠２２と、このスライド支持枠２２にスライド自在に支持されたシフトブーム２４と、シフトブーム２４をスライドさせるシフトシリンダ２５とを具備している。スライド支持枠２２は、前後の下辺部下端にガイド部２２ｃが内側に折り曲げられたチャンネル形断面に形成され、左右のガイド部２２ｃによりシフトブーム２４が車幅方向にスライド自在に支持されている。このシフトブーム２４の前後側面には、車幅方向に沿うシフトレール２４ａがそれぞれ突設されており、シフトレール２４ａがローラやベアリングなどのガイド部材を介してガイド部２２ｃにスライド自在に案内支持されている。またスライド支持枠２２の左端の端部ブラケット２２ｄとシフトブーム２４の左端ブラケット２４ｃとの間にシフトシリンダ２５が連結され、シフトシリンダ２５によりシフトブーム２４をスライドさせることができる。   The side shift device 12 includes a slide support frame 22, a shift boom 24 that is slidably supported by the slide support frame 22, and a shift cylinder 25 that slides the shift boom 24. The slide support frame 22 is formed in a channel-shaped cross section in which a guide portion 22c is bent inwardly at the lower ends of the front and rear lower side portions, and the shift boom 24 is slidably supported in the vehicle width direction by the left and right guide portions 22c. Shift rails 24a extending in the vehicle width direction are respectively provided on the front and rear side surfaces of the shift boom 24, and the shift rail 24a is slidably guided and supported by the guide portion 22c via guide members such as rollers and bearings. ing. A shift cylinder 25 is connected between the left end bracket 22 d of the slide support frame 22 and the left end bracket 24 c of the shift boom 24, and the shift boom 24 can be slid by the shift cylinder 25.

旋回装置１３は、シフトブーム２４に設けられた旋回支持体２６と、この旋回支持体２６に垂直軸心周りに回転自在に嵌合された旋回台２７と、この旋回台２７を回転駆動する旋回駆動装置２８を具備している。前記旋回支持体２６は、シフトブーム２４の下面中央に設けられた取付板２４ｂに連結される支持板２６ａと、支持板２６ａに垂設された支持筒２６ｂとを有し、また旋回台２７はスプレッダ７の本体部７ａの上面中央部に立設されている。さらに旋回駆動装置２８は、旋回支持体２６に設けられた旋回モータ２８ａと、旋回台２７の外周部に取り付けられたリングギヤと、旋回モータ２８ａにより回転駆動されてリングギヤに噛み合うピニオンからなり、旋回モータ２８ａにより旋回台２７を介してスプレッダ７を旋回させることができる。   The swivel device 13 includes a swivel support body 26 provided on the shift boom 24, a swivel base 27 fitted to the swivel support body 26 so as to be rotatable around a vertical axis, and a swivel for rotationally driving the swivel base 27. A driving device 28 is provided. The swivel support 26 has a support plate 26a connected to a mounting plate 24b provided at the center of the lower surface of the shift boom 24, and a support cylinder 26b suspended from the support plate 26a. The spreader 7 is erected at the center of the upper surface of the main body 7 a. Further, the turning drive device 28 includes a turning motor 28a provided on the turning support 26, a ring gear attached to the outer peripheral portion of the turning table 27, and a pinion that is rotationally driven by the turning motor 28a and meshes with the ring gear. The spreader 7 can be swung via the swivel 27 by 28a.

前記姿勢調整機構１０における駆動源の配管配線装置は、図１に示すように、トップブーム４ａの電源ケーブルＥおよび油圧配管Ｐが、吊下フレーム２１から変形自在なフレキシブルガイド３１を介してスライド支持枠２２に導入され、さらにスライド支持枠２２からケーブル直線案内装置３２を介してシフトブーム２４に導入されている。また旋回装置１３において、電源ケーブルＥが支持筒２６ｂからケーブル円弧案内装置３３を介して旋回台２７に導入され、さらにスプレッダ７の各ツイストロック装置８の駆動部に接続されている。さらに油圧配管Ｐは、旋回支持体２６から旋回装置１３の垂直軸心位置に設けられたスイベルジョイント３４を介してスプレッダ７に導入され、位置決めシリンダ７ｄにそれぞれ接続されている。   As shown in FIG. 1, the power supply cable E and the hydraulic piping P of the top boom 4a are slidably supported via a flexible guide 31 that can be deformed from the suspension frame 21, as shown in FIG. It is introduced into the frame 22 and further introduced into the shift boom 24 from the slide support frame 22 via the cable linear guide device 32. Further, in the turning device 13, the power cable E is introduced from the support cylinder 26 b to the turning table 27 via the cable arc guide device 33, and further connected to the drive unit of each twist lock device 8 of the spreader 7. Further, the hydraulic pipe P is introduced from the turning support body 26 to the spreader 7 via the swivel joint 34 provided at the vertical axis position of the turning device 13, and is connected to the positioning cylinder 7d.

