U.S. patent number 10,239,741 [Application Number 15/784,231] was granted by the patent office on 2019-03-26 for suspension-type stacker crane.
This patent grant is currently assigned to MURATA MACHINERY, LTD.. The grantee listed for this patent is MURATA MACHINERY, LTD.. Invention is credited to Junichi Masuda, Akito Tai.
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United States Patent |
10,239,741 |
Masuda , et al. |
March 26, 2019 |
Suspension-type stacker crane
Abstract
A suspension stacker crane includes an upper truck frame, a pair
of mast units, a transferring device, and an upper base. The upper
truck frame includes driving trucks arranged side by side in a
travelling direction, and a bogie structure that couples the
driving trucks. Each of the pair of mast units is suspended from
the bogie structure, and includes a lifting drive motor and a
lifting drive transmission. The pair of mast units is arranged side
by side in the travelling direction. The transferring device is
driven to be lifted or lowered by the lifting drive motor and the
lifting drive transmission. The upper base links the pair of mast
units.
Inventors: |
Masuda; Junichi (Inuyama,
JP), Tai; Akito (Inuyama, JP) |
Applicant: |
Name |
City |
State |
Country |
Type |
MURATA MACHINERY, LTD. |
Kyoto-shi, Kyoto |
N/A |
JP |
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Assignee: |
MURATA MACHINERY, LTD. (Kyoto,
JP)
|
Family
ID: |
61970922 |
Appl.
No.: |
15/784,231 |
Filed: |
October 16, 2017 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20180111754 A1 |
Apr 26, 2018 |
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Foreign Application Priority Data
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Oct 26, 2016 [JP] |
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2016-209306 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B65G
1/0421 (20130101); B66F 9/07 (20130101); B66F
9/122 (20130101); B66F 9/08 (20130101); B66F
9/072 (20130101); B66F 9/0755 (20130101); B66F
9/24 (20130101); B65G 2201/0235 (20130101) |
Current International
Class: |
B66F
9/07 (20060101); B65G 1/04 (20060101); B66F
9/075 (20060101); B66F 9/24 (20060101); B66F
9/12 (20060101); B66F 9/08 (20060101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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2007-070086 |
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Mar 2007 |
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JP |
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2010-235300 |
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Oct 2010 |
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JP |
|
Primary Examiner: Kuhfuss; Zachary L
Attorney, Agent or Firm: Keating & Bennett, LLP
Claims
What is claimed is:
1. A suspension stacker crane comprising: a truck frame that
includes a plurality of driving trucks arranged side by side in a
travelling direction, and a bogie coupler that couples the
plurality of driving trucks; a pair of mast units that are each
suspended from the bogie coupler, each of the pair of mast units
including a lifting drive motor and a lifting drive transmission,
and the pair of mast units are arranged side by side in the
travelling direction; a transferring device that is driven to be
lifted or lowered by the lifting drive motor and the lifting drive
transmission; and a link that links the pair of mast units; wherein
the bogie coupler includes a pair of first bogies that are arranged
side by side in front and back positions in the travelling
direction, each of the first bogies included in the pair of first
bogies couple two of the plurality of driving trucks that are front
and back driving trucks; the bogie coupler includes a second bogie
that couples the pair of first bogies; and a pivotal support
structure that is included in the pair of first bogies and
pivotally supports one of the plurality of driving trucks around a
vertical axis; and a pivotal support structure that is included in
the second bogie pivotally supports one of the first bogies
included in the pair of first bogies.
2. The suspension stacker crane according to claim 1, wherein one
of the pair of mast units includes a mast and a control panel
mounted on the mast.
