Stacker crane

Abstract

To achieve a stacker crane in which a regenerative resistor is arranged at a proper position.SOLUTION: A stacker crane (1) includes: a truck part (10); a mast (20) raised at the truck part; and a carriage (30) which can be moved up / down with respect to the mast. The mast at least includes a first portion (21) and a second portion (22) arranged on the first portion, control equipment is fixed to the first portion, and a regenerative resistor is fixed to the second portion.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a stacker crane. [Background technology]

[0002] Patent Document 1 discloses a stacker crane that can reduce the burden of on-site assembly work. In this stacker crane, a pair of masts are provided at the front and rear of a traveling carriage, and a carriage rises and falls along the masts. Each of the pair of masts is configured to have a first portion fixed to the traveling carriage and a second portion connected to the first portion, and by separating the first and second portions, it is possible to easily transport the stacker crane before installation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2010-247923 Summary of the Invention [Problem to be solved by the invention]

[0004] In stacker cranes, the travel motor or the lifting motor may be controlled to perform regenerative operation. In this case, the stacker crane may be provided with a regenerative resistor that consumes the regenerative energy generated by the regenerative operation of the travel motor, etc. However, the placement of such a regenerative resistor in a stacker crane has not been fully considered until now.

[0005] An object of one aspect of the present invention is to provide a stacker crane in which a regenerative resistor is arranged at an appropriate position. [Means for solving the problem]

[0006] In order to solve the above problems, a stacker crane according to one embodiment of the present invention comprises a bogie section that runs on a track, a mast erected on the bogie section, a carriage that is movable up and down relative to the mast, a lifting motor for raising and lowering the carriage, a traveling motor for traveling the bogie section, a control device that drives at least one of the lifting motor and the traveling motor, and a regenerative resistor that consumes regenerative energy when at least one of the lifting motor and the traveling motor operates in a regenerative manner, wherein the mast has at least a first portion and a second portion that is disposed on the first portion and connected to the first portion, the control device is fixed to the first portion, and the regenerative resistor is fixed to the second portion. [Effects of the Invention]

[0007] According to one aspect of the present invention, a stacker crane in which a regenerative resistor is arranged at an appropriate position can be realized. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing the entire stacker crane. [Figure 2] FIG. 2 is a side view showing the entire stacker crane. [Figure 3] FIG. 2 is a diagram showing a lift unit provided in the stacker crane. [Figure 4] FIG. 10 is a perspective view showing a connection portion between the carriage and the lift wire. [Figure 5] FIG. 2 is a diagram showing the inside of a driver box. [Figure 6] FIG. 2 is a diagram showing the inside of a regeneration resistor box. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, one embodiment of the present invention will be described in detail.

[0010] Fig. 1 is a perspective view showing the entire stacker crane 1. Fig. 2 is a side view showing the entire stacker crane 1. The stacker crane 1 comprises a bogie section 10, a mast 20, a carriage 30, a driver box 40, and a regenerative resistance box 50 (housing). The stacker crane 1 also comprises a control device (not shown) that controls the operation of the entire stacker crane 1. The control device is installed, for example, on the floor on which the stacker crane 1 is installed.

[0011] The bogie unit 10 is a bogie that travels on a track. The track on which the bogie unit 10 travels is along a travel guide rail (not shown) that is installed on the floor surface on which the stacker crane 1 is installed, for example. The track may be along the front-to-rear direction in FIG. 1, for example. The bogie unit 10 has a bogie frame 11 and a travel motor unit 15. A mast 20 is erected on the bogie frame 11. In addition, wheels 12 that travel on the travel guide rail are arranged on the underside of the bogie frame 11.

[0012] The traveling motor unit 15 is a drive unit for causing the carriage section 10 to travel. The traveling motor unit 15 is provided at the bottom of the carriage frame 11. The traveling motor unit 15 has a traveling motor 16. The driving force from the traveling motor 16 is transmitted to the wheels 12, causing the wheels 12 to rotate. When the wheels 12 rotate, the stacker crane 1 travels while being guided by the traveling guide rails.

