JP2008063067A - 走行台車 - Google Patents
走行台車 Download PDFInfo
- Publication number
- JP2008063067A JP2008063067A JP2006241762A JP2006241762A JP2008063067A JP 2008063067 A JP2008063067 A JP 2008063067A JP 2006241762 A JP2006241762 A JP 2006241762A JP 2006241762 A JP2006241762 A JP 2006241762A JP 2008063067 A JP2008063067 A JP 2008063067A
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- motors
- carriage
- travel
- stacker crane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
- B66F9/072—Travelling gear therefor
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
【解決手段】スタッカークレーンの走行方向前後に駆動車輪34,34を設けて、それらの上部に2台の走行モータ18,19を出力軸を左右逆向きに並べて配置し、走行モータ18,19側のプーリ32,33をベルト20で駆動車輪34側のプーリ16,17に連結する。
【選択図】図3
Description
請求項2の発明での追加の課題は、走行モータと駆動車輪間の伝動機構をコンパクトに配置することにある。
請求項3の発明での追加の課題は、走行モータから駆動車輪への力の伝達を左右対称にすることにある。
N1=mg(1−αa)/2+N3=mg/2+N3−αamg/2
N2=mg(1+αa)/2+N3=mg/2+N3+αamg/2
となり、スタッカークレーン2を高加減速走行させても、輪圧N3の分だけ前後の駆動車輪34,34間の輪圧を大きくすることができ、輪圧の小さい側の走行モータの出力トルクを制限する必要が小さくなる。
1) 駆動車輪34に加わる輪圧を大きくするので、高加減速走行が容易になる。
2) 揺動ベース26により、一対のローラ24,25を均等にレール12に接触させることができる。
3) バネ30と取り付け部材28により、ローラ24,25の輪圧を容易に調整でき、またローラ24,25や駆動車輪34が摩耗しても、輪圧をほぼ適正値に保つことができる。
4) 前後の駆動車輪34,34を各々一対の走行モータ18,19で駆動することにより、
高加減速走行ができる。
5) 一対の走行モータ18,19を駆動車輪34の上部に配置することにより、スタッカークレーン2の全長を抑えることができる。
6) 一対の走行モータ18,19を、出力軸をスタッカークレーン2の左右逆向きに、並べて配置することにより、コンパクトに配置できる。
7) プーリ32,33とプーリ16,17の直径の比を利用して減速することにより、減速機が不要になる。
4 台車
6 マスト
8 昇降台
10 移載装置
12 走行レール
13 第1の脚
14 第2の脚
16,17 プーリ
18,19 走行モータ
20 ベルト
22 サイドローラ
24,25 浮き上がり防止ローラ
26 揺動ベース
27,29 ピン
28 取付部材
30 バネ
31 ボルト
32,33 プーリ
34 駆動車輪
36 駆動軸
38 モータ支持部
40,44 ボルト
42,45 固定部材
46 プレート
47 ナット
50 エンコーダ
51 位置速度算出部
52 速度パターン発生部
54 誤差算出部
55 トルク制御部
Claims (3)
- 前後各々に駆動車輪を設けた走行台車において、
前記各駆動車輪の上部に、各々複数個の走行モータを配置すると共に、前記複数個の走行モータと駆動車輪とを、減速機を介さずに、走行モータの出力軸に結合したプーリと、ベルトと、駆動車輪の駆動軸に結合したプーリ、とで連結したことを特徴とする、走行台車。 - 前記複数個の走行モータを、出力軸が走行台車の走行方向に沿って左右逆向きとなるように配置したことを特徴とする、請求項1の走行台車。
- 前記複数個の走行モータを、前記駆動車輪からの距離が等しくなるように配置したことを特徴とする、請求項2の走行台車。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006241762A JP4232206B2 (ja) | 2006-09-06 | 2006-09-06 | 走行台車 |
DE602007007408T DE602007007408D1 (de) | 2006-09-06 | 2007-09-03 | Wagen mit vorderen und hinteren Antriebsrädern |
EP07017223A EP1897837B1 (en) | 2006-09-06 | 2007-09-03 | Carriage having front and rear drive wheels |
TW096132891A TW200819379A (en) | 2006-09-06 | 2007-09-04 | Carriage having front and rear drive wheels |
KR1020070090467A KR20080022530A (ko) | 2006-09-06 | 2007-09-06 | 주행대차 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006241762A JP4232206B2 (ja) | 2006-09-06 | 2006-09-06 | 走行台車 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008063067A true JP2008063067A (ja) | 2008-03-21 |
