WO1997012820A1

WO1997012820A1 - Running equipment

Info

Publication number: WO1997012820A1
Application number: PCT/JP1996/002885
Authority: WO
Inventors: Kanji Anno
Original assignee: Daifuku Co., Ltd.
Priority date: 1995-10-03
Filing date: 1996-10-02
Publication date: 1997-04-10
Also published as: JPH1081405A; AU7145496A; TW393432B

Abstract

Running equipment (G) according to this invention has intersections (10) of rails (2) for moving movable racks (C) and rails (4) for moving a transfer vehicle (G), at which the movable rack (C) rails (2) are laid to be continuous, and the transfer vehicle (G) rails (4) are arranged higher than the movable rack (C) rails (2) and to be non-continuous with gaps of a predetermined width (M) formed above the movable rack rails (2). The transfer vehicle (G) has a pair of idle wheels (3b) arranged adjacent one end with a space (N) therebetween larger than the predetermined width (M), and a pair of drive wheels (3b) arranged adjacent the other end with a space (M) therebetween larger than the predetermined width (M). With this arrangement of rails (4) and drive wheels (3b), the movable racks (G) are movable without obstruction by the transfer vehicle rails (2, 4). Though the transfer vehicle (G) must move on the rails having gaps (M), impact noise and vibration generated when passing through the intersections may be suppressed.

Description

SPECIFICATION

RUNNING EQUIPMENT

[TECHNICAL HELD]

This invention relates to running equipment including first running members having wheels, a second running member having wheels and a driving device, first rails for supporting the wheels of the first running members, and second rails intersecting the first rails in plan view, for supporting the wheels of the second running member.

[BACKGROUND ART] The above running equipment is applicable, for example, to an automated warehouse as disclosed in Patent Laying-Open Publication No. H6- 107307. This type of automated warehouse includes a plurality of racks, and a transfer vehicle having a moving device for depositing articles in and fetching articles from the racks. Where, for example, ten racks are installed with spaces secured for the transfer vehicle between all of the racks, a large area of land is required. Thus, instead of providing spaces for the transfer vehicle between the racks, eight racks, excluding two end racks, are designed to be movable backward and forward. A space is opened for the transfer vehicle only at a required rack by moving the racks. In this way, an effective use of land may be made in accommodating a thickness of ten racks and a space for the transfer vehicle. The transfer vehicle is moved back and forth by a crane transport carriage (J) disposed at a lateral end of the racks, and is movable sideways along rails present in a space formed by moving the racks, thereby to fetch articles stored in all of the racks.

This type of running equipment has a rack running track where the plurality of racks run, and a transfer running track where the transfer vehicle runs, which are arranged to intersect each other in plan view. Each of the running tracks includes rails defining rolling direction guide surfaces for engaging annular flanges projecting radially along peripheral surfaces of wheels, to guide rolling directions of the wheels. In the intersections where the rails intersect each other in plan view, the conventional rails define grooves in rolling surfaces thereof for passage of the annular flanges of the wheels rolling along the other rails, so that the wheels rolling on one of the rails may pass without being interfered by the other rail.

Where the grooves are present at the intersections, each time a running member passes through a grooved portion at an intersection, the wheels supporting the weight of the running member fall into the grooves, which tends to generate impact noise and vibration.

[DISCLOSURE OF THE INVENTION] This invention has been made having regard to the state of the art noted above, and its object is to suppress impact noise and vibration generated when running members pass through intersections, even though wheels have annular flanges, by devising a rail arrangement in the intersections where rails intersect each other in plan view, and an arrangement of wheels of the running members.

