JP2014043313A - Stacker crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stacker crane suitable for a factory and a distribution center requiring constant cleanliness.SOLUTION: A stacker crane 1 to be used in an automated warehouse 100 includes: work stations 10A, B handling a prescribed article 50 to be delivered or stocked from/in any one of a plurality of storage chambers 21 when performing at least one of the delivery and stocking; a frame 2 reciprocatingly traveling on a rail 30; a carriage 3 performing an elevating operation in the frame 2 and taking the prescribed article 50 in and out from the plurality of storage chambers 21; a drive section 4 driving at least one of reciprocatingly traveling of the frame 2 on the rail 30, the elevating operation of the carriage 3 and taking of the prescribed article 50 in and out by the carriage 3; and a capacitor 5 supplying power to the drive section 4. The work stations 10A, B include chargers 6 with charging electrodes. The capacitor 5 includes a power receiving terminal which is electrically connected to the charging electrodes to receive charging and receives charging from the chargers 6.

Description

  The present invention has a plurality of storage chambers, performs delivery of articles stored in the plurality of storage chambers to a station at a predetermined position, and entry of articles from a station to a predetermined storage chamber. The present invention relates to a stacker crane that is an inexpensive stacker crane that needs to be used in a clean environment and does not require expensive and special members.

  In factories, business establishments, or places responsible for delivery and distribution, warehouses are often installed to store various articles and parts in a large number of storage rooms. This warehouse is called an “automatic warehouse” and has a plurality of storage rooms, and each of the plurality of storage rooms stores a predetermined article. Each of the plurality of storage chambers not only stores articles but also may carry stored articles out to a predetermined position (called a station) outside the storage chamber group. In addition, a predetermined article may be carried into a predetermined position of a plurality of storage chambers from this station, and an automatic warehouse can be manufactured at a factory by receiving a warehouse such as the former or a warehouse such as the latter, Predetermined parts required for storage at a distribution center can be stored in a predetermined position where they can be separated over a predetermined period.

  Here, a stacker crane is used for entering and leaving the automatic warehouse.

  Stacker cranes have various types, but are generally used. Stacker cranes often have a frame (a structure centered on a mast extending substantially parallel to the top and bottom) for reciprocating on a single rail, which is a monorail, and a carriage on which goods to be delivered or received are placed. It has. This carriage moves up and down because it moves articles according to the positions of the plurality of storages. The frame itself travels back and forth on the rail.

  The rail is provided along a plurality of storage chambers, and the frame of the stacker crane reciprocates on the rail along the plurality of storage chambers. The carriage moves up and down in accordance with this reciprocation. By combining this reciprocating motion with the lifting and lowering operation, the stacker crane can make the carriage correspond to one of the plurality of storage rooms, and can store articles in and out of the storage room. it can.

  Thus, since the stacker crane reciprocates on the rail, the frame of the stacker crane is provided with a drive device that can travel on the rail. Also, the drive device requires power and is attached to a mast or other frame. Of course, the drive device not only reciprocates the frame on the rail, but also raises and lowers the carriage.

  Since this drive device requires electric power, the stacker crane in the prior art includes a trolley that is a power supply line along the rail. When there is no trolley, it is necessary to operate with a mechanical device such as a power cable or a chain belt, so that it is not suitable for high-speed operation of a stacker crane. Such a trolley always comes into contact with the moving parts and rails of the stacker crane and supplies power to the drive unit.

  On the other hand, a technique using a power receiving coil or a power coupler has been proposed so that the stacker crane can be fed in a non-contact manner (see, for example, Patent Document 1).

JP 2008-81219 A JP 2002-362710 A JP 2008-236997 A

Here, in power feeding to the stacker crane drive device using the trolley, the trolley needs to contact the current collector. This contact causes friction between the current collector and the trolley, so that the trolley and current collector generate dust while being worn out. Of course, wear also occurs, requiring regular maintenance of the trolley and current collector. In addition, the friction between the current collector and the trolley often causes noise when the stacker crane reciprocates.
Problems such as dust, wear, replacement, and noise are undesirable in factories and distribution centers that must handle chemicals, chemicals, precision equipment, foods, and the like.

  On the other hand, Patent Document 1 uses non-contact power supply such as a power receiving coil or a coupler to prevent contact between a stacker crane or a power supply line and a power feeding portion (such as a power receiving coil or a coupler). For this reason, there is no friction, and there are few problems such as wear, generation of dust, noise and replacement in a short period of time. For this reason, the stacker crane using non-contact power feeding represented by Patent Document 1 is used in a clean room such as a semiconductor manufacturing factory.

  However, the power receiving coil and the coupler are very expensive, and it is troublesome to mount the power receiving coil and the coupler on the stacker crane, which causes a problem that the stacker crane itself becomes very expensive. In semiconductor manufacturing factories where the demand for clean rooms is very high, there is no problem even if the cost of capital investment is large, but a lower clean room level (between the so-called semi-clean room and clean room) is required than for semiconductor manufacturing factories. The cost of investing in stacker cranes is also limited at certain factories and distribution centers.

  Note that in a stacker crane that reciprocates on a rail (monorail) in the prior art, electric power is supplied to a drive device that operates the stacker crane itself and the entire control device. For this reason, the above-described trolley supplies power to the stacker crane drive device and the entire control device. Here, the stacker crane reciprocates on the rail. Since the drive device is provided in the stacker crane, the trolley needs to be provided along the rail. In accordance with the movement of the stacker crane on the rail, the drive device also moves on the rail. For this reason, since the drive device which needs supply of electric power moves along a rail, the trolley which can supply electric power needs to be along a rail.

  On the other hand, the conventional stacker crane using a trolley has a problem that it is difficult to use in a factory or distribution center where cleanliness between these semi-clean rooms and clean rooms is required due to problems such as dust, noise, and replacement. This is because the trolley is provided along the rails, so that the trolley itself may be worn and generate dust by contact and pressure applied to the trolley.

  Of course, various technologies have been proposed for vehicles and mobile devices using storage batteries (see, for example, Patent Documents 2 and 3). The stacker crane to be used is a completely different technical field, and does not serve as a reference or application technology for the stacker crane.

As described above, the stacker crane of the prior art is not as high as a factory or distribution center that needs to maintain a high degree of cleanliness even if the investment cost is increased, such as a semiconductor device manufacturing factory. Factories and distribution centers that require higher cleanliness than distribution centers have the following problems: (1) dust from wear, (2) noise, (3) replacement and maintenance in a short period of time, and (4) high cost. It was.
An object of the present invention is to solve these problems and to provide a stacker crane suitable for factories, distribution centers and the like that require a certain degree of cleanliness.

  In view of the above problems, the stacker crane according to the present invention is a stacker crane used in an automatic warehouse that performs at least one of delivery and receipt of predetermined articles from a plurality of storage rooms, and performs at least one of exit and entry. In addition, a work station that handles predetermined articles that are delivered to or received from any of the plurality of storage chambers, a frame that reciprocates on the rail, a carriage that moves up and down in the frames, and that moves the predetermined articles into and out of the plurality of storage chambers, A drive unit that drives at least one of reciprocal travel on the rails of the frame, raising and lowering movement of the carriage, and loading and unloading of a predetermined article by the carriage, and a capacitor that supplies electric power to the drive unit, The capacitor has an electrode, and the capacitor is electrically connected to the charging electrode and charged. A power receiving terminal for receiving the capacitor is subjected to charging from the charger.