上記構成において、車幅方向のコンテナを保持したり、コンテナを車幅方向に積み付ける場合には、従来と同様、旋回装置１３によりスプレッダ７（コンテナ）の旋回姿勢を調整するとともに、サイドシフト装置１３により目的のコンテナとスプレッダ７（コンテナ）とを車幅方向に位置合わせし、前後傾動装置１１により前後方向の傾斜姿勢を修正してスプレッダ７（コンテナ）を降下させればよい。   In the above configuration, when holding the container in the vehicle width direction or stacking the container in the vehicle width direction, the turning posture of the spreader 7 (container) is adjusted by the turning device 13 and the side shift device as in the conventional case. The target container and the spreader 7 (container) may be aligned in the vehicle width direction by 13 and the spreader 7 (container) may be lowered by correcting the tilting posture in the front-rear direction by the front-back tilting device 11.

また図４に示すように、前後方向に向く旋回姿勢のコンテナを保持する場合や、前後方向に向く旋回姿勢にコンテナを積み付ける場合には、旋回装置１３によりスプレッダ７（コンテナ）を９０°旋回して前後方向に向け、サイドシフト装置１２によりスプレッダ７（コンテナ）と目的のコンテナとを車幅方向にシフトして位置合わせし、さらに前後傾動装置１１によりスプレッダ７（コンテナ）を揺動して前後方向の傾斜角を修正し、スプレッダ７（コンテナ）を降下させてコンテナヤードまたはコンテナの上面に積み付ける。   In addition, as shown in FIG. 4, when holding a container in a turning posture that faces in the front-rear direction or when stacking containers in a turning posture in the front-rear direction, the spreader 7 (container) is turned 90 ° by the turning device 13. Then, the spreader 7 (container) and the target container are shifted and aligned in the vehicle width direction by the side shift device 12 in the front-rear direction, and the spreader 7 (container) is swung by the front-back tilt device 11. The inclination angle in the front-rear direction is corrected, and the spreader 7 (container) is lowered and stacked on the container yard or the upper surface of the container.

上記実施の形態によれば、姿勢調整機構１０に、前後傾動装置１１、サイドシフト装置１２、旋回装置１３の順に配置してスプレッダ７の姿勢を調整可能としたので、車幅方向のコンテナはもちろん、前後方向を含むあらゆる旋回姿勢のコンテナを保持する場合や積み付ける場合であっても、サイドシフト装置１２によりスプレッダ７やコンテナを車幅方向に位置合わせすることができる。したがって、任意な姿勢のコンテナに対して精度良く迅速に保持および積み付けることができ、作業の幅が広がって、作業能力を向上させることができる。   According to the above embodiment, the posture adjustment mechanism 10 is arranged in the order of the front / rear tilt device 11, the side shift device 12, and the turning device 13 so that the posture of the spreader 7 can be adjusted. Even when holding or stacking containers in any turning posture including the front-rear direction, the spreader 7 and the containers can be aligned in the vehicle width direction by the side shift device 12. Accordingly, the container can be held and stacked with high accuracy and quickly on a container in an arbitrary posture, the work width can be expanded, and the work ability can be improved.

本発明に係るリーチスタッカのコンテナ保持装置の実施の形態を示し、姿勢調整機構を示す分解斜視図である。It is an exploded perspective view showing an embodiment of a container holding device of a reach stacker concerning the present invention, and showing an attitude adjustment mechanism. 車幅方向コンテナの積み付け作業を示すリーチスタッカの側面図である。It is a side view of the reach stacker which shows the loading operation | work of a vehicle width direction container. リーチスタッカの正面図である。It is a front view of a reach stacker. リーチスタッカの平面図である。It is a top view of a reach stacker. 前後方向に向く旋回姿勢のコンテナの積み付け作業を示すリーチスタッカの側面図である。It is a side view of the reach stacker which shows the stacking operation | work of the container of the turning posture which faces to the front-back direction.

