Patent Description:
For example, as described in Patent Literature <NUM>, a stacker crane, of which an elevation portion (elevating platform) transferring an article moves vertically along a mast extending in a direction, is known. When the stacker crane is used, for example, in a clean room, it is required to prevent dusts generated by vertical movements of an elevation portion along a mast from spreading out.

The following documents are also mentioned as a complementary prior art illustration: <NUM>.

In order to solve this problem, in a mast including a channel member that has a web part which is an elevation surface and a pair of flange portions which are side surfaces, a covering member that covers an elevation area of the elevation portion moving vertically along the elevation surface is considered to be attached integrally to the flange portions. With this configuration, the covering member is required to be attached not to interfere with the elevation portion so that a space between the covering member and the elevation portion can be as small as possible. However, the covering member could interfere with the elevation portion or the space between the covering member and the elevation portion could be larger due to a distortion of the mast itself or an attachment error of the mast. Therefore, the mast, a position of the covering member of which can be adjusted easily with respect to the elevation portion, is required.

An aspect of the present invention provides a stacker crane including a mast which has a pair of side surface portions and being capable of adjusting easily a position (a relative position to an elevation portion) of the covering member integrally attached at a side surface portion.

A stacker crane according to an aspect of the present invention includes a mast including an elevation surface forming portion having an elevation surface extending in a first direction in which an elevation portion moves up and down and in a second direction orthogonal to the first direction and a pair of side surface portions extending in a third direction orthogonal to the first direction and the second direction from both edges of the elevation surface forming portion in the second direction toward an opposite side to a side at which the elevation portion is arranged. A covering member covering an elevation area of the elevation portion can be attached integrally to the pair of side surface portions. The mast includes a reinforcement portion arranged between the pair of side surface portions in the second direction, extending in the third direction from the elevation surface forming portion toward the opposite side to the side at which the elevation portion is arranged, and having a higher stiffness than that of the pair of side surface portions and an adjusting member arranged so as to leave clearance with the elevation surface forming portion in the third direction, the adjusting member being capable of extending in the second direction, and provided so that both edges thereof contact with the reinforcement portion and the pair of side surface portions.

In the stacker crane with this configuration, the adjusting member, which is a telescopic member and provided between the side surface portion and the reinforcement portion having a higher stiffness than that of the side surface portion, is extended, so that the side surface portion of the mast is pushed out. The adjusting member is shrunk, so that the side surface portion of the mast is pulled. In the mast with this configuration, the intersection angle α of the side surface portion with respect to the elevation surface forming portion is adjusted by push or pull of the side surface portion. Therefore, states (location and posture) of the covering member attached integrally to the side surface portion are also changed (moved) according to the above intersection angle. As a result, in the stacker crane including the mast having the pair of the side surface portions, a position (a relative position to the elevation portion) of the covering member attached integrally to the side surface portion can be adjusted easily.

In the stacker crane according to an aspect of the present invention, a part of the mast may be constituted by the elevation surface forming portion, the pair of side surface portions and the reinforcement portion has an E shape in a plan view seen from the first direction.

In the stacker crane according to an aspect of the present invention, the mast may be formed by connecting together a pair of flange portions standing up from both edges of a web part provided on two channel members, thus enabling the mast including the elevation surface forming portion, the pair of side surface portions, and the reinforcement portion to be formed easily.

The stacker crane according to an aspect of the present invention may further includes the covering member provided so as to cover an elevation area of the elevation portion and attached integrally to the pair of side surface portions, thus enabling to prevent dusts occurring when the elevation portion moves up and down from spreading out.

In the stacker crane according to an aspect of the present invention, a fan filter unit may be arranged in a recessed space formed by the elevation surface forming portion, the pair of side surface portions and the reinforcement portion in a plan view seen from the first direction. With the configuration, the fan filter unit can be arranged between members composed of the mast, thus allowing the total size of the mast to be compact.

According to an aspect of the present invention, in the stacker crane including the mast having the pair of the side surface portions, a position (a relative position to the elevation portion) of the covering member attached integrally to the side surface portions can be adjusted easily.