Another object is, in article storage equipment having, arranged to intersect in plan view, a rack running track where a plurality of racks run, and a transfer running track where a transfer vehicle having a moving device for depositing articles in and fetching articles from the racks runs, to minimize the number of wheels necessary for running movable racks and transfer vehicle, while suppressing impact noise and vibration generated when the movable racks and transfer vehicle pass through the intersections. Thus, running equipment according to this invention comprises first running members having wheels, a second running member having wheels and drive means, first rails for supporting the wheels of the first running members, and second rails intersecting the first rails in plan view, for supporting the wheels of the second running member, wherein the first rails have wheel supporting surfaces substantially continuous through intersections with the second rails, and the second rails have wheel support surfaces arranged at a higher level than the wheel support surfaces of the first rails, and uncontinuously to form gaps of a predetermined width above the first rails to allow the wheels rolling along the first rails to pass through the intersections. The second running member has at least three wheels arranged at intervals larger than the predetermined width, so that at least two of the at least three wheels always contact the second rails for support, and at least two of the at least three wheels are driven by the drive means. Thus, at the intersections, even if one of the wheels is lifted in the gap midway across the continuous rail acting as the first rail, the second running member has the remaining two or more wheels supported by the second rail(s). Moreover, at least one drive wheel is rolling along the wheel support surface of the second rail. Thus, the wheels of the first running members which roll along the substantially continuous first rails pass through the intersections while rolling smoothly along the wheel support surfaces thereof. The running member which runs along the uncontinuous second rails passes through the intersections in a way to cross over the first rails. The wheels supporting the weight of the running member never fall into the gaps from ends of the second rails. Consequently, impact noise and vibration generated when the running members pass through the intersections may be suppressed for both running members.

In an embodiment of this invention, at least one of the wheels of the first running members and at least one of the wheels of the second running member have annular flanges projecting radially thereof. The second rails have rolling direction guide surfaces for guiding a rolling direction of the wheels by engaging the annular flanges of the wheels of the second running member. This construction diminishes the possibility of the wheels running off the rails. In this case, the rolling direction guide surfaces of the second rails may be disposed higher than the wheel support surfaces of the first rails at the intersections. Then, the wheels of the second running member can advantageously pass through the intersections with no interference by the first rails.

In an embodiment of this invention, the first running members for running on the first rails are a plurality of movable racks having article holders arranged longitudinally of the second rails, and the second running member for running on the second rails is a transfer vehicle having transfer means for moving articles into and out of the article holders of the movable racks. In this case, running of the movable racks and running of the transfer vehicle make it possible to move articles into and out of intended movable racks. The plurality of movable racks requiring numerous wheels run along the continuous first rails, while the transfer vehicle requiring a smaller number of wheels than the movable racks runs on the uncontinuous second rails. Thus, the number of wheels required for running of the movable racks and transfer vehicle may be minimized while suppressing impact noise and vibration generated by the movable racks and transfer vehicle passing through the intersections.

In an embodiment, the wheel support surfaces of the uncontinuous second rails may define a pair of inclined rolling surfaces inclined downward at ends opposed to the first rails. With this construction, although one of the wheels of the second running member tends to dip, by gravity, into the gaps at the intersections, this wheel can pass smoothly through the intersections with the ends at half ends of the gaps have inclined surfaces, thereby further suppressing generation of impact noise and vibration.

In an embodiment, a distance between two adjacent wheels of the at least three wheels rolling along the second rails may advantageously be greater than the predetermined width added to a sum of horizontal lengths of the pair of inclined rolling surfaces. With this construction, two wheels never lie on the inclined rolling surfaces at the same time, thereby further suppressing generation of impact noise and vibration.

- A - In an embodiment, preferably, the running member supported on the second rails includes a plurality of drive wheels arranged adjacent one end in the running direction with a space therebetween larger than the predetermined width, a plurality of idle wheels arranged adjacent the other end in the running direction with a space therebetween larger than the predetermined width, and interlocking means for rotating the idle wheels together. With this construction, a drive structure for the plurality of drive wheels may be simplified compared with the case of arranging idle wheels between a plurality of drive wheels. Even when an idle wheel is lifted between uncontinuous rails, this idle wheel is rotated at a peripheral velocity necessary for running. The idle wheel landing on an end of an uncontinuous rail is unlikely to be rubbed by the uncontinuous rail, thereby reducing wear of the idle wheel.