符号の説明Explanation of symbols

１ 車両本体
２Ｆ 前輪
２Ｒ 後輪
３ ブーム支持部
３ａ 支軸
４ ブーム
４ａ トップブーム
５ 傾動シリンダ
７ スプレッダ
８ ツイストロック装置
１０ 姿勢調整機構
１１ 前後傾動装置
１２ サイドシフト装置
１３ 旋回装置
２１ 吊下フレーム
２２ スライド支持枠
２３ 前後傾動シリンダ
２４ シフトブーム
２５ シフトシリンダ
２６ 旋回支持体
２７ 旋回台
２８ 旋回駆動装置
２８ａ 旋回モータ
３１ フレキシブルガイド
３２ ケーブル直線案内装置
３３ ケーブル円弧案内装置
３４ スイベルジョイント DESCRIPTION OF SYMBOLS 1 Vehicle main body 2F Front wheel 2R Rear wheel 3 Boom support part 3a Support shaft 4 Boom 4a Top boom 5 Tilt cylinder 7 Spreader 8 Twist lock device 10 Posture adjustment mechanism 11 Front and rear tilt device 12 Side shift device 13 Swing device 21 Suspension frame 22 Slide Support frame 23 Front / rear tilt cylinder 24 Shift boom 25 Shift cylinder 26 Turning support 27 Turning base 28 Turning drive device 28a Turning motor 31 Flexible guide 32 Cable linear guide device 33 Cable arc guide device 34 Swivel joint

Claims (1)

自走式の車両本体にブームを上下方向に揺動自在でかつ伸縮自在に設け、ブームの先端側から出退自在なトップブームに姿勢調整機構を介してコンテナ保持具を設けたリーチスタッカのコンテナ保持装置であって、
前記姿勢調整機構は、トップブームとコンテナ保持具との間に、トップブーム側から順に、車幅方向の水平軸心周りに揺動自在な前後傾動装置と、水平方向にシフト自在なサイドシフト装置と、垂直軸心周りに回転自在な旋回装置とが配設された
ことを特徴とするリーチスタッカのコンテナ保持装置。 Reach stacker container with a boom mounted on a self-propelled vehicle body that can swing vertically and telescopically, and a top boom that can be moved back and forth from the tip of the boom with a container holder via a posture adjustment mechanism A holding device,
The posture adjusting mechanism includes a front / rear tilt device that is swingable around a horizontal axis in the vehicle width direction and a side shift device that is horizontally shiftable between the top boom and the container holder in order from the top boom side. And a reach stacker container holding device, characterized in that a swiveling device rotatable around a vertical axis is disposed.
JP2008125350A 2008-05-13 2008-05-13 Reach stacker container holding device Active JP5213516B2 (en)

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JP2009274779A true JP2009274779A (en) 2009-11-26
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020086077A1 (en) * 2018-10-23 2020-04-30 Independent Rough Terrain Center Llc Container handling vehicle having an articulable lifting unit
CN111153352A (en) * 2020-03-02 2020-05-15 上海亿锤机械科技有限公司 Novel energy-saving stacker lifting appliance, stacker and stacker side-shifting method
SE2050351A1 (en) * 2020-03-30 2021-10-01 Elme Spreader Ab Spreader, container handling equipment comprising spreader, and method of lifting a transport container

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Publication number Priority date Publication date Assignee Title
JPH0614193U (en) * 1992-07-21 1994-02-22 東洋運搬機株式会社 Cargo handling vehicle
JPH10194665A (en) * 1997-01-08 1998-07-28 Toshiba Corp Hoisting device
JP2005096966A (en) * 2003-09-26 2005-04-14 Mitsubishi Heavy Ind Ltd Controller for large-sized industrial vehicle
JP2006321598A (en) * 2005-05-18 2006-11-30 Nippon Yusoki Co Ltd Three-direction stacking truck

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0614193U (en) * 1992-07-21 1994-02-22 東洋運搬機株式会社 Cargo handling vehicle
JPH10194665A (en) * 1997-01-08 1998-07-28 Toshiba Corp Hoisting device
JP2005096966A (en) * 2003-09-26 2005-04-14 Mitsubishi Heavy Ind Ltd Controller for large-sized industrial vehicle
JP2006321598A (en) * 2005-05-18 2006-11-30 Nippon Yusoki Co Ltd Three-direction stacking truck

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020086077A1 (en) * 2018-10-23 2020-04-30 Independent Rough Terrain Center Llc Container handling vehicle having an articulable lifting unit
CN111153352A (en) * 2020-03-02 2020-05-15 上海亿锤机械科技有限公司 Novel energy-saving stacker lifting appliance, stacker and stacker side-shifting method
CN111153352B (en) * 2020-03-02 2023-09-22 上海亿锤机械科技有限公司 Novel energy-saving stacker lifting appliance, stacker and side shifting method of stacker
SE2050351A1 (en) * 2020-03-30 2021-10-01 Elme Spreader Ab Spreader, container handling equipment comprising spreader, and method of lifting a transport container
WO2021201746A1 (en) * 2020-03-30 2021-10-07 Elme Spreader Ab Spreader, container handling equipment comprising spreader, and method of lifting a transport container
SE544521C2 (en) * 2020-03-30 2022-06-28 Elme Spreader Ab Spreader, container handling equipment comprising spreader, and method of lifting a transport container

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