Hereinafter, with reference to the drawings, a preferred embodiment of an aspect of the present invention will be now described in detail. In the description of the drawings, the same elements are denoted by the same reference symbols, without redundant description. Words 'up' and 'down' correspond to an upper direction and a lower direction of a vertical direction, respectively.

A stocker <NUM> including a stacker crane <NUM> according to a preferred embodiment will be now described. As described <FIG>, the stocker <NUM> functions as a storage to stores a container F such as FOUP (Front Opening Unified Pod) in which a subject such as a semiconductor wafer or glass substrate is stored. The stocker <NUM> is provided, for example, in a clean room. The stocker <NUM> mainly includes a stocker body <NUM>, a rack <NUM>, a stacker crane <NUM> and a controller (not illustrated).

The stocker body <NUM> demarcates an inner space A of the stocker <NUM> and is divided by a plurality of partitions. The rack <NUM> stores the container F and is generally arranged in one or two rows (in the embodiment, in two rows). The rack <NUM> extends in X direction (width direction) and two of the rack <NUM>,<NUM> adjacent to each other are arranged in parallel or substantially parallel so as to face each other. The rack <NUM> has a plurality of shelves <NUM> where the container F is placed and stored. The shelves <NUM> are arranged along X direction and Z direction (a vertical direction).

The stacker crane <NUM> is a mechanism to load/unload the container F to/from each of the shelves <NUM> as well as to transfer between a loading port and an unloading port (not illustrated) and each of the shelves <NUM> or between shelves <NUM>. The stacker crane <NUM> are disposed at the area between two of the rack <NUM>, <NUM> facing each other. The stacker crane <NUM> is capable of traveling on a rail (not illustrated) laid on a floor along an extending direction (X direction) of the rack <NUM> to move along the rack <NUM> in X direction.

As shown in <FIG> and <FIG>, the stacker crane <NUM> includes a travel unit <NUM>, a mast <NUM>, an elevation portion <NUM>, a rotation unit <NUM>, a hand <NUM>, a cover unit (covering member)<NUM> and FFU (Fan Filter Unit)<NUM>. The travel unit <NUM> is capable of traveling along a rail in X direction by a travel driver such as a motor. The elevation portion <NUM> moves up and down along an elevation surface 80B of the mast <NUM>. The mast <NUM> which is disposed at the travel unit <NUM> extends in Z direction (a first direction). The elevation portion <NUM> is capable of moving up and down along the mast <NUM> by an elevation driver such as motor. The rotation unit <NUM> rotates the hand <NUM> mounted on the rotation unit <NUM> around an axis along Z direction.

The hand <NUM> on which the container F is placed is provided at the elevation portion <NUM>. The hand <NUM> moves in and out (inside and outside the elevation portion <NUM> in a plan view) to transfer the container F with a transfer device (not illustrated). It is to be noted that configurations, mechanisms, and locations of the travel unit <NUM>, the elevation portion <NUM>, the rotation unit <NUM>, and the hand <NUM> are not specifically limited. Any known mechanisms or devices are adoptable for the travel unit <NUM>, the elevation portion <NUM>, the rotation unit <NUM>, and the hand <NUM>.

The controller controls components or parts of the stacker crane <NUM>. The controller is located, e.g. in the stocker body <NUM>. The controller includes CPU (Central Processing Unit) , RAM (Random Access Memory) , and ROM (Read Only Memory). The controller can perform control operations in cooperation between hardware such as CPU, RAM, and ROM, and software such as program.

As shown in <FIG>, the mast <NUM> includes two channel members <NUM>, <NUM>, a slide rail <NUM>, a back cover <NUM>, and two of an adjusting member <NUM>, <NUM>. In the mast <NUM>, an elevation surface forming portion 80A, a pair of side surface portions 80C, 80C, and a reinforcement 80D are formed with two channel members <NUM>, <NUM>.

The elevation surface forming portion 80A includes the elevation surface 80B extending in Z direction and Y direction (a second direction), the elevation surface along which the elevation portion <NUM> moves up and down. In other words, the elevation surface 80B is orthogonal to X direction. The pair of side surface portions 80C, 80C extend in X direction from both edges of the elevation surface forming portion 80A in Y direction toward an opposite side of a side at which the elevation portion <NUM> is located. The reinforcement portion 80D is arranged between the pair of side surface portions 80C, 80C in Y direction and extends in X direction from a side opposite to the elevation surface 80B of the elevation surface forming portion 80A toward an opposite side of a side at which the elevation portion <NUM> is located. The reinforcement portion 80D is formed so as to have a higher stiffness than that of each of the side surface portions 80C, 80C.