3. The suspension stacker crane according to claim 1, wherein the
bogie coupler includes three first bogies that are arranged side by
side in front, middle, and back positions in the travelling
direction, each of the three first bogies couple two of the
plurality of driving trucks arranged side by side in front and back
positions in the travelling direction; the second bogie couples two
out of the three first bogies; and the bogie coupler includes a
third bogie that couples the second bogie and the remaining one
first bogie out of the three first bogies.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
This application claims the benefit of priority to Japanese Patent
Application No. 2016-209306 filed on Oct. 26, 2016. The entire
contents of this application are hereby incorporated herein by
reference.
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a suspension stacker crane, and
particularly relates to a suspension stacker crane including a
transferring device movably suspended from driving trucks.
2. Description of the Related Art
A conventional automated storage has a plurality of racks. The
racks are arranged in parallel and each include a plurality of
shelves arrayed in an extending direction and a vertical
direction.
Further, the automated storage has a stacker crane as a
transporting device for unloading an article onto the rack shelf or
loading an article from the rack shelf. The stacker crane includes
a travelling device that travels along a rail, a transferring
device, and a lifting device that moves the transferring device in
the vertical direction. Part of the rail is disposed laterally side
by side with the rack. In a position lateral to the rack, the
stacker crane moves the transferring device close to a target
shelf, and transfers an article in that state (e.g., see Unexamined
Japanese Patent Publication No. 2007-70086).
The travelling device in the stacker crane is made up of a variety
of motors, travelling wheels, and the other devices, for
example.
Given that some of articles to be transferred are heavy while some
are light, it is considered that a stacker crane capable of
transferring a heavy article is previously prepared, and that
stacker crane transfers a light article as well as a heavy article.
Alternatively, it is considered that a travelling device being a
different type depending on the kind of article is provided in the
stacker crane.
However, in the former case, a large-sized stacker crane is to be
used at all times. In the latter case, a different travelling
device is to be provided in each stacker crane. In either case, the
cost may become high.
SUMMARY OF THE INVENTION
Preferred embodiments of the present invention provide a plurality
of types of stacker cranes, which are capable of handling articles
with different weights and traveling in an automated storage at low
cost.
Hereinafter, a plurality of preferred embodiments of the present
invention will be described. Features, elements or characteristics
of the preferred embodiments of the present invention can be
combined in a freely selected manner as required or desired.
A suspension stacker crane according to a preferred embodiment of
the present invention includes a truck frame, a pair of mast units,
a transferring device, and a link.
The truck frame includes a plurality of driving trucks arranged
side by side in a travelling direction, and a bogie coupler that
couples the plurality of driving trucks.
Each of the mast units is suspended from the bogie coupler, and
includes a lifting drive motor and a lifting drive transmission.
The pair of mast units is arranged side by side in the travelling
direction.
The transferring device is driven to be lifted or lowered by the
lifting drive motor and the lifting drive transmission.
The link links or connects the pair of mast units.
The "unit" here means a unit which is mounted with required
structural elements and is able to be assembled and removed
altogether as one integral unit. In this stacker crane, just
replacing the link is able to change a span between the pair of
mast units in the travelling direction. That is, the replacement is
able to change a size of the stacker crane. In this manner, by
utilizing a pair of mast units as a common structural element, it
is possible to reduce costs even when the configuration of the
stacker crane is changed in accordance with an article.
The bogie coupler may include a pair of first bogies that are
arranged side by side in front and back positions in the travelling
direction, while coupling two driving trucks that are front and
rear driving trucks, and a second bogie that couples the pair of
first bogies.
A pivotal support structure of the first bogie which pivotally
supports the driving trucks may be the same structure as a pivotal
support structure of the second bogie which pivotally supports the
first bogies.
In this stacker crane, the bogie structure elements have been
standardized, to facilitate replacement of the bogie. For example,
arranging the driving trucks in the pivotal support structure of
the second bogie facilitates increasing and decreasing the number
of driving trucks.
One of the mast units may include a mast and a control panel
mounted on the mast.
