| 摘要 |
PROBLEM TO BE SOLVED: To improve weight balance, to allow high acceleration/deceleration running, and to compact a carrier by miniaturizing individual running motors. SOLUTION: Front and rear running motors 15 to 18 are disposed on respective lower and upper carriers 4 and 6 of a stacker crane 2, and the carriers 4 and 6 are interconnected through a mast 12 having a truss structure. Running motors 15 and 16 in the lower part are synchronously controlled, running motors 17 and 18 in the upper part are also synchronously controlled, and the upper and lower motors are controlled to vertically stack up the carriers 4 and 6.
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