[0013] The masts 20 are columnar members extending in the vertical direction. The stacker crane 1 is equipped with a plurality of masts 20 that are adjacent to each other in a plan view from a direction perpendicular to the floor surface. In FIG. 1 and other figures, the stacker crane 1 is equipped with two masts 20. However, the stacker crane 1 may be equipped with three or more masts 20. In the following description, the mast 20 on the left side of the drawing may be referred to as the first mast 20A, and the mast 20 on the right side of the drawing may be referred to as the second mast 20B.

[0014] Each of the first mast 20A and the second mast 20B has a first section 21 and a second section 22 that is disposed on top of and connected to the first section 21. This allows the stacker crane 1 to be made smaller before assembly than when the first mast 20A and the second mast 20B are each formed as a single member. This also makes it easier to transport the stacker crane 1 before assembly.

[0015] Furthermore, each of the first mast 20A and the second mast 20B further has a third section 23 that is disposed on top of and connected to the second section 22. That is, each of the first mast 20A and the second mast 20B can be separated into three sections. This allows the stacker crane 1 before assembly to be made even more compact than if each of the first mast 20A and the second mast 20B could be separated into two sections.

[0016] Furthermore, the first mast 20A and the second mast 20B may each include another member disposed on and connected to the third section 23. In this case, the number of such another member may be one or more. That is, the first mast 20A and the second mast 20B may each be divided into four or more sections. Furthermore, the first mast 20A and the second mast 20B may each include a connecting plate 28 for connecting the members of the first section 21, the second section 22, and the third section 23 that are to be connected to each other.

[0017] The first mast 20A and the second mast 20B are spaced apart in the left-right direction. A carriage 30 (described later) is provided to straddle the first mast 20A and the second mast 20B. Each of the first mast 20A and the second mast 20B is provided with an elevation guide rail (not shown) that guides the carriage 30 up and down.

[0018] An upper frame 24 is provided above the masts 20. The upper frame 24 is provided to connect the upper end of the first mast 20A and the upper end of the second mast 20B. The upper frame 24 also engages with an upper guide rail (not shown), and guides the stacker crane 1 via the upper guide rail.

[0019] The carriage 30 is capable of carrying an article and is provided so as to be movable up and down relative to the mast 20. The carriage 30 may include a carriage frame 31, a fork section 32 mounted on the carriage frame 31 for delivering articles, and a swivel section 33 for swiveling the fork section 32. The carriage 30 may further include a fork section control device 34 for driving the fork section 32, and a swivel section control device 35 for driving the swivel section 33. The fork section control device 34 and the swivel section control device 35 may be disposed on the opposite side of the carriage frame 31 from the mast 20, for example.

[0020] [Lift section] 3 is a diagram showing the lift unit 27 provided in the stacker crane 1. The lift unit 27 is a mechanism for raising and lowering the carriage 30 relative to the mast 20. A lift unit 27 is provided on each of the first mast 20A and the second mast 20B. As shown in FIG. 3, the lift unit 27 includes a lift motor unit 25, a drive drum 271, lift wires 272 and 274, a pulley 273, and a counterweight 275.

[0021] The lifting motor unit 25 is a drive unit for raising and lowering the carriage 30 relative to the mast 20. The lifting motor unit 25 is provided at the bottom of the mast 20. The lifting motor unit 25 has a lifting motor 26 that drives a drive drum 271 provided at the bottom of the mast 20.

[0022] An elevating wire 272, one end of which is fixed to the underside of the carriage 30, is wound around the drive drum 271. A pulley 273 is provided above the mast 20. An elevating wire 274, one end of which is fixed to the upper side of the carriage 30, is wound around the pulley 273. The other ends of the elevating wires 272, 274, opposite the ends fixed to the carriage 30, are fixed to a counterweight 275 that moves in the opposite direction to the movement direction of the carriage 30 when the carriage 30 moves. That is, in the lift unit 27, the carriage 30, the elevating wire 272, the counterweight 275, and the elevating wire 274 form a closed loop. The elevating wires 272, 274 are arranged inside the mast 20.