The bogie coupler may include three sets of first bogies that are
arranged side by side in front, middle, and back positions in the
travelling direction, while coupling two driving trucks arranged
side by side in front and back positions in the travelling
direction, a second bogie that couples two sets of first bogies out
of the three sets of first bogies, and a third bogie that couples
the second bogie and the remaining one set of a first bogie out of
the three sets of first bogies.
In this stacker crane, by using the bogie coupler, the truck frame
may include a total of six driving trucks arrayed in the travelling
direction, for example.
Using the stacker cranes according to preferred embodiments of the
present invention, a plurality of types of stacker cranes capable
of handling articles with different weights are able to travel in
an automated storage at low cost.
The above and other elements, features, steps, characteristics and
advantages of the present invention will become more apparent from
the following detailed description of the preferred embodiments
with reference to the attached drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic plan view of an automated storage according
to a preferred embodiment of the present invention.
FIG. 2 is a schematic front view of the automated storage.
FIG. 3 is a schematic plan view of a stacker crane.
FIG. 4 is a perspective view of the stacker crane.
FIG. 5 is a perspective view of an upper portion of the stacker
crane.
FIG. 6 is a perspective view of a driving truck.
FIG. 7 is a schematic side view showing a schematic configuration
of a bogie structure.
FIG. 8 is a side view showing a connection structure of the upper
portion of the stacker crane.
FIG. 9 is a block diagram showing a control configuration of the
automated storage.
FIG. 10 is a schematic side view showing a schematic configuration
of a bogie structure of a second preferred embodiment of the
present invention.
FIG. 11 is a schematic side view showing a schematic configuration
of a bogie structure of a third preferred embodiment of the present
invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
First Preferred Embodiment
An automated storage 1 will be described with reference to FIGS. 1
and 2. FIG. 1 is a schematic plan view of an automated storage
according to a preferred embodiment of the present invention. FIG.
2 is a schematic front view of the automated storage.
The automated storage 1 includes a plurality of racks 5. Each rack
5 includes a plurality of levels of shelves 5a. In FIG. 1, the
plurality of racks 5 are arranged in parallel or substantially in
parallel in a laterally extending manner. As shown in FIG. 2, each
shelf 5a is able to store a collection shelf or a pallet P
(hereinafter may also be referred to as an "article"), for example.
On the pallet P, a container 23 or a corrugated cardboard carton 28
is placed, for example.
The collection shelf 25 includes a shelf structure with a plurality
of levels of support portions, and is able to store a plurality of
containers 23 and corrugated cardboard cartons 28, for example. The
container 23 is capable of storing an item. Note that the bottom
surface of the collection shelf 25 has a similar structure to that
of the bottom surface of the pallet P. This enables support and
transport by the stacker crane 11. Further, in FIG. 1, those
provided with alphabets are the pallets P stored in the racks 5. In
each of the other racks 5, not shown, the container 23 or the
corrugated cardboard carton 28 is stored.
The automated storage 1 includes a ceiling rail 7 (an example of a
track) provided along the racks 5. Specifically, the ceiling rail 7
is disposed above a path 5b between the racks 5. The ceiling rail 7
is provided at a position higher than the racks 5, namely at a
position higher than the plurality of levels of shelves 5a.
Further, the ceiling rail 7 includes a plurality of circulating
routes with curved portions in a plan layout. The ceiling rail 7
also includes branch portions and merge portions.
The automated storage 1 includes a lower guide rail 9 provided
along the racks 5. Specifically, the lower guide rail 9 is disposed
on the floor surface of the path 5b between the racks 5.
The automated storage 1 includes a suspension stacker crane 11
(hereinafter referred to as a "stacker crane 11"). "Suspension" or
"suspension-type" means that an upper structure performs travelling
and branching, and that the upper structure suspends a lower
structure. As shown in FIG. 2, the stacker crane 11 travels in the
state of being suspended from the ceiling rail 7.
Note that the travelling direction of the stacker crane 11 is
indicated by an arrow X as the "travelling direction" in the
drawings. Further, a horizontal direction orthogonal to the
travelling direction is indicated by an arrow Y as a "lateral
direction" in the drawings.
