CN101096242A - Device for preserving articles - Google Patents
Device for preserving articles Download PDFInfo
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- CN101096242A CN101096242A CNA2007100057688A CN200710005768A CN101096242A CN 101096242 A CN101096242 A CN 101096242A CN A2007100057688 A CNA2007100057688 A CN A2007100057688A CN 200710005768 A CN200710005768 A CN 200710005768A CN 101096242 A CN101096242 A CN 101096242A
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- Prior art keywords
- walking
- article
- aforementioned
- article transfer
- items
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- 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
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- 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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- 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
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
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- 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
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/02—Controlled or contamination-free environments or clean space conditions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides an article containing shelf, which can prevent dust from emerging after the article carrying device is moved. The operation of said article carrying device is controlled in order to convey an article for said two or more stowages and article taking-out admission into a club among them as two or more article transferring places. The operation of said article carrying device may be controlled in order to locate said article transfer means higher than a run height for controlling dust from emerging which exists in the floor side of said moving space.
Description
Technical field
The invention relates to a kind of comprising: the article storing frame is being set up in parallel a plurality of incorporating sections in length and breadth; Apparatus for handling goods, in the mobile space in items accepting rack the place ahead, walking freely on the support body Width, and, make the lifting of article transfer mechanism freely; The running control mechanism, will aforementioned a plurality of incorporating sections and article take out of into portion and be used as a plurality of article transfers place, control the start of items Handling device, make it must implement article carrying betwixt; And the ventilating mechanisms that purifies air, purification is flowed in aforementioned mobile space by aforementioned incorporating section from items accepting rack rear portion side with air, and, the article storage apparatus of past current downflow in aforementioned mobile space.
Background technology
Article storage apparatus, it is the object of being located at dust free room, purification is flowed in mobile space by Shou Na Bu An from article storing frame rear portion side with air, the dust pollution that can prevent to result from because of apparatus for handling goods walking mobile space is incorporated in the situation of incorporating section, again, make to purify and in mobile space, flow downward with air, make the dust Shen Jing that floats from the mobile space floor side because the air-flow that apparatus for handling goods walking is produced is chaotic floor side at mobile space, the incorporating section of hypomere in the article storing frame, be to be located at the height place of leaving the mobile space floor, even so that float dust because of the apparatus for handling goods walking from floor side, this dust can not pollute the article (for example with reference to patent documentation 1) that are contained yet.
And, in this article storage apparatus, in general, during apparatus for handling goods, be the start of control apparatus for handling goods in walking, make the height of article transfer mechanism, must liken to into the article transfer place of article transfer object taller.
When being described in more detail, when the walking apparatus for handling goods, after the walking that begins this apparatus for handling goods soon, make the height of article transfer mechanism, arrival is as the position, article transfer place of article transfer object, under the state of keeping items transfer mechanism position, make the apparatus for handling goods position of correspondence of walking as the article transfer place of article transfer object, when apparatus for handling goods is walked behind the position of correspondence as the article transfer place of article transfer object, can begin rapidly to implement article transfer operation with the article transfer mechanism.
[patent documentation 1] TOHKEMY 2003-81405 communique
Summary of the invention
[problem that invention institute desire solves]
In recent years, in order to improve article carrying efficient, and require the walking high speed of apparatus for handling goods, especially, large item safedeposit etc. are expected the walking high speed more.But, when apparatus for handling goods is walked at a high speed, because should walking can produce very big air turbulence, especially, because, more can produce very big air turbulence at the very big article transfer mechanism of direction of travel top surface area.Therefore, when as the article transfer place of article transfer object near the lower position on floor the time, because make the article transfer mechanism be positioned at the apparatus for handling goods of walking under the state near the lower position on floor, so, because be positioned at article transfer mechanism, make producing very big disorderly air-flow that the dust of floor side is high to be floated near the place, floor near the lower position on floor.Thus, float even the dust of floor side is high, for the article that suppress to be accommodated in the incorporating section contaminated, must make the incorporating section of hypomere in the article storing frame, be located at and leave the very high position of mobile space floor, so that because the dust that floats due to the apparatus for handling goods walking is difficult to contaminated articles, still, when formation like this, the efficient of taking in of article storing frame can be very poor.
The object that the present invention researches and develops in view of above-mentioned truth, its purpose are to provide a kind of dust when suppressing the apparatus for handling goods walking to float, and improve the article storage apparatus of taking in efficient of article storing frame.