  The stacker crane of the present invention can solve all the problems such as (1) dust caused by wear, (2) noise, (3) replacement and maintenance in a short period of time, and (4) high cost. In addition, since it can be configured with a simple structure, it can be realized by a simple improvement of the stacker crane currently used. As a result, the obtained stacker crane of the present invention can maintain a low cost and is easily spread.

  In particular, stackers cranes suitable for factories and distribution centers that require cleanliness in this range have not been realized with sufficient practicality. However, the present invention also solves this business problem. it can. As a result, optimum work using an automatic warehouse is realized in factories and distribution centers that require a certain degree of cleanliness, and the work efficiency in factories and the like is greatly improved.

  Of course, the stacker crane of the present invention can be applied to use other than automatic warehouses.

It is a schematic diagram of the automatic warehouse in Embodiment 1 of this invention, and has shown the state which looked at the automatic warehouse from the top. It is a perspective view of the automatic warehouse 100 in Embodiment 1 of this invention. It is a schematic diagram of the storage area in Embodiment 1 of this invention. It is a schematic diagram of a stacker crane. It is explanatory drawing which shows the charge condition of the charger and capacitor in Embodiment 1 of this invention. It is a perspective view which shows the detail of the stacker crane which shows the mode of charge shown by FIG. It is explanatory drawing which shows the state of the stacker crane after charge in Embodiment 1 of this invention. The state which looked at FIG. 7 from the reverse direction is shown. It is a schematic diagram of the automatic warehouse in Embodiment 3 of this invention.

  A stacker crane according to a first aspect of the present invention is a stacker crane used in an automatic warehouse that performs at least one of delivery and entry of a predetermined article from a plurality of storage rooms, and performs at least one of exit and entry. A work station that handles predetermined articles that are delivered to or received from one of the plurality of storage chambers, a frame that reciprocates on a rail, a carriage that moves up and down in the frames and that carries the predetermined articles into and out of the plurality of storage chambers, A drive unit that drives at least one of reciprocal travel on the rails of the frame, lifting and lowering operation of the carriage, and loading and unloading of a predetermined article by the carriage, and a capacitor that supplies power to the drive unit, The capacitor is electrically connected to the charging electrode and charged. A power receiving terminal for receiving the capacitor is subjected to charging from the charger.

  With this configuration, the stacker crane does not need a power supply path such as a trolley, and does not need to generate unnecessary noise, wear, and dust.

  In the stacker crane according to the second aspect of the present invention, in addition to the first aspect, the station is fixedly installed at any part on the rail.

  With this configuration, the charger provided in the work station can always make electrical contact with the capacitor.

  In the stacker crane according to the third aspect of the present invention, in addition to the first or second aspect, the carriage includes at least one of a fork, a roller, and a belt corresponding to taking in and out of a predetermined article.

  With this configuration, the carriage can take a predetermined article into the storage chamber.

  In the stacker crane according to the fourth aspect of the present invention, in addition to any one of the first to third aspects, the capacitor holds electric power used for unloading and loading predetermined articles by the frame and carriage.

  With this configuration, the stacker crane can perform the operation of entering and leaving with only the power of the capacitor that it has independently. As a result, continuous power supply from the outside is not required, and wear and maintenance of the power supply path become unnecessary.

  In the stacker crane according to the fifth aspect of the present invention, in addition to any of the first to fourth aspects of the invention, the capacitor has a moving distance between the predetermined storage room and the work station of the automatic warehouse. It is possible to have electric power that can travel back and forth (hereinafter referred to as “minimum electric power”) or more.

  With this configuration, the stacker crane can perform the minimum work only with the electric power of the capacitor.

  In the stacker crane according to the sixth aspect of the present invention, the capacitor according to any one of the first to fourth aspects is configured such that the frame and the carriage travel in the reciprocating distance between all the storage chambers and work stations of the automatic warehouse. In addition, it is possible to have electric power that can be raised and lowered (hereinafter referred to as “ideal electric energy”) or more.

  With this configuration, the stacker crane can perform entry and exit in all the storage rooms of the automatic warehouse with only one charge.

  In the stacker crane according to the seventh aspect of the present invention, in addition to any of the first to sixth aspects, the capacitor is provided in at least a part of the frame and the drive unit, and the frame is connected to the work station. In addition, the charging electrode and the power receiving terminal are in electrical contact, and the charger charges the capacitor.

  With this configuration, charging the capacitor does not require any special timing or work.

  In the stacker crane according to the eighth aspect of the present invention, in addition to the fifth or sixth aspect, the charger can charge the capacitor with at least the minimum electric energy and the ideal electric energy.

  With this configuration, the stacker crane can realize various operations only with the electric power of the capacitor.

  In the stacker crane according to the ninth aspect of the present invention, in addition to the eighth aspect, the charger can charge the capacitor with electric power equal to or greater than the ideal electric energy.

  With this configuration, the stacker crane can further reduce the number of times of charging, and can improve work efficiency of entering and leaving.

  In the stacker crane according to the tenth invention of the present invention, in addition to the fifth or sixth invention, the charger charges the minimum electric energy or the ideal electric energy within the contact time when the frame contacts the work station. it can.

  With this configuration, the capacitor finishes charging when the stacker crane performs an indispensable operation at the work station, so that it does not have extra time and labor for charging. For example, the capacitor is charged by taking advantage of the time required to place a predetermined article required for entry or exit on the work table.

  In the stacker crane according to the eleventh invention of the present invention, in addition to any of the first to tenth inventions, the stacker crane is an area where a required cleanness is required between the semi-clean room and the clean room. used.

  In the stacker crane according to the twelfth aspect of the present invention, in addition to the eleventh aspect, the stacker crane is used in an area where a cleanliness of class 10,000 (no visible dust) is required.

  With these configurations, a low-cost stacker crane can be realized in factories and distribution centers where cleanliness is conventionally required.

  In the stacker crane according to the thirteenth invention of the present invention, in addition to any of the first to twelfth inventions, the drive unit has a motor, and when the reciprocating traveling is decelerated and the elevating operation is being lowered. At least one of the motors generates regenerative power, and the capacitor can recover and regenerate the regenerated power.

  With this configuration, the capacitor can reduce the number of times of charging. In addition, since the charging time can be reduced, the labor and time required for charging can be reduced, the operation rate of the stacker crane can be increased, and the work cost in the automatic warehouse can be reduced.

  In the stacker crane according to the fourteenth aspect of the present invention, in addition to any of the eighth to tenth aspects, the positions of the plurality of storage chambers are defined by coordinates, and the charger corresponds to the coordinates. A correspondence table that defines the required power is stored, and the charger charges the capacitor with the required power corresponding to the correspondence table.

  With this configuration, the stacker crane can charge the capacitor with necessary power, and can increase the efficiency of the charging operation.