As shown in FIGS. 1 and 3, the stacker crane 11 includes an upper
truck frame 12. The upper truck frame 12 is a device that travels
along the ceiling rail 7 by generation of driving force. The upper
truck frame 12 includes a plurality of driving trucks 13 arranged
side by side in the travelling direction. In this preferred
embodiment, eight driving trucks 13 are provided. FIG. 3 is a
schematic plan view of the stacker crane.
The stacker crane 11 includes a transferring device 15 that is
movably suspended with respect to the plurality of driving trucks
13. The transferring device 15 is able to transfer the collection
shelf 25 or the pallet P. The transferring device 15 is, for
example, a sliding fork device.
Note that as shown in FIG. 2, the stacker crane 11 includes lower
truck frames 17. The lower truck frames 17 are guided along the
lower guide rail 9.
Referring FIGS. 4 and 5, the stacker crane 11 will be described in
detail. FIG. 4 is a perspective view of the stacker crane. FIG. 5
is a perspective view of the upper portion of the stacker
crane.
As shown in FIGS. 4 and 5, the eight driving trucks 13 are arranged
side by side in the travelling direction. Further, as shown in
FIGS. 3 and 8, the driving trucks 13 have a bogie structure 29 (an
example of the bogie coupler).
The bogie structure 29 allows the stacker crane 11 to stably travel
the curves on the circulating track. A detail of the bogie
structure 29 will be described later.
The stacker crane 11 includes a pair of masts 31 arranged in the
travelling direction, namely in the longitudinal direction. The
pair of masts 31 extends vertically long.
The stacker crane 11 includes an upper base 33 that extends in the
travelling direction and links the upper ends of the pair of masts
31. Specifically, a lifting frame 45 (described later) is fixed to
the upper end of each of the pair of masts 31, and the upper base
33 links the lifting frames 45.
The stacker crane 11 includes a lower base 34 that extends in the
travelling direction and links the lower ends of the pair of masts
31.
As shown in FIG. 7, both upper and lower ends of the pair of masts
31 are supported by other members with pins 47, 49. Specifically,
the upper ends of the pair of masts 31 are supported by the lifting
frame 45 (described later) with the pins 47. The lower ends of the
pair of masts 31 are supported by the lower base 34 with the pins
49. The pins 47, 49 extend laterally, thus making the pair of masts
31 swingable in the travelling direction. With the above-mentioned
structure, damping control and body weight reduction are
achieved.
The stacker crane 11 includes a lifting device 35 that lifts or
lowers the transferring device 15. The lifting device 35 includes a
platform 37 supported by the masts 31, and lifting portions 39 that
lift or lower the platform 37. The lifting portion 39 is provided
in each of the pair of masts 31. The lifting portion 39 is a known
device preferably including a lifting drive motor 40, a chain 41, a
sprocket 46, and the like.
The lifting portion 39 includes the lifting frame 45. The lifting
drive motor 40 and the sprocket 46 are fixed to the lifting frame
45. The lifting frame 45 is linked to the upper end of the mast 31
and is thus a part of the mast 31. Further, as described above, the
upper base 33 is fixed to the lifting frame 45.
The transferring device 15 is provided on the platform 37. The
transferring device 15 moves an article laterally to transfer the
article between shelves.
A lower portion of one of the masts 31 is provided with a control
panel 43.
In this preferred embodiment, four driving trucks 13 preferably are
arranged for the mast 31 on the front side in the travelling
direction, for example. Further, four driving trucks 13 preferably
are arranged for the mast 31 on the back side in the travelling
direction, for example. In particular, the four driving trucks 13
are arranged such that the center of the driving trucks 13 in the
travelling direction corresponds to the center of the sprocket 46.
With the above configuration, the driving trucks 13 are able to
equally support a load applied from the platform 37 and the masts
31.