The elevation surface forming portion 80A, the pair of side surface portions 80C, 80C, and the reinforcement 80D are formed with two channel members <NUM>, <NUM>. The channel member <NUM> includes a web part 81A and a pair of flange portions 81B, 81B extending(erecting) in X direction from both edges of the web part 81A in Y direction. The channel member <NUM> includes a web part 82A and a pair of flange portions 82B, 82B extending (erecting) in X direction from both edges of the web part 82A in Y direction. The channel member <NUM> and the channel member <NUM> are the same in size and shape. Thus, the web part 81A and the web part 82A have the same thickness and the flange portion 81B and the flange portion 82B have the same thickness.

The channel member <NUM> and the channel member <NUM> are made of, e.g. a stainless steel which is a low-cost metal with high stiffness. The flange portion 81B of the channel member <NUM> and the flange portion 82B of the channel member <NUM> are jointed with each other so that the web part 81A of the channel member <NUM> and the web part 82A of the channel member <NUM> can be flush. The web part 81A of the channel member <NUM> and the web part 82A of the channel member <NUM> formed to be flush forms the elevation surface 80B of the mast <NUM>. One of the flange portion 81B of the channel member <NUM> forms the one of the side surface portion 80C of the mast <NUM> and the other of the flange portion 82B of the channel member <NUM> forms the other of the side surface portion 80C of the mast <NUM>. The reinforcement portion 80D of the mast <NUM> is formed by a joint between the other of the flange portion 81B of the channel member <NUM> and the other of the flange portion 81B of the channel member <NUM>.

A part of the mast, which includes the elevation surface forming portion 80A, the pair of side surface portions 80C, 80C, and the reinforcement portion 80D, is formed in an E shape in a plan view seen from Z direction.

A slide rail <NUM> extending in Z direction and used for the elevation portion <NUM> is fixed to the elevation surface 80B of the elevation surface forming portion 80A.

The cover unit <NUM> covers an elevation area 80E of the elevation portion <NUM>. The cover unit <NUM> includes two angle members <NUM>, <NUM> and two of a cover <NUM>, <NUM>. The cover unit <NUM> is attached integrally to each of the pair of side surface portions 80C, 80C with a coupler (not illustrated). In particular, the angle member <NUM> is attached integrally to the channel member <NUM> and the angle member <NUM> is attached integrally to the channel member <NUM>.

The angle member <NUM> and the angle member <NUM> are made of, e.g. a stainless steel which is a low-cost metal with high stiffness. The angle member <NUM> has a first surface 84A and a second surface <NUM> B perpendicular to the first surface <NUM> A. The first surface 84A is attached integrally to the flange portion 81B of the channel member <NUM>. The cover <NUM> is attached to a top edge of the second surface 84B. The angle member <NUM> has a first surface 85A and a second surface 85B perpendicular to the first surface 85A. The first surface 85A is attached integrally to the flange portion 82B of the channel member <NUM>. The cover <NUM> is attached to a top edge of the second surface 85B. The cover <NUM> is made of a material e.g. an aluminum plate.

A gap G is formed between a top edge 86A of the cover <NUM> attached to the angle member <NUM> and a top edge 86A of the cover <NUM> attached to the angle member <NUM> in Y direction. The rotation unit <NUM> and the hand <NUM> protrudes to an outer space from the elevation portion <NUM> placed within the 80E through the space G. In the present embodiment, the top edge 86A of the cover <NUM> is provided so as not to interfere with the elevation portion <NUM>, rotation unit <NUM>, and the hand <NUM>.

The back cover <NUM> is provided at back side of the mast <NUM>. The back cover <NUM> is attached to top edges of the pair of flange portions 81B, 81B of the channel member <NUM> and top edges of the pair of flange portions 82B, 82B of the channel member <NUM>. A recessed space 80F is formed with the web part 81A, the pair of flange portions 81B, 81B, and the back cover <NUM>. The recessed space 80F is also formed with the web part 82A, the pair of flange portions 82B, 82B, and the back cover <NUM>.