Preferably, the first and second rails are anchored to an installation surface by common rail clamps at the intersections. In the conventional running equipment disclosed in Patent Laying-Open Publication No. H6- 107307 cited hereinbefore, for example, the first rails and second rails are anchored to an installation surface at intersections by separate clamps, respectively. It is therefore necessary, when anchoring the rack rails and transfer rails at the intersections, to determine positions of the respective rails in relation to each other in horizontal directions and vertical directions. When one rail is used as a reference in positioning the other rail, for example, any variation in the position of the reference rail requires repositioning of the other rail with reference to the new position of that one rail, hence a disadvantage of taking much time and trouble in the anchoring operation.

On the other hand, where common rail clamps are used for anchoring to the installation surface as disclosed in this application, each rail may be positioned individually with reference to the common rail clamps. This results in relative positioning of these rails, thereby positioning the respective rails in relation to each other.

Thus, an operation to anchor the rack rails and transfer rails is carried out in a simple way.

[BRIEF DESCRIPTION OF THE DRAWINGS] Fig. 1 is a perspective view of entire article storage equipment having running equipment according to this invention;

Fig. 2 is a perspective view of a principal portion of the article storage equipment having the running equipment according to this invention;

Fig. 3 is a plan view showing an outline of the principal portion of the article storage equipment having the running equipment according to this invention; Fig. 4 is a schematic plan view showing a rail arrangement;

Fig. 5 is a front view showing the principal portion of the article storage equipment having the running equipment according to this invention;

Fig. 6 is a side view showing the principal portion of the article storage equipment having the running equipment according to this invention; Fig. 7 is an enlarged front view of a principal portion of the running equipment according to this invention shown in Fig. 6; Fig. 8 is a side view of a portion shown in Fig. 7: Fig. 9 is a plan view of the portion shown in Fig. 7: Fig. 10 is a perspective view of a rail clamp for supporting rails; Fig. 11 is a side view showing a way in which the rail clamp shown in Fig.

10 supports the rails;

Fig. 12 is a side view showing a way in which a pair of idle rollers supported by a movable rack are connected by an interlocking device; and

Fig. 13 is a view, partly in section, of an idle wheel shown in Fig. 12.

[BEST MODE FOR CARRYING OUT THE INVENTION] Figs. 1 and 2 show article storage equipment installed in an automated warehouse.

This type of automated warehouse includes a plurality of racks, and a transfer vehicle having a moving device for moving articles stored in the racks. Where, for example, ten racks are installed, a large land area is required if spaces for the transfer vehicle are provided between all of the racks. Thus, instead of providing spaces between the racks, movable racks are provided as shown in Fig. 1. A space for the transfer vehicle is provided by moving only necessary racks, thereby saving space. The transfer vehicle is moved back and forth by a crane transport carriage (J) disposed at an end of the racks, and is movable sideways along rails present in a space formed by moving the racks, thereby to fetch articles stored in all of the racks. In this specification, the backward and forward direction, sideways direction and vertical direction are defined by X, Y and Z axes shown in Fig. 1.

One rack has article holders B arranged in the sideways direction Y and vertical direction Z for storing containers A having a shape of a square box as one example of articles. This article storage equipment has a plurality of such racks. These racks are classified into two types, i.e. movable racks C movable along rails, and fixed racks E, as described later.

The article storage equipment in this embodiment has eight movable racks C as one example of first running members. The movable racks C run along a rack running track D which, in plan view, intersects a transfer running track H along which a stacker crane G runs as one example of second running member. The movable racks C have rack wheels 1 in lower positions thereof. The rack running track D has rack rails 2 which are first rails for supporting the movable racks C in a way to enable their running.

The rack running track D allows the movable racks C to run back and forth. Two fixed racks E are arranged at fore and aft ends of the rack running track D.

The stacker crane G has transfer wheels 3 in lower positions thereof. The transfer running track H includes transfer rails 4 acting as second rails for supporting the stacker crane G in a way to enable its running.

At one end in the sideways direction of the movable racks C and fixed racks E are the crane transport carriage (traverser) J for transporting the stacker crane G, and a load receiving carriage K for temporarily receiving a container A to be stored or taken out.

Each of the racks C and D has a plane through which the articles are moved in and out, and a back plane.