JP4232206B2 JP4232206B2 (ja) | 2009-03-04 |
Family
ID=38904705
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006241762A Expired - Fee Related JP4232206B2 (ja) | 2006-09-06 | 2006-09-06 | 走行台車 |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1897837B1 (ja) |
JP (1) | JP4232206B2 (ja) |
KR (1) | KR20080022530A (ja) |
DE (1) | DE602007007408D1 (ja) |
TW (1) | TW200819379A (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20150041191A (ko) | 2012-09-05 | 2015-04-15 | 무라다기카이가부시끼가이샤 | 스태커 크레인 |
KR20150052213A (ko) | 2012-09-05 | 2015-05-13 | 무라다기카이가부시끼가이샤 | 스태커 크레인 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106345125B (zh) * | 2016-10-31 | 2022-08-30 | 江西理工大学 | 一种线驱转向走“8”字形的三轮无碳小车 |
DE102016124450A1 (de) * | 2016-12-15 | 2018-06-21 | Jungheinrich Aktiengesellschaft | Regalbediengerät |
DE102016124454A1 (de) * | 2016-12-15 | 2018-06-21 | Jungheinrich Aktiengesellschaft | Regalbediengerät |
CN107140358A (zh) * | 2017-05-11 | 2017-09-08 | 广州傲胜机器人科技有限公司 | 一种自动化仓库 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3059782A (en) * | 1959-09-10 | 1962-10-23 | Drott Mfg Corp | Mobile lift |
US3837291A (en) * | 1972-06-21 | 1974-09-24 | Dresser Ind | Crane bridge belt drive |
DE4436520C1 (de) * | 1994-10-13 | 1995-09-07 | Wampfler Gmbh | Wagen zum Aufhängen und Verfahren an einer Schiene |
IT1310853B1 (it) * | 1999-10-08 | 2002-02-22 | Fantuzzi Reggiane Spa | Gruppo di traslazione universale per gambe di gru o simili |
-
2006
- 2006-09-06 JP JP2006241762A patent/JP4232206B2/ja not_active Expired - Fee Related
-
2007
- 2007-09-03 EP EP07017223A patent/EP1897837B1/en not_active Not-in-force
- 2007-09-03 DE DE602007007408T patent/DE602007007408D1/de active Active
- 2007-09-04 TW TW096132891A patent/TW200819379A/zh unknown
- 2007-09-06 KR KR1020070090467A patent/KR20080022530A/ko not_active Application Discontinuation
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20150041191A (ko) | 2012-09-05 | 2015-04-15 | 무라다기카이가부시끼가이샤 | 스태커 크레인 |
KR20150052213A (ko) | 2012-09-05 | 2015-05-13 | 무라다기카이가부시끼가이샤 | 스태커 크레인 |
Also Published As
Publication number | Publication date |
---|---|
TW200819379A (en) | 2008-05-01 |
EP1897837B1 (en) | 2010-06-30 |
JP4232206B2 (ja) | 2009-03-04 |
EP1897837A2 (en) | 2008-03-12 |
KR20080022530A (ko) | 2008-03-11 |
DE602007007408D1 (de) | 2010-08-12 |
EP1897837A3 (en) | 2009-05-20 |
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