The driving truck 13 will be described with reference to FIG. 6.
FIG. 6 is a perspective view of the driving truck.
The driving truck 13 includes an axle shaft 51. The axle shaft 51
extends laterally.
The driving truck 13 includes travelling wheels 53. The travelling
wheels 53 are rotatably mounted at both ends of the axle shaft 51.
The travelling wheels 53 are placed on the travelling surface of
the ceiling rail 7.
The driving truck 13 includes a bracket (not shown). The bracket is
disposed and fixed at the center of the axle shaft 51, namely
between the travelling wheels 53. Accordingly, the axle shaft 51 is
non-rotatably supported by the bracket.
The driving truck 13 includes a linear motor 69. The linear motor
69 includes a coil that faces a permanent magnet (not shown) of a
magnet rail provided on the ceiling side. The linear motor 69 is
mounted on the bracket.
The driving truck 13 includes a magnetic pole sensor 101. The
magnetic pole sensor 101 is a sensor that detects a travelling
position of the driving truck 13.
The driving truck 13 includes a side guide roller 59. The side
guide roller 59 is guided by the inner surface of the side wall of
the ceiling rail 7. The side guide roller 59 is mounted on the
bracket. In this preferred embodiment, four side guide rollers 59
preferably are provided in total and arranged side by side in the
travelling direction, for example.
The driving truck 13 includes a branch/merge switching device 61.
The branch/merge switching device 61 selects a travelling route at
a branch/merge switching point on the circulating track. The
branch/merge switching device 61 includes a branch switching roller
63. The branch switching roller 63 is guided by the branch guiding
surface of the ceiling rail 7. In this preferred embodiment, four
branch switching rollers 63 preferably are provided in total and
arranged side by side in the travelling direction, for example. The
branch switching rollers 63 are disposed above the side guide
rollers 59. A lateral distance between the branch switching rollers
63 is shorter than a lateral distance between the side guide
rollers 59. The branch switching rollers 63 are linked by the plate
65, and the plate 65 is slidable laterally. The branch/merge
switching device 61 includes a motor 68 that generates power to
drive sliding of the plate 65.
As described above, each of the driving trucks 13 is provided with
the branch switching rollers 63 and the linear motor 69, thus
facilitating to deal with an increase and decrease in number of
driving trucks 13. Further, with each of the driving trucks 13
separately controllable, it is possible to easily and accurately
perform control.
The bogie structure 29 will be described in detail with reference
to FIGS. 7 and 8. FIG. 7 is a schematic side view showing a
schematic configuration of the bogie structure. FIG. 8 is a side
view showing a connection structure of the upper portion of the
stacker crane.
The bogie structure 29 defines a load support of the stacker crane
11, and includes a plurality of levels of bogies. In this preferred
embodiment, the bogie structure 29 preferably includes three levels
of bogies, for example. That is, two driving trucks 13 preferably
are provided in the bogie structure, two of which are further
provided in the bogie structure to be a bogie structure of the four
driving trucks 13, two of which are then provided in the bogie
structure to be a bogie structure of the eight driving trucks, for
example. Hereinafter, the bogie structure 29 will be described in
detail.
The bogie structure 29 includes a first bogie member 201 where
driving truck shafts 13a extending downward from the driving trucks
13 are supported rotatably. The lower end of the driving truck
shaft 13a is rotatably supported by the first bogie member 201.
This structure supports a load of the first bogie member 201. The
first bogie member 201 extends in the travelling direction, and the
driving truck shafts 13a are rotatably supported at both ends of
the first bogie member 201 in the travelling direction. That is,
the first bogie member 201 rotatably supports the pair of driving
trucks 13. In this manner, in the stacker crane 11, a first-level
bogie structure 205 is achieved with respect to the pair of driving
trucks 13, and a total number of first-level bogie structures 205
preferably is four, for example.
