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 Art

[0002] Patent Document 1 discloses a stacker crane capable of reducing the burden of on-site work during assembly. In this stacker crane, a pair of masts are provided in front of and behind the traveling carriage, and the carriage moves up and down along the mast. Each of the pair of masts is configured to have a first part fixed to the traveling carriage and a second part connected to the first part. By separating the first part and the second part, the transportation of the stacker crane before installation can be facilitated.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a stacker crane, control for performing a regenerative operation of a traveling motor or a lifting motor may be performed. In this case, the stacker crane may be provided with a regenerative resistor that consumes regenerative energy generated by the regenerative operation of the traveling motor or the like. Regarding the arrangement of such a regenerative resistor in the stacker crane, sufficient consideration has not been given in the past.

[0005] One aspect of the present invention aims to realize a stacker crane in which a regenerative resistor is arranged at an appropriate position.

Means for Solving the Problems

[0006] To solve the above problems, a stacker crane according to one aspect of the present invention comprises a trolley that travels on a track, a mast erected on the trolley, a carriage that is vertically movable relative to the mast, a lifting motor for raising and lowering the carriage, a travel motor for moving the trolley, a control device for driving at least one of the lifting motor and the travel motor, and a regenerative resistor for consuming regenerative energy when at least one of the lifting motor and the travel motor performs a regenerative operation, wherein the mast has at least a first part and a second part that is positioned on 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. [Effects of the Invention]

[0007] According to one aspect of the present invention, a stacker crane can be realized in which regenerative resistors are positioned appropriately. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view showing the entire stacker crane. [Figure 2] This is a side view showing the entire stacker crane. [Figure 3] This diagram shows the lift section of a stacker crane. [Figure 4] This is a perspective view showing the connection point between the carriage and the lifting wire. [Figure 5] This is a diagram showing the inside of the driver box. [Figure 6] This diagram shows the inside of a regenerative resistor box. [Modes for carrying out the invention]

[0009] One embodiment of the present invention will be described in detail below.

[0010] Figure 1 is a perspective view showing the entire stacker crane 1. Figure 2 is a side view showing the entire stacker crane 1. The stacker crane 1 comprises a trolley section 10, a mast 20, a carriage 30, a driver box 40, and a regenerative resistance box 50 (housing). The stacker crane 1 also includes 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 surface on which the stacker crane 1 is installed.

[0011] The bogie section 10 is a bogie that travels on a track. The track on which the bogie section 10 travels follows, for example, a running guide rail (not shown) installed on the floor surface where the stacker crane 1 is installed. The track may be oriented in the front-rear direction, for example, as shown in Figure 1. The bogie section 10 has a bogie frame 11 and a running motor unit 15. A mast 20 is erected on the bogie frame 11. Wheels 12 that travel on the running guide rail are also arranged on the underside of the bogie frame 11.

[0012] The travel motor unit 15 is the drive unit for moving the bogie section 10. The travel motor unit 15 is located at the bottom of the bogie frame 11. The travel motor unit 15 has a travel motor 16. The driving force from the travel motor 16 is transmitted to the wheels 12, causing the wheels 12 to rotate. As the wheels 12 rotate, the stacker crane 1 is guided along the travel guide rails and moves.

[0013] A mast 20 is a columnar member that extends vertically. The stacker crane 1 has multiple masts 20 that are adjacent to each other in a plan view from a direction perpendicular to the floor. In Figure 1, etc., the stacker crane 1 has two masts 20. However, the stacker crane 1 may have 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] The first mast 20A and the second mast 20B each have a first portion 21 and a second portion 22 positioned on and connected to the first portion 21. Therefore, compared to the case where the first mast 20A and the second mast 20B are each formed as a single component, the stacker crane 1 can be made smaller before assembly. Consequently, the transport of the stacker crane 1 before assembly becomes easier.

[0015] Furthermore, the first mast 20A and the second mast 20B each have a third part 23 positioned on and connected to the second part 22. In other words, the first mast 20A and the second mast 20B are each divisible into three parts. This allows the stacker crane 1 before assembly to be made even smaller than when the first mast 20A and the second mast 20B are each divisible into two parts.

[0016] Furthermore, the first mast 20A and the second mast 20B may each be provided with additional members that are positioned on and connected to the third section 23. In this case, the number of such additional members may be one or two or more. That is, the first mast 20A and the second mast 20B may each be divided into four or more sections. In addition, the first mast 20A and the second mast 20B may each be further provided with connecting plates 28 for connecting the members of the first section 21, the second section 22, and the third section 23 that are connected to each other.

[0017] The first mast 20A and the second mast 20B are separated 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 a lifting guide rail (not shown) that guides the carriage 30 in the vertical direction.

[0018] Above the mast 20, an upper frame 24 is provided. The upper frame 24 is provided so as to connect the upper end of the first mast 20A and the upper end of the second mast 20B. Further, the upper frame 24 engages with an upper guide rail (not shown) and guides the stacker crane 1 by the upper guide rail.