  In the stacker crane according to the fifteenth aspect of the present invention, in addition to any one of the first to eleventh aspects, both ends of the rail have a pair of work stations, and each of the pair of work stations Have a charger,

  The frame moves to a work station having a short moving distance or a work station close to a storage room to be stored or taken out of the pair of work stations, and receives charging of the capacitor from the charger.

  With this configuration, the efficiency of the charging operation is improved.

  In the stacker crane according to the sixteenth invention of the present invention, in addition to any one of the first to fifteenth inventions, the capacitor further includes a calculation unit for calculating a remaining capacity of the electric power possessed, , Information on the computing capacity is transmitted to the charger.

  With this configuration, overcharging and insufficient charging are prevented. As a result, the operation efficiency of storing and unloading the stacker crane is increased, and the operation efficiency of the stacker crane itself is improved.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(About automatic warehouse)
First, the automatic warehouse will be described. FIG. 1 is a schematic diagram of an automatic warehouse according to Embodiment 1 of the present invention, showing a state of the automatic warehouse as viewed from above. As shown in FIG. 1, the automatic warehouse 100 includes a storage area 20. The automatic warehouse 100 shown in FIG. 1 includes a storage area 20 having a plurality of storage rooms 21, and the storage areas 21 are divided in an orderly manner in the storage area 20. A rail 30 is provided in the approximate center of the automatic warehouse 100. The storage areas 20 are provided on both sides of the rail 30, and the predetermined article 50 is delivered and received in each of the plurality of storage chambers 21 provided on both sides of the rail 30.

  FIG. 1 is a schematic view of the automatic warehouse 100 as viewed from above. FIG. 2 shows details of the automatic warehouse 100 as a perspective view. FIG. 2 is a perspective view of the automatic warehouse 100 according to Embodiment 1 of the present invention. As in FIG. 1, the storage area 20 is provided with individual storage chambers 21, and rails 30 are provided so as to pass through the storage chambers 21. The frame 2 (stacker crane 1) reciprocates on the rail 30. Work stations 10 are provided on both sides (or one side). In FIG. 1, the work station 10 is provided at a position overlapping the rail 30, but in FIG. 2, the work station 10 is provided at a position different from the rail 30.

  Since the work station 10 is used for installation work for entering and leaving the predetermined article 50, the work station 10 may be in such an installation position. Further, each of the storage chambers 21 included in the automatic warehouse 100 may not be a room shape but may be constituted by a skeleton as shown in FIG. The frame 2 reciprocates on the rail 30 between the storage chambers 21 formed of such a framework, and the carriage 3 moves up and down in the frame 2. As a result, the predetermined article 50 is loaded and unloaded in the predetermined storage chamber 21.

  The rail 30 moves as the stacker crane 1 reciprocates. The stacker crane 1 has an outer shape with a frame 2 and a carriage 3 described later as main elements. For the convenience of describing the stacker crane 1 using the frame 2 and the carriage 3 (and other necessary elements) as elements, the element that moves by reciprocating the rail 30 will be described as the frame 2 (after all, the stacker crane 1 Although it has the same meaning as traveling in a reciprocating manner, the stacker crane 1 is a whole including a frame 2 that reciprocates on a rail, and the reciprocating one is described as a frame).

  Each of the storage areas 20 includes a plurality of storage chambers 21 as described above, and the plurality of storage chambers 21 are lined up with partitioned spaces such as so-called shelves. FIG. 3 is a schematic diagram of a storage area in the first embodiment of the present invention. The storage area 20 is provided with a plurality of storage chambers 21 which are neatly divided as shown in FIG.

  Of course, even if the plurality of storage chambers 21 are not neatly divided as shown in FIG. 3, the storage chambers 21 having different shapes and sizes may be arranged. FIG. 3 shows the storage area 20 as viewed from the front. That is, the entrance side of the plurality of storage chambers 21 is visible. Each of the plurality of storage chambers 21 stores a predetermined article 50 according to various purposes (storage of manufactured parts, storage of articles after manufacture, or temporary storage thereof). Of course, there is an empty storage chamber 21 in which the predetermined article 50 is not stored.

  In FIG. 3, among the plurality of storage chambers 21, the predetermined article 50A is stored in the storage chamber 21A, and the predetermined article 50B is stored in the storage chamber 21B. Each of the predetermined article 50A and the predetermined article 50B is stored in the storage chamber 21A and the storage chamber 21B by the stacker crane 1. Alternatively, the predetermined article 50A and the predetermined article 50B that are already stored may be taken out from the storage chamber 21A and the storage chamber 21B by the stacker crane 1 and delivered.

  As described above, the automatic warehouse 100 includes the rail 30, the stacker crane that uses the rail 30 to move out and in, and the plurality of storage chambers 21 for storing and taking out the predetermined article 50. Prepare.

  In addition, the automatic warehouse 100 includes at least one work station 10 that handles a predetermined article 50 that has been delivered or received by the stacker crane 1. In FIG. 1, one work station 10 is provided at each end of the automatic warehouse 100. Of course, both ends are examples, and it is only necessary that the work station 10 is installed in a part of the automatic warehouse 100. In addition, the work station 10 may be installed at any one of both ends, one end, and the middle of the rail 30. The stacker crane 1 that moves by reciprocating travel of the rail 30 can easily correspond to the work station 10 by being installed at any position such as both ends, one end, and the middle of the rail 30.

  In FIG. 1, for convenience of explanation, the work station 10 is shown as a work station 10 </ b> A, and the work station 10 </ b> B is shown as a work station 10 </ b> B.

  The stacker crane 1 receives the predetermined article 50 in one of the plurality of storage chambers 21 or outputs the predetermined article 50 from any of the plurality of storage chambers 21 based on the reciprocating travel of the rail 30. At the time of entering or leaving, installation and handling of the predetermined article 50 as a target is performed at the work station 10. For this reason, the work station 10 may be provided with a control device controlled by the worker, or may be provided with a work space where the worker performs a human work.

  Thus, the stacker crane of the present invention is used in such an automatic warehouse 100.

(Overview)
An overall outline of the stacker crane according to the first embodiment will be described. The stacker crane 1 is mainly used in the automatic warehouse 100 as described above. Of course, the use of the automatic warehouse 100 is not limited.

  FIG. 4 is a schematic diagram of a stacker crane. The stacker crane 1 has a frame 2 that forms most of the outer shape. The frame 2 includes a side frame 21 that is a frame on both sides, and an upper and lower frame 22 that is an upper and lower frame, and the frame 2 has a frame shape as a whole. The frame 2 is fitted to the rail 30 and reciprocates on the rail 30. As the frame 2 reciprocates, the stacker crane 1 reciprocates on the rail 30.

  In the stacker crane 1, the frame 2 includes a carriage 3. The carriage 3 is attached to the frame 2 and moves up and down in the frame 2. In addition, since the predetermined article 50 can be placed on the carriage 3, the predetermined article 50 can be taken in and out of the predetermined storage chamber 21 in accordance with the lifting and lowering operation.