The bogie structure 29 includes a second bogie member 203 where
first shafts 201a extending downward from the first bogie members
201 are supported rotatably. The lower end of the first shaft 201a
is rotatably supported by the second bogie member 203. This
structure supports a load of the second bogie member 203. The
second bogie member 203 extends in the travelling direction, and
the first shafts 201a are rotatably supported at both ends of the
second bogie member 203 in the travelling direction. That is, the
second bogie member 203 rotatably supports the pair of first bogie
members 201.
In this manner, in the stacker crane 11, a second-level bogie
structure 207 is achieved with respect to the pair of first bogie
members 201, and a total number of second-level bogie structures
207 preferably is two, for example.
Further, in each of the lifting frames 45 fixed to the upper ends
of the pair of masts 31, the bogie structure 29 includes a support
portion 45a where second shafts 203a extending downward from the
second bogie member 203 is supported rotatably. The lower end of
the second shaft 203a is rotatably supported by the support portion
45a. This structure supports a load of the support portion 45a.
That is, the support portions 45a rotatably support the pair of
second bogie members 203. In this manner, in the stacker crane 11,
a third-level bogie structure 209 is achieved with respect to the
pair of second bogie members 203. Note that the support portion 45a
and the second bogie member 203 defines the third-level bogie
structure 209.
When the plurality of driving trucks 13 travel the curved portions
of the ceiling rail 7 by the bogie structure 29, each of the
driving trucks 13 is able to turn in appropriate directions to
allow smooth travelling.
A control configuration of the automated storage will be described
with reference to FIG. 9. FIG. 9 is a block diagram showing a
control configuration of the automated storage.
The stacker crane 11 includes a controller 81. The controller 81
preferably includes a computer system including a processor (e.g.,
a central processing unit (CPU)), a memory (e.g., a read only
memory (ROM), a random access memory (RAM), a hard disk drive
(HDD), a solid state drive (SSD), etc.), and a variety of
interfaces (e.g., an analog-to-digital converter (A/D converter), a
D/A converter, a communication interface, etc.). The controller 81
executes a program saved in a memory (corresponding to some or all
of the memory), to perform a variety of control operations.
The controller 81 may be a single processor, or may include a
plurality of processors which are each independent to perform each
control.
Some or all of the function of each element in the controller 81
may be achieved as an executable program in a computer system
included in the controller 81. Other than the above, a portion of
the function of each element in the controller 81 may include a
custom integrated circuit (IC).
Although not shown, the controller 81 is connected with a sensor to
detect a size, a shape, and a position of an article, a sensor that
detects a state of each device in the stacker crane 11, a switch,
and an information input device.
The controller 81 controls operation of each driving truck 13 in
the stacker crane 11. The controller 81 is connected with the
linear motor 69 and the branch/merge switching device 61 of each
driving truck 13. The controller 81 is further connected with the
transferring device 15 and the lifting device 35. The controller 81
transmits a driving signal to those connected devices.
Note that the sensor that detects information concerning a
travelling state is provided in each driving truck 13. As described
above, the controller 81 controls appropriate timing and capacities
in terms of travelling drive, branch switching, and the like on the
basis of individual positions of the driving trucks 13.
The controller 81 is capable of communication with a host
controller 83. The host controller 83 preferably is a computer
including a CPU, a RAM, a ROM, and the like, and executes a
program. The host controller 83 controls the entire automated
storage 1. Specifically, the host controller 83 controls transfer
and transport of the container 23 and the collection shelf 25 by
the stacker crane 11, and assortment of shipping items by these
transfer and transport. The host controller 83 manages the stacker
cranes 11 and allocates a travelling command or a transport command
thereto. Note that the "transport command" includes a travelling
command, and a transfer command including an article loading
position and an article unloading position.
As described above, each mast 31 is mounted with the lifting drive
motor 40 and the sprocket 46, to define a mast unit 42 as a whole.