As shown in Figs. 3 and 4, the plurality of movable racks C are arranged parallel to one another, with the article in/out planes opposed to each other. The rack running track D and transfer running track H intersect at right angles to each other in plan view. As shown in Fig. 3, two adjacent movable racks C arranged back to back are rigidly interconnected through a support frame Cl. Thus, the two racks are movable together. The rack running track D includes four rack rails 2. The rack wheels 1 supported by the support frames Cl in lower positions of the movable racks C are movable on the rack rails 2. The rack wheels 1 include drive wheels la and idle wheels lb spaced from each other in the backward and forward direction.

As shown in Figs. 5 and 6, the stacker crane G includes a fork device F acting as a transfer device for moving containers A into and out of the article holders B of the movable racks C and fixed racks E, a lift deck 5 a for moving the fork device F up and down, two supports 5b for vertically movably supporting the fork device F, an electric propelling unit 5c for driving drive wheels 3a, and an electric raising and lowering mechanism 5d for raising and lowering the lift deck 5a. The stacker crane G is prevented from turning over by guide rollers 8b attached to a square frame 9 interconnecting upper ends of the two supports 5b, which, with running of a vehicle body 5, roll along guide rails 8a mounted on upper ends of the movable racks C or fixed racks E.

The transfer running track H is formed in a space formed in a selected position between adjacent movable racks C or between movable rack C and fixed racks E when the movable racks C are moved along the rack running track D. In the position defining this space, the transfer rails 4 are provided to act as the second rails for supporting the stacker crane G in a way to enable its running.

The transfer wheels 3 include two drive wheels 3a arranged adjacent one end in a running direction of the vehicle body 5, and two idle wheels 3b arranged adjacent the other end in the running direction. The stacker crane G is supported for running on the transfer rails 4 by at least three transfer wheels 3 of the four transfer wheels 3. As shown in Figs. 12 and 13, the two idle wheels 3b are interlocked through a chain interlocking device 13. Thus, even when one of the idle wheels 3b is lifted between transfer rails 4 at opposite sides of a rack rail 2, that idle wheel 3b is rotatable with the other idle wheel 3b.

Each of the rack wheels 1 supported by the rails at opposite lateral ends of the four rack rails 2, and the transfer wheels 3, as shown in Figs. 7 and 8, has annular flanges 6 projecting radially from opposite axial ends of the wheel 1, 3. The rack rails 2 acting as the first rails and the transfer rails 4 acting as the second rails have upper side surfaces 7 defining rolling direction guide surfaces for engaging these annular flanges 6 to guide rolling directions of the wheels 1, 2.

As shown in Fig. 11, the rack rails 2 acting as the first rails and the transfer rails 4 acting as the second rails intersect each other at intersections in plan view. The rack rails 2 and transfer rails 4 are anchored to a floor surface L by common rail clamps 10 bolted to the floor surface L acting as an installation surface. The rack rails 2 acting as the first rails are continuous rails having a wheel support surface 2a continuing through the intersections. The transfer rails 4 acting as the second rails are uncontinuous to define gaps of predetermined width M where the rack rails 2 lie in plan view, so that the rack wheels 1 rolling along the rack rails 2 may pass through the intersections without interference of the transfer rails 4.

As shown in Fig. 10, the rail clamp 10 includes a continuous support 11 for supporting the continuous rack rail 2, and an intermittent support 12 formed integral therewith for intermittently supporting the transfer rails 4 across the rack rail 2 supported by the continuous support 11. The intermittent support 12 has rail support surfaces 12a to which the transfer rails 4 are bolted, and which are at a higher level than a rail support surface 1 la of the continuous support 11 to which the rack rail 4 is bolted. The rolling direction guide surfaces 7 of the transfer rails 4 are at a higher level than the wheel support surface 2a of the rack rail 2. Thus, the transfer rails 4 acting as the second rails are arranged higher than the rack rails 2 acting as the first rails.