[0023] In the lift unit 27, the lift motor 26 rotates forward or backward, causing the lift wire 272 to advance or retreat from the drive drum 271. The pulley 273 rotates due to the advance or retreat of the lift wire 272. As a result, the carriage 30 ascends or descends relative to the mast 20.

[0024] [Belt tension adjustment mechanism] 4 is a perspective view showing the connection portion between the carriage 30 and the lift wire 272. For simplicity, Fig. 4 omits the carriage 30 except for the carriage frame 31 and the vicinity of the connection portion between the carriage 30 and the lift wire 272. As shown in Fig. 4, the stacker crane 1 is provided with a tension adjustment mechanism 29 at the connection portion between the carriage 30 and the lift wire 272.

[0025] The tension adjustment mechanism 29 includes a bolt 291 and a double nut 292. Holes into which the bolt 291 can be inserted are provided at the lower end of the carriage 30 and the upper end of the lift-down wire 272. The bolt 291 is inserted from the carriage 30 toward the lift-down wire 272, and the double nut 292 is screwed onto the tip of the bolt 291 inserted into the lift-down wire 272, thereby connecting the upper end of the lift-down wire 272 to the lower end of the carriage 30.

[0026] The distance d between the lower end of the carriage 30 and the upper end of the lift wire 272 can be adjusted by rotating the double nut 292 relative to the bolt 291. Therefore, the tension adjustment mechanism 29 allows the tension of the lift wire 272 to be adjusted from below the carriage 30.

[0027] [Control equipment and regenerative resistors] Fig. 5 is a diagram showing the inside of driver box 40. As shown in Fig. 5, driver box 40 houses lift control device 41 and travel control device 42. Driver box 40 may further house breakers 43A, 43B, and 43C that cut off the electrical connection between lift control device 41 and lift motor 26 or between travel control device 42 and travel motor 16, as necessary. The arrangement of lift control device 41, travel control device 42, and breaker 43A inside driver box 40 is not limited to that shown in Fig. 5.

[0028] The lift control device 41 is a control device that drives the lift motor 26. The lift control device 41 includes a drive circuit that supplies current to the lift motor 26. The lift control device 41 controls the amount of current supplied to the lift motor 26 based on a control signal from a control device (not shown).

[0029] The travel control device 42 is a control device that drives the travel motor 16. The travel control device 42 includes a drive circuit that supplies current to the travel motor 16. The travel control device 42 controls the amount of current supplied to the travel motor 16 based on a control signal from a control device (not shown).

[0030] Fig. 6 is a diagram showing the inside of the regenerative resistance box 50. As shown in Fig. 6, the regenerative resistance box 50 houses a lift regenerative resistor 51 and a running regenerative resistor 52. The arrangement of the lift regenerative resistor 51 and the running regenerative resistor 52 inside the regenerative resistance box 50 is not limited to that shown in Fig. 6.

[0031] The lift regenerative resistor 51 is a regenerative resistor that consumes regenerated energy when the lift motor 26 performs regenerative operation. The traction regenerative resistor 52 is a regenerative resistor that consumes regenerated energy when the traction motor 16 performs regenerative operation. Specifically, the lift regenerative resistor 51 and the traction regenerative resistor 52 convert the regenerated energy into heat. The lift regenerative resistor 51 is electrically connected to the lift motor 26 when the lift motor 26 performs regenerative operation. The traction regenerative resistor 52 is electrically connected to the traction motor 16 when the traction motor 16 performs regenerative operation.

[0032] In the stacker crane 1, the driver box 40 is fixed to the first portion 21 of the mast 20. Furthermore, the regenerative resistance box 50 is fixed to the second portion 22 of the mast 20. That is, in the stacker crane 1, the lifting control device 41 and the traveling control device 42 are fixed to the first portion 21, and the lifting regenerative resistor 51 and the traveling regenerative resistor 52 are fixed to the second portion 22. This makes it less likely that the heat generated in the lifting regenerative resistor 51 and the traveling regenerative resistor 52 will affect the lifting control device 41 and the traveling control device 42, compared to, for example, a case in which the driver box 40 and the regenerative resistance box 50 are both fixed to the first portion 21.