The "unit" here means a unit which is mounted with required
structural elements and is able to be assembled and removed
altogether as one integral unit. The pair of mast units 42 is
linked to each other by the upper base 33 and the lower base
34.
Thus, just replacing the upper base 33 and the lower base 34
changes a span between the pair of mast units 42 in the traveling
direction. That is, the replacement changes a size of the stacker
crane 11. In this manner, by utilizing a pair of mast units 42 as a
common structure, it is possible to reduce cost even when the
configuration of the stacker crane is changed in accordance with an
article.
Second Preferred Embodiment
With reference to FIG. 10, a description will be given of a
preferred embodiment of the present invention where the upper base
and the lower base are replaced. FIG. 10 is a schematic side view
showing a schematic configuration of a bogie structure of the
second preferred embodiment.
In a stacker crane 11A of this preferred embodiment, the number of
driving trucks 13 is preferably reduced from eight to six, for
example. Accordingly, the upper base and the lower base are
changed. Further, the bogie structure is changed. A specific
description will be given below.
This preferred embodiment includes an upper base 33A and a lower
base 34A which are shorter than those in the first preferred
embodiment.
As described above, in the first preferred embodiment, the bogie
structure 29 (an example of the bogie coupler) includes the pair of
first bogie members 201 (an example of the first bogies) that are
arranged side by side in front and back positions in the travelling
direction, while coupling two driving trucks 13 that are front and
back driving trucks, and the second bogie member 203 (an example of
the second bogie) that couples the pair of first bogies 201. Then,
as shown in FIG. 8, the first-level bogie structure 205 (an example
of the pivotal support structure) of the first bogie member 201
which pivotally supports the driving trucks 13 is the same as the
second-level bogie structure 207 (an example of the pivotal support
structure) of the second bogie member 203 which pivotally supports
the first bogie members 201.
Hence, in this stacker crane, arranging the driving trucks 13 in
the second-level bogie structure 207 of the second bogie member 203
facilitates a reduction in number of driving trucks 13.
In FIG. 10, a bogie structure 29A preferably includes three sets of
first-level bogie structures 205 that are arranged side by side in
front, middle, and back positions in the travelling direction,
while coupling two driving trucks 13 arranged side by side in front
and back positions in the travelling direction. The bogie structure
29A includes the second-level bogie structure 207 that couples two
sets of first-level bogie structures 205 out of the three sets of
first-level bogie structures 205. The bogie structure 29A includes
the third-level bogie structure 209 that couples the second-level
bogie structure 207 and the remaining one set of first-level bogie
structure 205 out of the three sets of first-level bogie structures
205. Note that the remaining one set of first-level bogie structure
205 out of the three sets of first-level bogie structures 205
preferably includes the second bogie member 203 which has the same
structure as the second-level bogie structure 207.
Consequently, the number of driving trucks 13 in the stacker crane
11A preferably is six, for example. In practice, however, to adjust
the height, a member for height adjustment is mounted on one or
both of the driving truck 13 and the second bogie member 203, or a
higher driving truck 13 may be prepared.
The stacker crane 11 of the first preferred embodiment and the
stacker crane 11A of the second preferred embodiment achieve
handling of articles with different weights by making the number of
driving trucks different. That is, by using the structures where
the same type of driving trucks are used and the number thereof are
made different, two types of stacker cranes, mountable with
articles with different weights, are able to travel on the same
track. This results in achievement of the automated storage 1 at
low cost. This effect also applies to the following preferred
embodiment.
As an example, since 2000 kgf is suspendable from two driving
trucks, a total of 8000 kgf is suspendable when the number of
driving trucks 13 is eight, and a total of 4000 kgf being a body
load and an article load is suspendable when the number of driving
trucks 13 is four.
As described above, by unitization of the mast 31 into the mast
unit 42, the mast span is able to be changed just by changing the
lengths of the upper base and the lower base. This facilitates
dealing with an increase and decrease in number of driving trucks
13.