For example, each of the adjusting member <NUM> extends in Y direction and is a turnbuckle member stretchable in Y direction. The adjusting member <NUM> is arranged in the recessed space 80F. In particular, the adjusting member <NUM> is arranged away from the elevation surface forming portion 80A in X direction (a third direction). The adjusting member <NUM> is arranged in two rows in Y direction. One of the adjusting member <NUM> is provided so that both edges thereof can contact with one of the flange portion 81B forming the reinforcement portion 80D and the other of the flange portion 81B forming the side surface portion 80C, and the other of the adjusting member <NUM> is provided so that both edges thereof can contact with one of the flange portion 82B forming the reinforcement portion 80D and the other of the flange portion 82B forming the side surface portion 80C. A total length of the channel member <NUM> (<NUM>) in X direction is referred to as D and a distance between the adjusting member <NUM> and the back cover <NUM> is referred to as D1. The adjusting member <NUM> is provided so that D1 can be equal to or shorter than a half of D (D1 ≤ <NUM>/2D). Without any back cover <NUM>, the adjusting members <NUM> may be provided so that top edges of the pair of flange portions 81B, 81B (82B, 82B) can contact with each other.

As shown in <FIG>, the adjusting member <NUM> includes a body 91A, 91B, a first screw bolt 92A screwing into a thread groove formed at a hole of the body 91A, a second screw bolt 92B screwing into a thread groove formed at a hole of the body 91B, an anchor <NUM> provided at a top edge of the first screw bolt 92A, and an anchor <NUM> provided at a top edge of the second screw bolt 92B. The anchor <NUM> (<NUM>) is provided with a bolt 93B (94B) to be fixed to the flange portion 81B.

Two of the adjusting member <NUM>, <NUM> can adjust an intersection angle α (see <FIG>) of the pair of side surface portions 80C, 80C with respect to the elevation surface forming portion 80A by rotating the first screw bolt 92A and the second screw bolt 92B screwed by the bodies 91A, 91B, respectively. Hereinafter, with reference to <FIG> and <FIG>, a method of adjusting the intersection angle α of the pair of the side surface portions 80C, 80C with respect to the elevation surface forming portion 81A will now be described in detail.

The adjusting member <NUM> acts so as to push out one of the flange portion 81B and one of the flange portion 82B (corresponding to the side surface portion 80C) in a direction away from the other of the flange portion 81B and the other of the flange portion 82B (corresponding to the reinforcement portion 80D) by rotating a top edge (anchor <NUM>) of the first screw bolt 92A in a direction away from the body 91A and rotating top edge (anchor <NUM>) of the second screw bolt 92B in a direction away from the body 91B. A location and a posture of the first surface 84A of the angle member <NUM> change so as to be flush with one of the flange portion 81B and a location and a posture of the first surface 85A of the angle member <NUM> change so as to be flush with one of the flange portion 82B, thereby changing the pair of the side surface portions 80C, 80C from a state shown in <FIG> to a state shown in <FIG>. Thus, the pair of the side surface portions 80C, 80C is deformed such that a back side of the mast <NUM> opens (moves farther from each other). The deformation of the mast <NUM> changes a location and a posture of the cover unit <NUM>. Therefore, the first screw bolt <NUM> A and the second screw bolt 92B are adjusted, so that positions and postures of one of the flange portion 81B and one of the flange portion 82B, the first surface 84A and the second surface 84B of the angle member <NUM>, and the first surface 85A and the second surface 85B of the angle member <NUM> are changed, as a result, the gap G between top edges of two of the cover <NUM> becomes narrower than its original state.