[0019] The carriage 30 is capable of placing an article thereon and is provided so as to be able to move up and down with respect to the mast 20. The carriage 30 may include a carriage frame 31, a fork portion 32 mounted on the carriage frame 31 for delivering the article, and a turning portion 33 for turning the fork portion 32. Further, the carriage 30 may include a fork portion control device 34 for driving the fork portion 32 and a turning portion control device 35 for driving the turning portion 33. The fork portion control device 34 and the turning portion control device 35 may be arranged, for example, on the side of the carriage frame 31 opposite to the mast 20.

[0020] 〔Lift portion〕 FIG. 3 is a view showing a lift portion 27 provided in the stacker crane 1. The lift portion 27 is a mechanism for moving the carriage 30 up and down with respect to the mast 20. The lift portion 27 is provided on each of the first mast 20A and the second mast 20B. As shown in FIG. 3, the lift portion 27 includes a lifting motor unit 25, a drive drum 271, lifting wires 272, 274, a pulley 273, and a counterweight 275.

[0021] The lifting motor unit 25 is a drive portion for moving the carriage 30 up and down with respect to the mast 20. The lifting motor unit 25 is provided at the lower part of the mast 20. The lifting motor unit 25 has a lifting motor 26 for driving a drive drum 271 provided at the lower part of the mast 20.

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

[0023] In the lift section 27, the lifting motor 26 rotates in the forward or reverse direction, causing the lifting wire 272 to move forward and backward from the drive drum 271. The pulley 273 rotates in response to the movement of the lifting wire 272. As a result, the carriage 30 moves up and down relative to the mast 20.

[0024] [Belt tension adjustment mechanism] Figure 4 is a perspective view showing the connection between the carriage 30 and the lifting wire 272. For simplicity, in Figure 4, the carriage frame 31 of the carriage 30 is omitted except for the vicinity of the connection with the lifting wire 272. As shown in Figure 4, the stacker crane 1 is equipped with a tension adjustment mechanism 29 at the connection between the carriage 30 and the lifting 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 lifting wire 272. The upper end of the lifting wire 272 is connected to the lower end of the carriage 30 by inserting the bolt 291 from the carriage 30 toward the lifting wire 272 and screwing the double nut 292 onto the tip of the bolt 291 inserted into the lifting wire 272.

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

[0027] [Control equipment and regenerative resistors] Figure 5 shows the interior of the driver box 40. As shown in Figure 5, the driver box 40 houses the lifting control equipment 41 and the travel control equipment 42. The driver box 40 may also house circuit breakers 43A, 43B, and 43C to interrupt the electrical connection between the lifting control equipment 41 and the lifting motor 26, or between the travel control equipment 42 and the travel motor 16, as needed. The arrangement of the lifting control equipment 41, the travel control equipment 42, and the circuit breaker 43A inside the driver box 40 is not limited to that shown in Figure 5.

[0028] The lifting control device 41 is a control device that drives the lifting motor 26. The lifting control device 41 includes a drive circuit that supplies current to the lifting motor 26. The lifting control device 41 controls the amount of current supplied to the lifting 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] Figure 6 shows the inside of the regenerative resistance box 50. As shown in Figure 6, the regenerative resistance box 50 houses the lifting regenerative resistor 51 and the running regenerative resistor 52. The arrangement of the lifting regenerative resistor 51 and the running regenerative resistor 52 inside the regenerative resistance box 50 is not limited to that shown in Figure 6.

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

[0032] In the stacker crane 1, the driver box 40 is fixed to the first part 21 of the mast 20. The regenerative resistor box 50 is fixed to the second part 22 of the mast 20. In other words, in the stacker crane 1, the lifting control equipment 41 and the travel control equipment 42 are fixed to the first part 21, and the lifting regenerative resistor 51 and the travel regenerative resistor 52 are fixed to the second part 22. As a result, compared to, for example, a case where both the driver box 40 and the regenerative resistor box 50 are fixed to the first part 21, the heat generated by the lifting regenerative resistor 51 and the travel regenerative resistor 52 is less likely to affect the lifting control equipment 41 and the travel control equipment 42.

[0033] Furthermore, the heat generated by the lifting regenerative resistor 51 and the traveling regenerative resistor 52 increases the temperature of the surrounding air. Generally, air with a higher temperature tends to move upward rather than downward. In other words, heat, along with the air, also tends to move upward rather than downward. For this reason, in the stacker crane 1, compared to, for example, the case where the regenerative resistor box 50 is fixed to the first part 21 and the driver box 40 is fixed to the second part 22, the heat generated by the lifting regenerative resistor 51 and the traveling regenerative resistor 52 is less likely to affect the lifting control equipment 41 and the traveling control equipment 42.

[0034] Furthermore, the travel 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 to the lifting control equipment 41 and to electrically connect the travel motor unit 15 to the travel control equipment 42.

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

[0036] In this case, since the regenerative resistance box 50 is fixed to the second part 22, the length of the first part 21 itself can be shortened compared to the case where both the driver box 40 and the regenerative resistance box 50 are fixed to the first part 21. For example, the length of the first part 21 can be 3m or less. Therefore, the work of connecting the second part 22 to the upper side of the first part 21, which is erected on the trolley frame 11, can be performed without working at height. That is, the work of connecting the second part 22 to the first part 21 can be performed using scaffolding without using an aerial work platform.