Third Preferred Embodiment
With reference to FIG. 11, a description will be given of a
preferred embodiment where the upper base and the lower base are
replaced. FIG. 11 is a schematic side view showing a schematic
configuration of a bogie structure of the third preferred
embodiment.
In a stacker crane 11B of this preferred embodiment, the number of
driving trucks 13 is preferably reduced from eight to four, for
example. Accordingly, the upper base and the lower base are
changed. Further, the bogie structure is changed. A specific
description will be given below.
The stacker crane 11B of this preferred embodiment preferably
includes an upper base 33B and a lower base 34B which are shorter
than those in the second preferred embodiment.
Further, in a bogie structure 29B of this preferred embodiment, in
place of the second bogie member 203 of the first preferred
embodiment, the first bogie member 201 is coupled to the support
portion 45a. That is, the pair of first bogie members 201 is
coupled to the pair of front and back masts 31 in the travelling
direction. Consequently, the number of driving trucks 13 in the
stacker crane 11B preferably is four, for example.
The above change is able to be made because the second-level bogie
structure 207 is the same as the third-level bogie structure 209.
As thus described, the bogie structural elements are standardized,
to thus facilitate replacement of the bogie. In practice, however,
to adjust the height, a member for height adjustment is mounted on
one or both of the first bogie member 201 and the support portion
45a, or a higher first bogie member 201 is prepared. As still
another method, a higher mast unit 42 is prepared.
As described above, by unitization of the mast 31 in the mast unit
42, the mast span is able to be changed just by changing the
lengths of the upper base and the lower base. This facilitates
dealing with an increase and decrease in number of driving trucks
13.
The suspension stacker crane 11 (an example of the suspension
stacker crane) includes the upper truck frame 12 (an example of the
travelling truck), the pair of mast units 42 (an example of the
pair of mast units), the transferring device 15 (an example of the
transferring device), and the upper base 33 (an example of the
link).
The upper truck frame 12 includes a plurality of driving trucks 13
(an example of the driving truck) arranged side by side in a
travelling direction, and a bogie structure 29 (an example of the
bogie coupler) that couples the plurality of driving trucks 13
Each of the mast units 42 is suspended from the bogie structure 29,
and includes the lifting drive motor 40 (an example of the lifting
drive motor) and the sprocket 46 (an example of the lifting drive
transmission). The pair of mast units 42 is arranged side by side
in the travelling direction.
The transferring device 15 is driven to be lifted or lowered by the
lifting drive motor 40 and the sprocket 46.
The upper base 33 links the pair of mast units 42.
With the above structure, just replacing the upper base changes a
span between the pair of mast units 42 in the travelling direction,
namely changes the size of the stacker crane 11. In this manner, by
utilizing a pair of mast units 42 as a common structure, it is
possible to reduce cost even when the configuration of the stacker
crane 11 is changed in accordance with an article.
Other Preferred Embodiments
Although the plurality of preferred embodiments of the present
invention have been described above, the present invention is not
restricted to the above preferred embodiments, and a variety of
changes can be made in a range not deviating from the gist of the
present invention. In particular, the plurality of preferred
embodiments and alternative preferred embodiments described in the
present specification are able to be combined arbitrary as
required.
For the automated storage, stacker cranes of the same type with the
same number of driving trucks may be used, or stacker cranes of a
plurality of types with different numbers of driving trucks may be
used.
Although the driving source of the driving truck preferably is a
linear motor in the above preferred embodiments, the driving source
may be a combination of another motor and a driving mechanism.
Preferred embodiments of the present invention are broadly
applicable to a suspension stacker crane including a transferring
device movably suspended from driving trucks.
While preferred embodiments of the present invention have been
described above, it is to be understood that variations and
modifications will be apparent to those skilled in the art without
departing from the scope and spirit of the present invention. The
scope of the present invention, therefore, is to be determined
solely by the following claims.
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