  Further, the stacker crane 1 includes a drive unit 4 that drives the reciprocating travel of the frame 2 and the lifting and lowering operation of the carriage 3. Furthermore, the control part 7 which controls operation | movement regarding this drive part 4 and other stacker cranes 1 (or the work station 10 depending on the case) is provided. However, the control unit 7 may be attached to the frame 2 that is the central element of the stacker crane 1, may be attached separately, or may be attached to the work station 10.

  When the drive unit 4 reciprocates the frame 2 on the rail 30 and moves the carriage 3 up and down, the stacker crane 1 moves the carriage 3 on which the predetermined article 50 can be placed on the X axis and the Y axis. Can be moved to coordinates. As a result, the stacker crane 1 can put the predetermined article 50 in the plurality of storage chambers 21 arranged on the X axis and the Y axis in the storage area 20, and can take out the predetermined article 50 from the storage chamber 21. .

  The stacker crane 1 includes a capacitor 5 that supplies electric power for performing reciprocating travel of the frame 2 and raising / lowering operation of the carriage 3. That is, the capacitor 5 supplies power to the drive unit 4. With the power supplied from the capacitor 5, the drive unit 4 executes reciprocating travel of the frame 2 and lifting / lowering operation of the carriage 3 set as necessary.

  The work station 10 also includes a charger 6 having a charging electrode 61. The capacitor 5 has a power receiving terminal 51, and the charger 6 charges the capacitor 5 with electric power by the electrical connection between the charging electrode 61 and the power receiving terminal 51. In other words, the work station 10 charges the capacitor 5 provided in the frame 2 (stacker crane 1) that has moved in a reciprocating manner, and the drive unit 4 uses the electric power of the capacitor 5 to reciprocate the frame 2 and lift the carriage 3. It becomes possible to make it operate.

  Here, the capacitor 5 is attached to the frame 2 that moves in a reciprocating manner, and charging is performed at a work station 10 installed at an end of the rail 30 or the like. For this reason, the power supply path along the rail 30 becomes unnecessary like the trolley used in the prior art. As a result, the trolley is not worn as the frame 2 reciprocates, and no dust is generated. That is, the stacker crane 1 composed of the frame 2 and the carriage 3 can operate independently without receiving power supply during movement. This can prevent generation of wear and dust.

  The stacker crane 1 having the frame 2 and the carriage 3 as the central elements always reaches the work station 10 when the frame 2 reciprocates on the rail 30 in order to take out or handle a predetermined article 50. Have. In the work station 10, the stacker crane 1 takes out the predetermined article 50 that has been unloaded, and receives the predetermined article 50 to be loaded from the work table. At this time, the stacker crane 1 and the work station 10 are in contact with each other.

  In other words, since the capacitor 5 and the charger 6 can come into contact with each other, both can come into electrical contact. In particular, the charger 6, the charging electrode 61, and the power receiving terminal 51 can be in electrical contact. By this electrical contact, the capacitor 5 can be charged at high speed. The stacker crane 1 always comes into contact with the work station 10 (including reaching a position close to the work station 10 even when it is not physically contacted) when leaving the storage room 21 and when entering the storage room 21. In addition, entering and leaving are frequently performed while the automatic warehouse 100 is being used. That is, the stacker crane 1 (frame 2) frequently makes contact with the work station 10.

  FIG. 5 is an explanatory diagram showing a charged state of the charger and the capacitor in the first embodiment of the present invention. The frame 2 reciprocates on the rail 30 and comes into contact with the work station 10 installed at a position where the rail 30 is located. The work station 10 includes a charger 6. The frame 2 or the drive unit 4 includes a capacitor 5 (of course, the capacitor 5 may be provided as a member independent of the frame 2 or the like, or may be included in some member).

  The work station 10 includes a charger 6 at a position where the capacitor 5 that has reached the work station 10 is easily (physically) in contact. The frame 2 is also preferably provided with a capacitor 5 at a position where the frame 2 can easily come into contact with the charger 6 when reaching the work station 10. As a result, when the frame 2 reciprocates on the rail 30 and reaches the work station 10, the charger 6 and the capacitor 5 easily come into physical contact.

  The charger 6 includes a charging electrode 61 that enables charging of the capacitor 5, and the capacitor 5 includes a power receiving terminal 51 that is in electrical contact with the charging electrode 61. As shown in FIG. 5, when the frame 2 reaches the work station 10, the charging electrode 61 and the power receiving terminal 51 come into electrical contact (physically fitting or surface contact). The movement of the frame 2 is controlled so that the

  As a result, the electric power from the charger 6 is supplied to the capacitor 5 from the charging electrode 61 to the power receiving terminal 51. The frame 2 performs an operation of setting the delivered predetermined article 50 on the work table of the work station 10 and receiving the predetermined article 50 to be received from the work cost of the work station. This operation requires a predetermined time. The charger 6 can charge the capacitor 5 with necessary power in this predetermined work time by setting the structure and specifications. By this charging, the capacitor 5 comes to have electric power required by the drive unit 4 included in the frame 2.

  With the electric power of the capacitor 5, the driving unit 4 can realize reciprocal traveling on the rail 30 of the frame 2 and the raising / lowering operation of the carriage 3.

  For this reason, the capacitor 5 is required for power sufficient to ensure the reciprocating travel of the frame 2 and the lifting / lowering operation of the carriage 3, particularly for the delivery of the predetermined article 50 from the predetermined storage chamber 21 or the storage of the predetermined storage chamber 21. Own power. By holding this power, the drive unit 4 simply uses the power of the capacitor 5 (without the need for a trolley, electric wire, or power supply path provided along the rail 30 as in the prior art). The frame 2 and the carriage 3 can be operated. That is, the stacker crane 1 can play a role required in the automatic warehouse 100 by supplying power necessary for warehousing and unloading only by charging at the time of contact with the work station 10. Of course, there is no wear on the trolley, so frequent maintenance and repairs are not required. As a result, the operating time rate can be increased, and the work cost in a factory or distribution center that requires the automatic warehouse 100 can be reduced.

  As described above, the stacker crane 1 according to the first embodiment has the problems of (1) dust caused by wear, (2) noise, (3) replacement and maintenance in a short period, and (4) high cost. Solvable.

  FIG. 6 is a perspective view showing the details of the stacker crane showing the state of charging shown in FIG.

  As shown in FIG. 6, the work station 10 and the frame 2 (stacker crane 1) are in contact (adjacent). At this time, the work station 10 has a charger 6, and the charger 6 has a charging electrode 61. On the other hand, the frame 2 that is in contact with (close to) the work station 10 has a capacitor 5. The capacitor 5 has a power receiving terminal 51 corresponding to the charging electrode 61, and the charging electrode 61 and the power receiving terminal 51 can be in electrical contact.

  In FIG. 6, the charging electrode 61 and the power receiving terminal 51 are in electrical contact (fitting or external contact). This is because the frame 2 forming the outer shape of the stacker crane 1 transports the predetermined article 50 necessary for entering and leaving the work station 10 to the work station 10, so that the frame 2 reaches the work station 10. It happens when you do.

  The charger 6 can charge the capacitor 5 by electrical contact between the charging electrode 61 and the power receiving terminal 51. At this time, charging is performed at high speed. More specifically, charging is completed in a period during which the frame 2 (stacker crane 1) reaches the work station 10 (working time during which a predetermined article is lowered or placed).