Further, the adjusting member <NUM> acts so as to pull one of the flange portion 81B and one of the flange portion 82B (corresponding to the side surface portion 80C) in an approaching direction to the other of the flange portion 81B and the other of the flange portion 82B (corresponding to the reinforcement portion 80D) by rotating a top edge of the first screw bolt 92A (anchor <NUM>) in an approaching direction to the body 91A and rotating a top edge of the second screw bolt 92B (anchor <NUM>) in an approaching direction to the body 91B. A location and a posture of the first surface 84A of the angle member <NUM> change so as to be flush with one of the flange portion 81B and a location and a posture of the first surface 85A of the angle member <NUM> change so as to be flush with one of the flange portion 82B, thereby changing the pair of the side surface portions 80C, 80C from the state shown in <FIG> to a state shown in <FIG>. Therefore, the pair of the side surface portions 80C, 80C are deformed such that a side of the elevation surface 80B of the mast <NUM> closes (approaches to each other). The deformation of the mast <NUM> changes a location and a posture of the cover unit <NUM>. Therefore, the first screw bolt 92A and the second screw bolt 92B are adjusted, so that locations and postures of one of the flange portion 81B, one of the flange portion 82B, the first surface 84A and the second surface 84B of the angle member <NUM>, and the first surface 85A and the second surface 85B of the angle member <NUM> are changed, as a result, the gap G between top edges of two of the cover <NUM> becomes wider than its original state.

In the present preferred embodiment, as described above, the gap G between top edges of two of the cover <NUM> becomes narrower than its original state by rotating a top edge (anchor <NUM>) of the first screw bolt 92A so as to keep away from the body 91A and rotating top edge (anchor <NUM>) of the second screw bolt 92B so as to keep away from the body 91B, and the gap G between top edges of two of the covers <NUM> becomes wider than its original state by rotating a top edge (anchor <NUM>) of the first screw bolt 92A so as to keep close to the body 91A and rotating a top edge of the second screw bolt 92B (anchor <NUM>) so as to keep close to the body 91B. However, whether the gap G between the top edges of two of the cover <NUM> becomes narrower or wider than its original state may depend on a shape of the cover <NUM> attached to the second surface 84B of the angle member <NUM> and the second surface 85B of the angle member <NUM>.

With reference to <FIG> and FIG. (C), as described above, both of top edges of the first screw bolt 92A and the second screw bolt 92B are moved so as to keep away from each of the bodies 91A, 91B or to keep close to each of the bodies 91A, 91B. However, only one of the top edge of the first screw bold 92A and the top edge of the second screw bolt 92B may be moved to keep away from the body 91A or the body 91B or keep close to the body 91A or the body 91B. In addition, one of the top edge of the first screw bolt 92A and one of the top edge of the second screw bolt 92B may be moved to keep away from the body 91A and the body 91B, or the other of the top edge of the first screw bolt 92A and the other of the top edge of the second screw bolt 92B may be moved to keep close to the body 91A or the body 91B. These adjustments of the adjusting member <NUM> can adjust a relative position of the cover <NUM> to the elevation portion <NUM>.

As described above, two of the adjusting member <NUM>, <NUM> have an adjustment function to adjust the intersection angle α of the pair of side surface portions 80C, 80C with respect to the elevation surface forming portion 80A. Two of the adjusting member <NUM>, <NUM> also has a reinforcement function to reinforce a stiffness of the mast <NUM> overall. Two of the adjusting member <NUM>, <NUM> is arranged at a predetermined interval in a direction in which the mast <NUM> extends. The number of adjusting member <NUM> to be arranged is set appropriately according to ease of deformation of the pair of the side surface portions 80C, 80C of a member comprising the mast <NUM>.

As shown in <FIG>, the FFU <NUM> is arranged in the recessed space 80F. In details, the FFU <NUM> is arranged in the recessed space 80F formed with the elevation surface forming portion 80A, the side surface portion 80C and the reinforcement portion 80D in a plan view seen from Z direction. The FFU <NUM> is an air cleaning device with fan and filter to draw in ambient air and discharge purified air.

