Shuttle transfer with sine wave time/velocity acceleration

Claim 2

A shuttle transfer for the elevator platform of a stacker crane comprising, an intermediate shuttle mounted on the elevator platform for guided movement along a path extending transversely of the platform, a load bearing shuttle mounted for guided movement along a path parallel to that of the intermediate shuttle, primary drive means to alternately accelerate and decelerate the shuttle on a sine wave time/velocity curve throughout the duration of each shuttle movement, said primary drive means acting between the elevator platform and the intermediate shuttle and comprising at least one pair of parallel drive faces mounted for guided movement along a path perpendicularly intersecting both drive faces of each pair thereof, the drive faces of each pair thereof spaced apart to receive a crank-like drive pin therebetween, a head member mounted for controlled rotative movement back and forth about an axis through an arc of 180* from a selected centered position, at least one crank-like drive pin mounted on the head member at a selected radial distance from the axis of head member rotation and interposed between one pair of said drive faces, a radius from the axis of head member rotation to each crank pin being perpendicular to its respective pair of drive faces with the head member in its selected, centered position, means operatively interconnecting the drive faces to the intermediate shuttle to move the intermediate shuttle with said sine wave time/velocity acceleration from centered position on the elevator platform along its path of movement in a direction determined by that of the drive faces upon each 180* rotation of the head member, and drive means responsive to movement of the intermediate shuttle and operatively connected to the load bearing shuttle to move the latter from centered position on the intermediate shuttle along its path of movement relative to, in the same direction as, and at a speed proportional to, the intermediate shuttle upon each movement of the intermediate shuttle along its path of movement.

Claim 3

A shuttle transfer as claimed in claim 1 wherein the primary drive means accelerates the intermediate shuttle at a substantially uniform rate during the first 90* and decelerates the intermediate shuttle at a substantially uniform rate during the second 90*, of each 180* rotative movement of the head member.

Claim 4

A shuttle transfer as claimed in claim 1 wherein the elevator platform is provided with relatively fixed, transversely extending support means, and the intermediate shuttle is supported in guided relation on said support means for travel back and forth along its path from a position wholly overlying the platform to a position extending in a selected direction laterally therebeyond.

Claim 5

A shuttle transfer as claimed in claim 1 wherein at least one support member extends transversely of the elevator platform, a plurality of rollers are mounted in operative relation between each support member and the intermediate shuttle to provide rolling, guiding support for the intermediate shuttle along its path, the drive means responsiVe to movement of the intermediate shuttle comprises a first rack fixedly mounted to the elevator platform and parallel to said at least one support member, a second rack facing, spaced from, and parallel to the first rack and carried by the load bearing shuttle, and at least one gear, journaled on the intermediate shuttle and in mesh with both of said racks.

Claim 6

A shuttle transfer as claimed in claim 4 wherein said at least one gear comprises a gear train consisting of a plurality of gears of equal size aligned in a direction parallel to the paths of movement of the shuttle members, adjacent gears of said train spaced apart and operatively interconnected by pinions of smaller diameter than said gears, all of such pinions being clear of both of the racks.

Claim 7

A shuttle transfer as claimed in claim 1 wherein the parallel drive faces are mounted on a slider, which is guided for selective back and forth movement along the path defined therefor in claim 1, a first rack is actuated by the slider, a second rack is mounted on the intermediate shuttle, and gearing in mesh with both racks transmits movement of the slider to move the intermediate shuttle in a selected direction along its path.

Claim 8

A shuttle transfer for the elevator platform of a stacker crane comprising, an intermediate shuttle mounted on the elevator platform for guided movement along a path extending transversely of the platform, a load bearing shuttle mounted on the intermediate shuttle for guided movement along a path parallel to that of the intermediate shuttle, primary drive means to alternately accelerate and decelerate the shuttle on a sine wave time/velocity curve throughout the duration of each shuttle movement, said primary drive means acting between the elevator platform and the intermediate shuttle and comprising two pairs of drive faces mounted parallel to each other for guided movement along a path perpendicularly intersecting all of said drive faces, the drive faces of each pair thereof spaced apart to receive a crank-like drive pin therebetween, a head member mounted for rotative movement about an axis through an arc of 180*, selectively in either direction from a known centered position, a pair of crank-like drive pins mounted on the head member at equal radial distances from, and on opposite sides of, the axis of rotation of the head member, each drive pin being interposed between a pair of said drive faces, each drive pin being located adjacent an end of its respective pair of drive faces and the radii from the axis of head member rotation to the drive pins being perpendicular to the drive faces with the head member in its centered position, means operatively interconnecting the drive faces to the intermediate shuttle to move the intermediate shuttle with said sine wave time/velocity acceleration from centered position on the elevator platform along its path of movement in a direction determined by that of the drive faces upon each 180* rotation of the head member, and drive means responsive to movement of the intermediate shuttle operatively connected to the load bearing shuttle and moving the latter relative to the same direction as, and at a speed proportional to, the intermediate shuttle upon each movement of the intermediate shuttle along its path of movement.

Claim 9

A shuttle transfer for the elevator platform of a stacker crane comprising, an intermediate shuttle mounted on the elevator platform for guided movement along a path extending transversely of the platform, a load bearing shuttle mounted on the intermediate shuttle for guided movement along a path parallel to that of the intermediate shuttle, primary drive means to alternately accelerate and decelerate the shuttle on a sine wave time/velocity curve throughout the duration of each shuttle movement, said primary drive means acting between the elevator platform and the intermediate shuttle and comprising two pairs of drive faces mounted parallel to each other for guided movement along a path perpendicularly intersecting all of said drive faces, the drive faces of each pair thereof spaced apart to receive a crank-like drive pin therebetween, a head member mounted for rotative movement about an axis through an arc of 180*, selectively in either direction from a known centered position, a pair of crank-like drive pins mounted on the head member at equal radial distances from, and on opposite sides of, the axis of rotation of the head member, each drive pin being interposed between a pair of said drive faces, each drive pin being located adjacent an end of its respective pair of drive faces and the radii from the axis of head member rotation to the drive pins being perpendicular to the drive faces with the head member in its centered position, means operatively interconnecting the drive faces to the intermediate shuttle to move the intermediate shuttle with said sine wave time/velocity acceleration from centered position on the elevator platform along its path of movement in a direction determined by that of the drive faces upon each 180* rotation of the head member, and drive means responsive to movement of the intermediate shuttle operatively connected to the load bearing shuttle and moving the latter relative to the same direction as, and at a speed proportional to, the intermediate shuttle upon each movement of the intermediate shuttle along its path of movement.

Claim 10

A shuttle transfer as claimed in claim 7 wherein the primary drive means comprises a slider mounted for guided, slidable movement along a fixed guide track, a plurality of blocks are secured to the slider, said blocks having straight sides spaced apart in parallel relation, adjacent, facing sides of adjacent ones of said blocks comprising said drive faces.

Claim 11

A shuttle transfer as claimed in claim 8 wherein the means operatively interconnecting the drive faces to the intermediate shuttle comprises a first rack mounted on the slider parallel to the guide track, a pinion in mesh with the first rack is journaled on the elevator platform, a second rack is mounted on the intermedIate shuttle, and gearing in mesh with both racks transmits movement of the first rack to the second rack.

Claim 12

A shuttle transfer as claimed in claim 7 wherein the end portions of each pair of drive faces adjacent which the drive pins are located with the head member in its centered position are flared to guide a drive pin therebetween when entering a guideway upon selected rotative movements of the head member.