  When the charging is completed, the capacitor 5 has electric power that can realize the reciprocating traveling of the frame 2 and the raising / lowering operation of the carriage 3 through the driving unit 4. FIG. 7 is an explanatory diagram showing a state of the stacker crane after charging in the first embodiment of the present invention.

  FIG. 7 shows a state in which the frame 2 including the capacitor 5 that has been charged by the charger 6 starts reciprocating along the rail 30 and moves away from the work station 10. At this time, the electric power of the capacitor 5 moves the drive unit 4 and the drive unit 4 realizes this reciprocating travel. Of course, when the frame 2 reaches a predetermined location, the drive unit 4 uses the electric power of the capacitor 5 to move the carriage 3 up and down and place it on the carriage 3 (before that, the work station 10 Then, a predetermined article (mounted on the carriage 3) is stored in a predetermined storage chamber 21.

  Alternatively, the carriage 3 is moved up and down at a predetermined location, and the carriage 3 receives a predetermined article placed in the storage chamber 51 and the delivery is performed.

  The operation of the frame 2 and the carriage 3 is performed by the electric power of the capacitor 5 charged by the charger 6, and does not require a power supply path such as a trolley provided along the rail 30 as in the prior art. . For this reason, the stacker crane 1 having the frame 2 and the carriage 3 as the central elements can be operated only by the electric power of the capacitor 5, and therefore does not cause excessive friction, wear, dust, noise, and the like.

  FIG. 8 shows a state when FIG. 7 is viewed from the reverse direction. As is apparent from the reverse direction, the stacker crane 1 is based on the work station 10 and uses a combination of the electric power of the capacitor 5 to reciprocate on the rail 30 and the lifting and lowering operation by the carriage 3. Incoming and outgoing of the predetermined article 50 can be realized.

  Next, details of each unit and details of each process will be described.

(charging)
As shown in FIG. 5 and FIG. 6, when the frame 2 comes into contact with the work station 10, electrical connection between the charging electrode 61 of the charger 6 and the power receiving terminal 51 of the capacitor is realized. Every time this electrical connection is made (not all must be output), the capacitor 5 is supplied with the necessary power. As shown in FIG. 1, when the work stations 10 are provided in pairs at both ends of the rail 30, the capacitor 5 may be charged from the charger 6 provided in one work station 10 </ b> A. The battery 6 may be charged from the other work station 10B. Of course, when the work station 10 is provided in addition to these, it is only necessary to charge from the charger 6 provided in the work station 10.

  Alternatively, if the charger 6 is provided at any location on the rail 30 instead of the work station 10, the capacitor 5 is charged by contact with the charger 6. In either case, the stacker crane 1 according to the first embodiment is charged from the point of stopping (working) that occurs in the middle of the reciprocating operation from the linear charging in accordance with the reciprocating operation of the frame 2 as in the prior art. It is the feature. Of course, the capacitor 5 is also provided.

(Minimum power charge)
The stacker crane 1 can cause the carriage 3 to reach a plurality of storage chambers 21 divided by the storage area 20 by reciprocating on the rail 30 of the frame 2 and moving the carriage 3 up and down. . That is, the stacker crane 1 can receive the predetermined article 50 in the specific storage chamber 21 because the carriage 3 can reach the specific storage chamber 21 that is set as an object of entry or exit from the plurality of storage chambers 21. The predetermined article 50 can be taken out from the specific storage chamber 21.

  The work of stocking and stocking by the stacker crane 1 may start from any state or position (position of the frame 2), and the start timing is also free. However, if it is considered in an easy-to-understand manner, it may be considered that the exit and entry by the stacker crane 1 is started from the work station 10. The work station 10 is provided with predetermined articles 50 required for warehousing and delivery, and an operation panel (sometimes operated by an operator) necessary for warehousing and delivery work is installed at the work station. Because there are many.

  For this reason, it is appropriate and easy to understand that the work station 10 considers the start position (start time) of the work of leaving and entering by the stacker crane 1.

  Here, there may be an operation of moving the frame 2 and the carriage 3 from the work station 10 to one specific storage chamber 21 to enter or leave the predetermined article 50 (or in addition to this, the specific storage chamber). (Including the work of returning the frame 2 and the carriage 3 to the work station 10 after entering or leaving 21). That is, the minimum work amount of the stacker crane 1 is only the receipt and delivery of the predetermined article 50 in the one specific storage chamber 21.

  The power amount of the capacitor 5 required for such a minimum work amount is defined as “minimum power amount”. Actually, the power from the capacitor 5 operates the drive unit 4, and the drive unit 4 operates the frame 2 and the carriage 3.

  For this reason, when the frame 2 has reached the work station 10 (when the charger 6 and the capacitor 5 are in electrical contact), the charger 6 has at least this minimum relative to the capacitor 5. It is appropriate to charge the amount of power. In other words, it is appropriate that the capacitor 5 has at least this minimum electric energy during the work period.

  This is because if the capacitor 5 has at least this minimum electric energy during the work period, it will not stop due to power shortage during the work. This is because the stacker crane 1 can return to the work station 10 after entering or leaving the warehouse in one specific storage chamber 21. If this is the case, the charging work is performed again at the work station 10, so that the work of the stacker crane 1 (such as moving the frame 2) is not interrupted due to power shortage.

  Further, in the work station 10, the charger 6 charges the capacitor 5, and this charging is performed when the frame 2 (stacker crane 1) reaches the work station 10. For this reason, the number of times and time required for charging are reduced, and extra labor and cost due to charging are reduced. Furthermore, the operation rate of the stacker crane 1 is increased, and there is a merit that the work cost of the automatic warehouse is reduced.

        (Ideal energy)

  As shown in FIG. 1, the storage area 20 is often provided with a large number of storage rooms. The stacker crane 1 may perform an operation of obtaining a plurality of predetermined articles 50 at the work station 10 and storing them in some (or all) of the plurality of storage chambers 21. Alternatively, the stacker crane 1 may perform an operation of shipping from some (or all) of the plurality of storage chambers 21. Alternatively, after leaving the work station 10, the stacker crane 1 may continue to exit in some storage chambers 21 in some cases and in some cases.

  As described above, the stacker crane 1 may need to move the frame 2 and the carriage 3 to the plurality of storage chambers 21 (in some cases, all the storage chambers 21) after leaving the work station 10. Many. In this case, the capacitor 5 requires electric power commensurate with this. As described above, it is necessary to move all the reciprocating movement of the frame 2 and the lifting and lowering operation of the carriage 3 between all the storage chambers 21 (which an automatic warehouse 100 has) and the work station 10. The power is defined as “for ideal power”.

  It is also preferable that the charger 6 charges the capacitor 5 with more than this ideal electric energy. In other words, it is preferable and possible that the capacitor 5 has more than this ideal electric energy. Since the capacitor 5 has more than this ideal electric energy, the stacker crane 1 can move into the storage chambers 21 after leaving the work station 10 due to power shortage or the like. Goods can be issued.