[0033] Furthermore, the heat generated by the lifting / lowering regenerative resistor 51 and the traveling regenerative resistor 52 raises the temperature of the surrounding air. Generally, heated air moves upward more easily than downward. That is, heat also moves upward more easily with the air than downward. For this reason, in the stacker crane 1, the heat generated by the lifting / lowering regenerative resistor 51 and the traveling regenerative resistor 52 is less likely to affect the lifting control device 41 and the traveling control device 42, compared to, for example, a case in which the regenerative resistor box 50 is fixed to the first section 21 and the driver box 40 is fixed to the second section 22.

[0034] Furthermore, the traveling motor unit 15 and the lifting motor unit 25 are located at the bottom of the stacker crane 1. Therefore, by fixing the driver box 40 to the first section 21, it becomes easy to electrically connect the lifting motor unit 25 and the lifting control device 41, and to electrically connect the traveling motor unit 15 and the traveling control device 42.

[0035] When assembling the mast 20, for example, only the first section 21 may first be erected on the bogie frame 11. Next, the second section 22 and the third section 23 may be connected to each other while lying horizontally on the floor. After that, the interconnected second section 22 and the third section 23 may be turned vertically and connected to the first section 21, which is erected on the bogie frame 11. This procedure allows the mast 20 to be assembled without working at height. This assembly method can be used when there is not enough working space to assemble all of the first section 21, the second section 22, and the third section 23 while lying horizontally, for example, when assembling the stacker crane 1 in a clean room.

[0036] At this time, because the regenerative resistance box 50 is fixed to the second section 22, the length of the first section 21 itself can be made shorter than when both the driver box 40 and the regenerative resistance box 50 are fixed to the first section 21. For example, the length of the first section 21 can be set to 3 m or less. Therefore, the work of connecting the second section 22 to the upper side of the first section 21 that is upright on the bogie frame 11 can be done without working at height. In other words, the work of connecting the second section 22 to the first section 21 can be done using scaffolding, without using an aerial work vehicle.

[0037] Furthermore, workers perform work on the lifting / lowering control device 41 and the travel control device 42 during maintenance of the stacker crane 1. Because the lifting / lowering control device 41 and the travel control device 42 are fixed to the first portion 21, the work during maintenance can be done without working at a height.

[0038] Furthermore, the length of the first portion 21 may be shorter than the lengths of the second portion 22 and the third portion 23. This reduces the height of the regenerative resistance box 50 fixed to the second portion 22 compared to when the length of the first portion 21 is equal to or greater than the length of one or both of the second portion 22 and the third portion 23. This also improves workability when workers work on the regenerative resistance box 50.

[0039] The driver box 40 and the regenerative resistor box 50 may be disposed between the first mast 20A and the second mast 20B. This allows the space between the first mast 20A and the second mast 20B to be used as installation space for control devices and regenerative resistors. Furthermore, the center of gravity of the stacker crane 1 is closer to the center of the stacker crane 1 when viewed in a plan view from a direction perpendicular to the floor, improving the stability of the stacker crane 1.

[0040] The driver box 40 and the regenerative resistance box 50 may be fixed to any of the multiple masts 20. In FIG. 1 and other figures, the driver box 40 and the regenerative resistance box 50 are fixed to the first mast 20A. In this case, a gap exists between the driver box 40 and the regenerative resistance box 50 and the second mast 20B. Therefore, the lifting cables connecting the driver box 40 and the carriage 30 can be placed in the gap between the driver box 40 and the regenerative resistance box 50 and the second mast 20B. This allows the driver box 40 and the carriage 30 to be easily connected by the lifting cables.