[0037] Furthermore, workers perform maintenance on the lifting control device 41 and the travel control device 42 during the maintenance of the stacker crane 1. Since the lifting control device 41 and the travel control device 42 are fixed to the first part 21, the maintenance work can be performed without working at height.

[0038] Furthermore, the length of the first part 21 may be shorter than the lengths of the second part 22 and the third part 23. This results in a lower height for the regenerative resistance box 50 fixed to the second part 22 compared to the case where the length of the first part 21 is greater than or equal to the length of one or both of the second part 22 and the third part 23. Therefore, workability can be improved even when workers are working on the regenerative resistance box 50.

[0039] The driver box 40 and the regenerative resistor box 50 may be positioned 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 equipment and regenerative resistors. In addition, the center of gravity of the stacker crane 1 is closer to the center of the stacker crane 1 when viewed in plan from a direction perpendicular to the floor, thereby improving the stability of the stacker crane 1.

[0040] Furthermore, the driver box 40 and the regenerative resistor box 50 may be fixed to any of the multiple masts 20. In Figure 1, etc., the driver box 40 and the regenerative resistor box 50 are fixed to the first mast 20A. In this case, there is a gap between the driver box 40 and the regenerative resistor box 50 and the second mast 20B. Therefore, the lifting cable connecting the driver box 40 and the carriage 30 can be placed in the gap between the driver box 40 and the regenerative resistor box 50 and the second mast 20B. Thus, the driver box 40 and the carriage 30 can be easily connected by the lifting cable.

[0041] Furthermore, the regenerative resistance box 50 may have ventilation holes that connect the outside and inside of the regenerative resistance box 50. For example, the regenerative resistance box 50 may be made of a metal plate with perforations that serve as ventilation holes. This allows the air whose temperature has risen due to the heat generated by the lifting regenerative resistor 51 and the running regenerative resistor 52 to escape to the outside of the regenerative resistance box 50 through the ventilation holes. Therefore, the heat dissipation of the lifting regenerative resistor 51 and the running regenerative resistor 52 is improved.

[0042] Furthermore, as mentioned above, the regenerative resistor box 50 is fixed to the second part 22. Therefore, compared to the case where the regenerative resistor box 50 is attached to the first part 21, the possibility of accidents such as workers walking on the floor coming into contact with the regenerative resistor through the ventilation holes is reduced.

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

[0044] 〔summary〕 A stacker crane according to embodiment 1 of the present invention comprises a trolley that travels on a track, a mast erected on the trolley, a carriage that is vertically movable relative to the mast, a lifting motor for raising and lowering the carriage, a travel motor for moving the trolley, a control device for driving at least one of the lifting motor and the travel motor, and a regenerative resistor for consuming regenerative energy when at least one of the lifting motor and the travel motor performs a regenerative operation, wherein the mast has at least a first part and a second part that is positioned on 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] The stacker crane according to embodiment 2 of the present invention is provided with a plurality of masts adjacent to each other in a plan view from a direction perpendicular to the floor surface, and the control equipment and the regenerative resistor are arranged between the plurality of masts.

[0046] In the stacker crane according to embodiment 3 of the present invention, in embodiment 2, the control equipment and the regenerative resistor are fixed to one of the multiple masts between the multiple masts.

[0047] A stacker crane according to aspect 4 of the present invention further comprises a housing for housing the regenerative resistor, in any of aspects 1 to 3 above, wherein the housing has ventilation holes that connect the outside and inside of the housing.

[0048] The present invention is not limited to the embodiments described above, 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. Driving motor 20, 20A, 20B mast 21 Part 1 22 Part 2 26 Lifting motor 30 Carriage 41. Lifting and lowering control equipment (control equipment) 42. Driving control equipment (control equipment) 50 Regenerative Resistor Box (Enclosure) 51. Regenerative resistor for lifting / lowering (regenerative resistor) 52. Regenerative resistor for driving (regenerative resistor)

Claims

1. The bogie section that runs on the track, The mast erected on the aforementioned bogie section, A carriage is provided to be able to move up and down relative to the mast, A lifting motor for raising and lowering the carriage, A travel motor for moving the aforementioned trolley section, A control device that drives at least one of the lifting motor and the travel motor, The system includes a regenerative resistor that consumes regenerative energy when at least one of the lifting motor and the travel motor performs regenerative operation, The mast comprises at least a first portion and a second portion positioned on and connected to the first portion. The control device is fixed to the first part, The regenerative resistor is fixed to the second part of the stacker crane.

2. Multiple masts are provided so as to be adjacent to each other in a plan view from a direction perpendicular to the floor surface. The stacker crane according to claim 1, wherein the control equipment and the regenerative resistor are arranged between the plurality of 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 enclosure further comprises the regenerative resistor, The stacker crane according to any one of claims 1 to 3, wherein the housing has ventilation holes that connect the outside and inside of the housing.

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