Actions and effects of the stacker crane <NUM> according to the above preferred embodiment will now be described. In the stacker crane <NUM> according to the above preferred embodiment, the adjusting member <NUM> which is a stretchable member is provided between the side surface portion 80C and the reinforcement portion 80D having a higher stiffness than that of the side surface portion 80C, so that the side surface portion 80C of the mast <NUM> is pushed out by extension of the adjusting member <NUM> so as to keep away from the reinforcement portion 80D, and the side surface portion 80C of the mast <NUM> is pulled by contraction of the adjusting member <NUM> so as to keep close to the reinforcement portion 80D. In the mast with this configuration, the intersection angle α of the side surface portion 80C with respect to the elevation surface forming portion 80A is adjusted by pushing or pulling the side surface portion 80C. Thus, states (position and posture) of the cover unit <NUM> attached integrally to the side surface portion is also changed (moved) according to the above intersection angle α. As a result, in the stacker crane <NUM> including the mast <NUM> provided with the pair of side surface portions 80C, 80C, a position (a relative position to the elevation portion <NUM>) of the cover unit <NUM> attached to the side surface portion 80C can be adjusted easily.

In the stacker crane <NUM> according to the above embodiment, a position of the cover unit <NUM> relative to the elevation portion <NUM> can be adjusted easily, so that the cover <NUM> can be placed at a marginal position so as not to interfere with the elevation portion <NUM> which is moving up and down, thus enabling to reduce generation of dusts due to contact between the elevation portion <NUM> and the cover <NUM> and to prevent dust generated at the elevation area 80E from flowing into the inner space A of the stocker <NUM>.

In the stacker crane <NUM> according to the above embodiment, the adjusting member <NUM> is provided, so that the stiffness of the mast <NUM> is heightened as a whole. Further, the adjusting member <NUM> is provided, so that the stiffness of the entire mast <NUM> can be heightened, thus allowing a total size of the mast <NUM> to be smaller if the mast <NUM> has the same performance.

In the stacker crane <NUM> according to the above embodiment, the mast <NUM> is formed by connection between the flange portions 81B and 82B of two channel members <NUM>, <NUM> including the web part 81A (82A) and the pair of flange portions 81B, 81B (82B, 82B) erecting from the both edges of the web part 81A (82A). Therefore, the mast <NUM> can be formed easily with the elevation surface forming portion 80A, the pair of side surface portions 80C, 80C, and the enforcement portion 80D.

In the stacker crane <NUM> according to the above embodiment, the cover unit <NUM> to cover the elevation area 80E of the elevation portion <NUM> is provided, thus enabling to prevent dusts occurring when the elevation portion <NUM> moves up and down from spreading out in the inner space A of the stocker <NUM>.

In the stacker crane <NUM> according to the above embodiment, the FFU <NUM> is placed in the recessed space 80F formed with the elevation surface forming portion A, the side surface portion 80C, and the reinforcement portion 80D in a plan view seen from Z direction. Therefore, the FFU <NUM> can be placed between members comprising the mast <NUM>, as a result, allowing a total size of the mast <NUM> to be compact.

Some embodiment variations may be considered as long as they belong to the scope of said invention.

In the stacker crane <NUM> according to the above embodiment, the mast formed in an E shape in a plan view seen from Z direction is formed by connection between two channel members <NUM>, <NUM>, however, it is not limited to. For example, a single member with an E-shaped cross section may be used. Further, a member with a C-shaped cross section is integrally welded with a member which functions as the reinforcement portion 80D to form an E shape, which may be used.

Claim 1:
A stacker crane (<NUM>), comprising:
a mast (<NUM>) including an elevation surface forming portion (80A) having an elevation surface (80B) extending in a first direction in which an elevation portion (<NUM>) moves up and down and in a second direction orthogonal to the first direction and a pair of side surface portions (80C) extending in a third direction orthogonal to the first direction and the second direction from both edges of the elevation surface forming portion in the second direction toward an opposite side to a side at which the elevation portion is arranged,
the pair of side surface portions (80C) is arranged such that a covering member (<NUM>) covering an elevation area (80E) of the elevation portion (<NUM>) can be attached integrally to said pair of side surface portions, and
wherein the stacker crane (<NUM>) is characterized in that the mast includes:
a reinforcement portion (80D) arranged between the pair of side surface portions in the second direction, extending in the third direction from the elevation surface forming portion toward the opposite side to the side at which the elevation portion is arranged, and having a higher stiffness than that of the pair of side surface portions; and
an adjusting member (<NUM>) arranged so as to leave clearance with the elevation surface forming portion in the third direction, the adjusting member being capable of extending in the second direction, and provided so that both edges thereof contact with the reinforcement portion and the pair of side surface portions.