[0041] The regenerative resistance box 50 may also have ventilation holes that connect the outside and inside of the regenerative resistance box 50. For example, the regenerative resistance box 50 may be formed from a metal plate with punched holes as ventilation holes. This allows air whose temperature has risen due to heat generated in the lift regenerative resistor 51 and the running regenerative resistor 52 to escape from the regenerative resistance box 50 through the ventilation holes. This improves the heat dissipation performance of the lift regenerative resistor 51 and the running regenerative resistor 52.

[0042] Furthermore, as described above, the regenerative resistor box 50 is fixed to the second portion 22. Therefore, compared to when the regenerative resistor box 50 is attached to the first portion 21, the possibility of an accident such as a worker walking on the floor coming into contact with the regenerative resistor through an air hole is reduced.

[0043] [Modification] In the stacker crane 1, it is sufficient that at least one of the lifting control device 41 and the travel control device 42 is fixed to the first part 21. In other words, it is sufficient that the control device that drives at least one of the lifting motor 26 and the travel motor 16 is fixed to the first part 21. Also, in the stacker crane 1, it is sufficient that at least one of the lifting regenerative resistor 51 and the travel regenerative resistor 52 is fixed to the second part 22. In other words, it is sufficient that the regenerative resistor that consumes regenerated energy when at least one of the lifting motor 26 and the travel motor 16 performs a regenerative operation is fixed to the second part 22. With this configuration, heat generated by the regenerative resistor fixed to the second part 22 is less likely to affect the control device fixed to the first part 21.

[0044] 〔summary〕 A stacker crane according to a first aspect of the present invention comprises a bogie section that runs on a track, a mast erected on the bogie section, a carriage that is capable of rising and lowering relative to the mast, a lifting motor for raising and lowering the carriage, a traveling motor for traveling the bogie section, a control device that drives at least one of the lifting motor and the traveling motor, and a regenerative resistor that consumes regenerative energy when at least one of the lifting motor and the traveling motor performs regenerative operation, wherein the mast has at least a first part and a second part that is arranged on the first part and connected to the first part, the control device is fixed to the first part, and the regenerative resistor is fixed to the second part.

[0045] A stacker crane according to aspect 2 of the present invention is the same as aspect 1 above, except that it has a plurality of masts that are adjacent to each other in a plan view from a direction perpendicular to the floor surface, and the control device and the regenerative resistor are arranged between the plurality of masts.

[0046] A stacker crane according to a third aspect of the present invention is the same as the second aspect, wherein the control device and the regenerative resistor are fixed to one of the masts between the masts.

[0047] A stacker crane according to aspect 4 of the present invention is any one of aspects 1 to 3 above, further comprising a housing that houses the regenerative resistor, and the housing has an air vent that connects the outside and inside of the housing.

[0048] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0049] 1 stacker crane 10 Bogie section 16. Travel motor 20, 20A, 20B Mast 21 Part 1 22 Part 2 26 Lifting motor 30 Carriage 41 Elevation control equipment (control equipment) 42 Driving control equipment (control equipment) 50 Regenerative resistor box (housing) 51 Regenerative resistor for lifting (regenerative resistor) 52 Regenerative resistor for driving (regenerative resistor)

Claims

1. A bogie section that runs on a track; A mast erected on the carriage portion; a carriage provided so as to be movable up and down relative to the mast; an elevation motor for raising and lowering the carriage; A travel motor for traveling the carriage unit; A control device that drives at least one of the lift motor and the travel motor; a regenerative resistor that consumes regenerative energy generated when at least one of the lift motor and the travel motor performs a regenerative operation; The mast has at least a first portion and a second portion disposed on and connected to the first portion, the control device is secured to the first portion; The regenerative resistor is fixed to the second portion.

2. The mast is provided in a plurality of positions adjacent to each other in a plan view from a direction perpendicular to a floor surface, The stacker crane according to claim 1 , wherein the control device and the regenerative resistor are disposed between a plurality of the masts.

3. The stacker crane according to claim 2 , wherein the control device and the regenerative resistor are fixed to one of the masts between the masts.

4. The regenerative resistor may further include a housing that accommodates the regenerative resistor. The stacker crane according to claim 1 , wherein the housing has an air hole that communicates between the outside and the inside of the housing.

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