The transfer rails 4 have wheel support surfaces 4a defining inclined rolling surfaces inclined downward at ends thereof in the intersections. That is, the transfer rails 4 define, at ends opposed to the rack rail 2, a pair of inclined rolling surfaces 14 inclined downward toward the rack rail 2. The two drive wheels 3a and the two idle wheels 3b of the stacker crane G are arranged wider apart in the rolling direction than the gap M between the transfer rails 4 across the rack rail 2, and these four transfer wheels 3 arranged at a pitch N for allowing simultaneous rolling over the two inclined rolling surfaces 14 arranged across the rack rail 2, i.e. at a pitch N larger than 2P+M where P is a horizontal length of each inclined rolling surface 14. Thus, whenever the drive wheels 3a pass through the inclined rolling surfaces 14, one of the drive wheels 3a is mounted on a horizontal portion of the wheel support surface 4a. Whenever the idle wheels 3b pass through the inclined rolling surfaces 14, one of the idle wheels 3b is mounted on a horizontal portion of the wheel support surface 4a.

As shown in Fig. 9, the upper side surfaces 7 extending along the inclined rolling surfaces 14 of the transfer rails 4 define tapered side surfaces 15 converging inwardly of the direction of rail width as they extend toward the rack rail 2. When a transfer wheel 3 lifted between the transfer rails 4 moves onto the transfer rail 4, the transfer rail 4 enters with facility between the annular flanges 6 formed at opposite sides of the transfer wheel 3.

The stacker crane G can pass through the intersection across the rack rail 2, with one of the transfer wheels 3 lifted between the transfer rails 4 across the rack rail 2, and the remaining three transfer wheels 3 supported to run on the transfer rails 4, such that the transfer wheels 3 roll on the transfer rails 4 without being interfered by the rack rail 2. [OTHER EMBODIMENTS]

1. The continuous rails may have a wheel support surface continuous through the intersections, which is formed by joining the rails.

2. A transfer vehicle having a moving device for moving articles into and out of article holders of racks may be supported to run on a continuous rail, and a plurality of racks having article holders arranged longitudinally of the continuous rail may be supported to run on uncontinuous rails.

Claims

1. Running equipment comprising: first running members having wheels; a second running member having wheels and drive means; first rails for supporting the wheels of said first running members; and second rails intersecting said first rails in plan view, for supporting the wheels of said second running member; wherein said first rails have wheel supporting surfaces substantially continuous through intersections with said second rails; said second rails have wheel support surfaces arranged at a higher level than said wheel support surfaces of said first rails, and uncontinuously to form gaps of a predetermined width above said first rails to allow the wheels rolling along said first rails to pass through said intersections; said second running member has at least three wheels arranged at intervals larger than said predetermined width, so that at least two of said at least three wheels always contact said second rails for support; and at least two of said at least three wheels are driven by said drive means.

2. Running equipment as defined in claim 1, wherein at least one of said wheels of said first running members has annular flanges projecting radially thereof, and at least one of said wheels of said second running member has annular flanges projecting radially thereof, said second rails having rolling direction guide surfaces for guiding a rolling direction of said wheels by engaging said annular flanges of the wheels of said second running member, said rolling direction guide surfaces of said second rails being disposed higher than said wheel support surfaces of said first rails at said intersections.

3. Running equipment as defined in claim 1, wherein said first running members are a plurality of movable racks having article holders arranged longitudinally of said second rails, and said second running member is a transfer vehicle having transfer means for moving articles into and out of said article holders of said movable racks.

4. Running equipment as defined in any one of claims 1 to 3, wherein said wheel support surfaces of said second rails define a pair of inclined rolling surfaces inclined downward at ends opposed to said first rails.

5. Running equipment as defined in claim 4, wherein a distance between two adjacent wheels of said at least three wheels rolling along said second rails is greater than said predetermined width added to a sum of horizontal lengths of said pair of inclined rolling surfaces.

6. Running equipment as defined in any one of claims 1 to 5, wherein said running member supported on said second rails includes a plurality of drive wheels arranged adjacent one end in the running direction with a space therebetween larger than said predetermined width, a plurality of idle wheels arranged adjacent the other end in the running direction with a space therebetween larger than said predetermined width, and interlocking means for rotating said idle wheels together.

7. Running equipment as defined in claim 1, wherein said first and second rails are anchored to an installation surface by common rail clamps at said intersections.

8. Article storage equipment as defined in claim 7, wherein said rail clamps include a continuous support for supporting said first rails to extend continuously or approximately continuously, and an intermittent support for supporting said second rails uncontinuously.