  In this case, the capacitor 5 that has been charged once at the work station 10 can cause the stacker crane 1 to perform the work of entering and leaving in all of the plurality of storage chambers 21 installed.

  As described above, the stacker of the present invention used in the automatic warehouse 100 is that the capacitor 5 has the capability of having the minimum electric energy and the ideal electric energy (including more than that). It is suitable for the crane 1. Of course, it is appropriate that the charger 6 can charge the capacitor 5 from the minimum electric energy to the ideal electric energy (including more than that) in one charging operation.

(How to charge)
As described above, the charger 6 can charge the capacitor 5 by bringing the charging electrode 61 into electrical contact with the power receiving terminal 51 of the capacitor 5. The capacitor 5 is provided in at least a part of the frame 2 and the drive unit 4. When the frame 2 is connected to or contacts the work station 10, the charging electrode 61 and the power receiving terminal 51 of the charger 6 are electrically connected. Contact. In this contact, superficial contact, fitting, etc. occur, and charging is realized.

  As described above, it is preferable that the charger 6 can charge the capacitor 5 with electric power of the minimum electric energy or more and the ideal electric energy or less (or more) at the time of this charging. For example, the charging capability and power capability of the charger 6 and the capacitor 5, the power transfer capability of the charging electrode 61 and the power receiving terminal 51, and the like may be created according to this condition. These are determined by the size and specifications of the stacker crane 1 and the automatic warehouse 100.

  In addition, it is also preferable that the charger 6 can charge the capacitor 5 with electric power that is greater than or equal to the ideal electric energy. Since the capacitor 5 has electric power that is greater than or equal to the ideal electric energy, the stacker crane 1 can perform operations for loading and unloading the predetermined article 50 in many storage chambers 21 for a long time.

(charging time)
In addition, it is preferable that the charger 6 can charge the capacitor 5 with necessary power within a contact time in which the frame 2 is in contact with the work station 10 (in a state where the frame 2 has reached the work station 10). The frame 2 has a work time for contacting the work station 10 (including a state in which the work is not in physical contact but practically close) in work related to entering and leaving.

  During this working time, the charger 6 is in electrical contact with the capacitor 5. For this reason, the charger 6 is required to charge the capacitor 5 with necessary power within this working time. The required power differs depending on the work specifications in the automatic warehouse 100, but is not less than the minimum power amount defined above and not more than the ideal power amount. Of course, it may be more than the ideal power amount.

  The charger 6 and the capacitor 5 including the charging electrode 61 and the power receiving terminal 51 are set so that charging of a necessary amount of electric power is completed within the working time of the stacker crane 1 at the work station 10. It is preferable.

(flame)
As shown in FIGS. 4 and 5, the frame 2 constitutes the outer shape of the stacker crane 1. Here, the stacker crane 1 defines the structure formed by the components up to the frame 2 and the carriage 3, or includes the drive unit 4, the capacitor 5, the rail 30, the work station 10, and the like. Whether to define a structure is not a special issue. In short, any mechanical device that can execute the movement, delivery, receipt, etc. of the predetermined article 50 in the automatic warehouse 100 may be used.

  In the frame 2, generally, a pair of rod-shaped members in a substantially vertical direction and a pair of rod-shaped members connecting the upper and lower sides of the pair of rod-shaped members form a square. This square becomes the frame 2 and can reciprocate on the rail 30. For this reason, you may have the fitting part with respect to the rail 30, and a wheel required for reciprocating travel.

  The frame 2 may include a carriage 3, a drive unit 4, and a capacitor 5. At this time, the frame 2 may be provided directly or indirectly.

  The frame 2 can reciprocate on the rail 30 to move the X axis of the automatic warehouse 100 (when the horizontal direction of the automatic warehouse 100 is defined as the X axis).

(carriage)
The carriage 3 is attached to the frame 2 and moves up and down. The carriage 3 can carry a predetermined article 50 that leaves the storage chamber 21 or enters the storage chamber 21. By moving up and down in a state where the predetermined article is placed, the predetermined article can be made to correspond to the intended storage chamber 21.

  The carriage 3 is attached to the frame 2 so as to connect a pair of rod-like members extending in a substantially vertical direction, and moves up and down by moving up and down the pair of rod-like members extending in the vertical direction. By moving up and down, the carriage 3 can move along the Y axis of the automatic warehouse 100 (when the vertical direction of the automatic warehouse 100 is defined as the Y axis).

  As a result, the stacker crane 1 can make the predetermined article 50 correspond to the necessary storage chamber 21 by combining the frame 2 and the carriage 3.

  Further, the carriage 3 has at least one of a fork, a roller, and a belt in accordance with taking in and out of the predetermined article 50. Using at least one of these forks, rollers, and belts, the predetermined article 50 is inserted into the storage chamber 21 or removed from the storage chamber 21.

(Work station)
The work station 10 is provided on a part of the rail 30. Preferably, it is provided at one end or both ends of the rail 30. However, as shown in FIG. 1 and the like, the work station 10 does not have to be provided at the end overlapping the rail 30, and may be provided at a location separated from the rail 30. In any case, the work station 10 may be installed at a position where the frame 2 (stacker crane 1) that reciprocates on the rail 30 can perform charging and handling of a predetermined article.

  As described above, the work station 10 installs the target predetermined article 50 on the work table when the predetermined article 50 is stored in the storage chamber 21 of the automatic warehouse 100. Alternatively, the predetermined article 50 delivered from the storage chamber 21 is placed on the work table and can be used for the next work.

  The work station 10 is provided with an operation panel, and this operation panel is operated by an operator who operates the stacker crane 1. Of course, it may be automated or semi-automated. An operator operates the operation panel to determine which of the plurality of storage chambers 21 stores the predetermined article and which of the plurality of storage chambers 21 outputs the predetermined article.

  As described above, the work station 10 includes the charger 6 and charges the capacitor 5. The charger 6 is preferably mounted at a position where it can easily come into contact with the capacitor 5, and is preferably replaceable.

  As described above, the stacker crane 1 according to the first embodiment can not only solve the conventional problem but also perform necessary charging when working at the work station 10. As a result, the stacker crane 1 having the frame 2 and the carriage 3 as the central elements can independently execute warehousing and unloading in the plurality of storage chambers 21.

  (Embodiment 2)

  Next, a second embodiment will be described. In the second embodiment, the optimum use environment of the stacker crane 1 of the present invention will be described.

  As described in the first embodiment, the stacker crane 1 of the present invention does not require a trolley along the rail, and therefore does not generate dust due to wear. For this reason, it is used in factories and distribution centers where a very clean environment is required. Moreover, since the stacker crane 1 of the present invention is manufactured while diverting many parts and elements of the automatic warehouse 100 and the stacker crane 1 currently used, the cost is low.

  For this reason, the stacker crane 1 of the present invention cannot be used in a factory or distribution center that requires ultimate cleanliness, such as a semiconductor manufacturing factory, but the cleanliness required between a semi-clean room and a clean room. It is preferably used in areas where factories are required (factories and distribution centers).

  Here, the degree of clean room is classified according to JIS standards, ISO standards, and the like. The stacker crane 1 of the present invention is used in an area where a clean degree of class 10,000 or more is required.

  The cleanliness of class 10000 or higher is classified as ISO7 in the ISO standard. This class generally refers to the extent to which no visible dust is found. Of course, this is only an example, and it may be used in an area defined with a cleanness other than this. In short, since the stacker crane 1 of the present invention is used in a clean room that requires a high degree of cleanliness, it does not require a stacker crane that is manufactured as a single piece with expensive parts such as couplers. It is required to be used in a clean room that requires a certain degree of cleanness.

  In particular, as described in the first embodiment, a part of the elements used in the conventional stacker crane is diverted, and new elements and new functions are optimally added / combined. It can be used in areas where such cleanliness is required.

  A stacker crane that is optimally used in factories and distribution centers with cleanliness that is not required by the conventional technology, which requires cleanliness above a certain level but does not require cleanliness that would be expensive. 1 is provided in the present invention. As a result, automatic warehouses 100 in various factories and distribution centers are used.

  (Embodiment 3)

  Next, Embodiment 3 will be described.

  In the third embodiment, it will be described that charging by the charger 6 is performed in accordance with a plurality of storage rooms 21 provided in the automatic warehouse 100.

  FIG. 9 is a schematic diagram of an automatic warehouse in the third embodiment of the present invention. The automatic warehouse 100 is provided with a stacker crane 1, and the stacker crane 1 moves the carriage 3 up and down while the frame 2 reciprocates on the rail 30. At this time, the reference position is the work station 10. In FIG. 9, the work station 10 is provided at both ends of the rail 30.

  The automatic warehouse 100 is provided with a plurality of storage chambers 21. The number of the plurality of storage chambers 21 varies depending on the factory or distribution center where the automatic warehouse 100 is installed. Here, assuming that the horizontal direction in FIG. 9 is the X axis and the vertical direction is the Y axis, the positions of the plurality of storage chambers 21 are defined by the coordinate values of the X axis and the Y axis.

  The frame 2 and the carriage 3 are based on the work station 10 (because the capacitor 5 is charged at the work station 10), and the distance between the work station 10 and the storage chamber 21 indicated by the coordinate value is a necessary moving distance. It can be calculated. The drive unit 4 needs to reciprocate and move up and down the frame 2 and the carriage 3 in accordance with the necessary moving distance.

  The charger 6 stores a movement distance based on coordinate values defining each of the storage rooms 21 and a correspondence table that defines necessary power corresponding to the movement distance. In the operation by the operation panel at the work station 10, entry or exit in a predetermined storage room 21 defined by coordinate values is determined. For this reason, the operation on the operation panel (that is, the worker) grasps the coordinates of the storage chamber 21 that is a target for entering and leaving. Based on this coordinate value, the charger 6 can read the correspondence table and grasp the necessary electric energy.

  The charger 6 charges the capacitor 5 with the grasped electric energy. In FIG. 5, a storage room 21D exists at a position close to the work station 10A. On the other hand, the storage chamber 21C exists at a position close to the work station 10B.

  When the frame 2 and the carriage 3 (stacker crane 1) move to the storage chamber 21D with the work station 10A as a reference, the movement amount is small from the coordinate value of 21D. On the other hand, when the frame 2 and the carriage 3 move to the storage chamber 21C with the work station 10A as a reference, the movement amount increases from the coordinate value of 21C. The charger 6 can grasp the necessary power amount according to the amount of movement (according to the coordinate value) from the correspondence table.

  Based on this grasp, the charger 6 can charge the power necessary for the capacitor 5.

  Of course, the same applies to the storage chambers 21C and 21D based on the work station 10B. The frame 2 and the carriage 3 may be combined and defined as the main body.

  In addition, the main body unit including the frame 2 and the carriage 3 moves to the necessary work station 10 after the predetermined article 50 is taken in and out of the predetermined storage chamber 21. At this time, when the work stations 10 are provided as a pair at both ends as shown in FIG. 9, the work station 10 close to the main body is determined by the coordinate value of the storage chamber 21. For example, when the main body is located in the storage chamber 21C, the work station 10B is close. Conversely, when the main body is located in the storage chamber 21D, the work station 10A is close.

  In such a case, in order to reduce the power consumption of the capacitor 5, it is appropriate that the main body is moved to a nearby work station 10. In addition, it is appropriate that the charger 6 provided in the moved work station 10 charges the capacitor 5. This is because, in this case, the capacitor consumes less power, so that less time is required for charging.

  Since the charger 6 needs to finish the necessary charging within the working time at the work station 10, the movement from the storage chamber 21 to the work station 10 close to the charger 6 in this way is a capacitor by the charger 6. The charging time to 5 can be shortened (strict adherence to charging time regulations).

(Capacity calculation by capacitor)
It is also preferable that the capacitor 5 further includes a calculation unit that calculates the remaining capacity of the electric power that the capacitor 5 has.

  This calculation part transmits the remaining capacity which is a calculation result to the charger 6 by a communication means. For example, when the capacitor 5 comes into contact with the charger 6, the calculation unit transmits the remaining capacity to the charger 6. The charger 6 charges the capacitor 5 based on this remaining capacity. As a result, the charger 6 can prevent overcharging or prevent insufficient charging. In addition, there is an advantage that charging can be facilitated.

  Alternatively, when the calculation unit transmits the remaining capacity to the charger 6 in advance by wireless or wired communication, the charger 6 can determine the relationship between the work time at the work station 10 and the chargeable time. it can. As a result, it becomes difficult for insufficient charging to occur within the working time. Alternatively, if the work time is not enough for the required charging time, the operator or the operation panel can manually or automatically change the distance to move the main body to match the amount of power remaining in the capacitor 5. May be.

  As described above, the stacker crane 1 according to the third embodiment can prevent overcharging and insufficient charging during charging, and can realize efficient charging according to the moving distance.

  The capacitor 5 may calculate the remaining capacity of itself and communicate this to the charger 6, but the charger 6 may know the remaining capacity of the capacitor 5. Since the charger 6 charges the capacitor 5, it is easy to grasp the remaining capacity of the capacitor 5. Considering the remaining capacity of the capacitor 5 at the start of charging and the amount actually charged, the charger 6 can easily grasp the remaining capacity of the capacitor 5. Further, since the operation of the frame 2 and the carriage 3 is controlled by the work station 10, the work station 10 can measure the operation amount of the frame 2 and the carriage 3 (in short, the stacker crane 1), that is, the power consumption amount. . As a result, the charger 6 provided in the work station 10 can calculate (estimate) the remaining capacity of the capacitor 5. If the voltage is measured, the power consumption can be calculated on the premise of the use current value of the capacitor. As a result, the charger 6 can calculate the remaining capacity of the capacitor 5.

  As a result, the charger 6 can adjust the charging timing of the capacitor 5 via the control unit provided in the work station 10. In this case, charging of the capacitor 5 can be managed at the work station 10 where the worker is present.

  (Embodiment 4)

  Next, a fourth embodiment will be described. In the fourth embodiment, utilization of regenerative power will be described.

  The drive unit 4 operates the frame 2 and the carriage 3. At this time, the frame 2 reciprocates on the rail 30, and the carriage 3 moves up and down the frame 2. That is, both perform linear motion. For this reason, the drive part 4 is provided with the motor, and implement | achieves these linear motions by the drive of this motor.

  The motor generates a rotational motion, but changes the rotational speed of the rotational motion in accordance with the required speed for the reciprocating traveling of the frame 2 and the lifting / lowering operation of the carriage 3. Here, there is a case where deceleration is required in at least one of the reciprocating traveling of the frame 2 and the raising / lowering operation of the carriage 3. During this deceleration, the motor speed also decreases.

  When the rotational speed of such a motor decreases, so-called regenerative power is generated in the motor due to the relationship between the magnetic field and the electric field. The motor itself will generate electricity.

  The drive unit 4 is operated by the electric power of the capacitor 5 and is therefore electrically connected to the capacitor 5. That is, the motor is also electrically connected to the capacitor 5. For this reason, the capacitor 5 can collect and charge the regenerative power generated by the motor. By this recovery charging, the capacitor 5 can have not only charging by the charger 6 but also electric power.

  Since the automatic warehouse 100 has many storage chambers 21, the reciprocating travel of the frame 2 and the lifting / lowering operation of the carriage 3 can be mixed in a case where it is performed with acceleration and a case where it is performed with deceleration. Many. That is, the operation of the stacker crane 1 in the automatic warehouse 100 may frequently cause a deceleration operation of the motor included in the drive unit 4. By this deceleration operation, the motor often generates regenerative power.

  Capacitor 5 of stacker crane 1 of the fourth embodiment can have electric power other than charging from charger 6 by collecting and recharging this regenerative power. As a result, the operation time of the drive unit 4 by the capacitor 5 becomes longer, and the operation time of the stacker crane 1 becomes longer. In particular, since the frequency of charging at the work station 10 can also be lowered, it is possible to increase the operation efficiency of entering and leaving the stacker crane 1.

  For example, if the regenerative power is collected and charged, the capacitor 5 can reduce the number of times of charging in the charger provided in the work station 10. In particular, as described above, when the capacitor 5 includes the calculation unit and the remaining capacity can be grasped, whether the main body itself must return to the work station 10 together with the regenerative power recovery charging. I can understand if this is not the case.

  As a result, the number of times that the main body must return to the work station 10 (for charging) is reduced. The moving distance of the main body is reduced, the work efficiency of entering and leaving is improved, and if the moving distance is reduced, the power consumption of the capacitor 5 is also reduced, so that the number of times of moving to the work station 10 is further reduced. A chain occurs.

  Alternatively, for example, when there are many operations only for moving a predetermined article from one storage chamber 21 to another storage chamber 21, the power of the capacitor 5 is likely to remain, and thus regenerative power recovery charging is preferable.

  As described above, since the main body such as the frame 2 and the drive unit 4 includes the capacitor 5, there is an advantage that the regenerative electric power from the motor can be recovered and charged.

  As described above, the stacker crane 1 according to the fourth embodiment can improve the operation efficiency of the stacker crane 1 by utilizing the regenerative power.

  In addition, the stacker crane demonstrated in Embodiment 1-4 is an example explaining the meaning of this invention, and includes the deformation | transformation and remodeling in the range which does not deviate from the meaning of this invention.

DESCRIPTION OF SYMBOLS 1 Stacker crane 2 Frame 3 Carriage 4 Drive part 5 Capacitor 51 Power receiving terminal 6 Charger
61 Charging electrode 10 Work station 20 Storage area 21 Storage room 30 Rail 50 Predetermined article 100 Automatic warehouse

Claims (16)

A stacker crane used in an automatic warehouse that performs at least one of delivery and receipt of a predetermined article from a plurality of storage rooms,
When performing at least one of the unloading and the warehousing, a work station that handles a predetermined article to be unloaded or loaded into any of the plurality of storage chambers;
A frame that reciprocates on the rail;
A carriage that moves up and down in the frame and takes the predetermined article into and out of the plurality of storage chambers;
A drive unit that drives at least one of the reciprocating traveling of the frame on the rail, the lifting and lowering operation of the carriage, and the loading and unloading of the predetermined article by the carriage;
A capacitor for supplying power to the driving unit,
The work station includes a charger having a charging electrode, the capacitor includes a power receiving terminal that is electrically connected to the charging electrode and receives a charge, and the capacitor is connected to the charger. A stacker crane that receives a charge of.   The stacker crane according to claim 1, wherein the station is fixedly installed at any part on the rail.   3. The stacker crane according to claim 1, wherein the carriage has at least one of a fork, a roller, and a belt corresponding to taking in and out of the predetermined article.   The stacker crane according to any one of claims 1 to 3, wherein the capacitor holds electric power used for unloading and loading the predetermined article by the frame and the carriage.   In the capacitor, the frame may have a power that can travel back and forth between a predetermined storage room of the automatic warehouse and the work station (hereinafter referred to as “minimum power”) or more. The stacker crane according to any one of claims 1 to 4.   The capacitor has electric power (hereinafter referred to as “ideal electric energy”) that allows the frame and the carriage to reciprocate and move up and down the moving distance between all the storage rooms of the automatic warehouse and the work station. The stacker crane according to any one of claims 1 to 4, wherein The capacitor is provided in at least a part of the frame and the driving unit, and when the frame is connected to the work station, the charging electrode and the power receiving terminal are in electrical contact, and the charging is performed. The stacker crane according to any one of claims 1 to 6, wherein the container charges the capacitor.
  The stacker crane according to claim 5 or 6, wherein the charger can charge the capacitor with at least the minimum electric energy and the ideal electric energy.   The stacker crane according to claim 8, wherein the charger is capable of charging the capacitor with electric power equal to or greater than the ideal electric energy.   The stacker crane according to claim 5 or 6, wherein the charger can charge the minimum electric energy or the ideal electric energy within a contact time when the frame contacts the work station.   The stacker crane according to any one of claims 1 to 10, wherein the stacker crane is used in an area where a degree of cleanness required between a semi-clean room and a clean room is required.   The stacker crane according to claim 11, wherein the stacker crane is used in an area where a cleanliness of class 10,000 (no visible dust) is required.   The drive unit includes a motor, and the motor generates regenerative power at the time of the deceleration of the reciprocating traveling and the descent operation of the lifting operation, and the capacitor collects and charges the regenerative power. The stacker crane according to any one of claims 1 to 12, which is capable. The positions of the plurality of storage rooms are defined by coordinates, the charger stores a correspondence table that defines necessary power corresponding to the coordinates, and the charger needs to correspond to the correspondence table. The stacker crane according to claim 8, wherein the capacitor is charged with electric power.
Both ends of the rail have a pair of the work stations, and each of the pair of work stations has the charger.
The frame moves to the work station that is close to the moving distance or the work station that is close to the storage room to be loaded or unloaded, and receives the charge from the charger to the capacitor. The stacker crane according to any one of claims 1 to 11.   The said capacitor is further provided with the calculation part which calculates the remaining capacity of the electric power which has, The said calculation part transmits the information of the said calculation capacity to the said charger, The one of Claims 1-15 Stacker crane.