[being used to solve the means of problem]
For reaching above-mentioned purpose, first characteristics of article storage apparatus of the present invention constitute, and be to comprise: the article storing frame is being set up in parallel a plurality of incorporating sections in length and breadth; Apparatus for handling goods, in the mobile space in items accepting rack the place ahead, walking freely on the support body Width, and, make the lifting of article transfer mechanism freely; The running control mechanism, will aforementioned a plurality of incorporating sections and article take out of into portion and be used as a plurality of article transfers place, control the start of items Handling device, make it must implement article carrying betwixt; And the ventilating mechanisms that purifies air, purification is flowed in aforementioned mobile space by aforementioned incorporating section from items accepting rack rear portion side with air, and, past current downflow in aforementioned mobile space;
Aforementioned running control mechanism, be when making the walking of items Handling device, the start of control items Handling device makes the travel height of items transfer mechanism, must be than the setting walking of floating for the dust that suppresses to be present in aforementioned mobile space floor side with highly taller.
That is, when the Handling device of walking thing limit, make the travel height of items transfer mechanism, than the setting walking of floating for the dust that suppresses to be present in aforementioned mobile space floor side with highly taller, with irrespectively as the height of article transfer place of article transfer object, in the walking that article transfer mechanism position is be used to the dust that suppresses to be present in the mobile space floor side to float with under the highly taller state, make the apparatus for handling goods walking, so, because the very air flow disorder due to the article transfer mechanism can be created in from the mobile space floor to certain height, the air turbulence near the floor during apparatus for handling goods walking can be suppressed, and can suppress floating of floor side dust, so, leave the very closely-spaced height of mobile space floor even the incorporating section of hypomere is located at, also be difficult to allow the dust pollution article that float because of the walking of apparatus for handling goods.
Therefore, can provide a kind of makes the article transfer mechanism be positioned at the walking apparatus for handling goods of walking under with the state more than the height, thus, disorder in the time of suppressing the apparatus for handling goods walking near the floor sidewind, and suppress floating of floor side dust, and being located at, the incorporating section of hypomere leaves the very closely-spaced height of mobile space floor, therefore, can suppress ten dust of apparatus for handling goods walking and float, take in the article storage apparatus of efficient and improve the article storing frame.
Second characteristics of article storage apparatus of the present invention constitute, be in first characteristics constitute, aforementioned running control mechanism is after the walking of beginning items Handling device, the start of control items Handling device must rise to than aforementioned walking with highly taller the items transfer mechanism.
That is, when the walking apparatus for handling goods, after the walking of beginning apparatus for handling goods, make the article transfer mechanism rise to the walking above object of height, the apparatus for handling goods of walking on one side, make the article transfer mechanism rise to the walking above object of height on one side, so, can need not to make the walking of apparatus for handling goods to begin to be extended down to and make the article transfer mechanism rise to walking, can begin the walking of apparatus for handling goods rapidly with till the height, so, can carry article swimmingly, therefore, can provide a kind of and can begin the walking of apparatus for handling goods rapidly, and can carry the article storage apparatus of article swimmingly.
Simultaneously, by in apparatus for handling goods quickens, make the article transfer mechanism rise to walking with more than the height, in acceleration, because the speed of travel of apparatus for handling goods is slower, so the air turbulence due to the article transfer mechanism is less, along with the speed of travel of apparatus for handling goods accelerates, because the article transfer mechanism leaves floor, so, can be suppressed due to the article transfer mechanism in apparatus for handling goods when walking near the floor air turbulence, and can suppress floating of floor side dust.
The 3rd characteristics of article storage apparatus of the present invention constitute, be in first characteristics constitute, aforementioned control works, be that the items transfer mechanism is risen to than aforementioned walking with after highly taller, the start of control items Handling device makes the items Handling device must begin walking.
That is, when the walking apparatus for handling goods, make the article transfer mechanism rise to than walking with after highly taller soon, the object of beginning apparatus for handling goods walking, on point in the walking of beginning apparatus for handling goods, the article transfer mechanism is positioned at than walking with highly taller, so, the dust that can suitably be suppressed at apparatus for handling goods when walking floats, therefore, and the article storage apparatus that can provide a kind of dust can suitably be suppressed at the apparatus for handling goods walking time to float.
The 4th characteristics of article storage apparatus of the present invention constitute, be in that the first～three characteristics constitute in any one, aforementioned running control mechanism, be when the position in the article transfer place that the items Handling device is walked be used as article transfer object in the aforementioned a plurality of article transfers of the correspondence place, when aforementioned article transfer mechanism with respect to height as the article transfer place of article transfer object, when highly also lower than aforementioned walking usefulness, control the start of aforementioned fortune product Handling device, make it stop as the items transfer place of article transfer object the items transfer mechanism being descended before the items Handling device also wants early from correspondence.
That is, when the position in the article transfer place that apparatus for handling goods is walked be used as article transfer object in the aforementioned a plurality of article transfers of the correspondence place, stopping apparatus for handling goods as the article transfer place of article transfer object in correspondence also wants early, the decline of beginning article transfer mechanism, so, in correspondence and after stopping apparatus for handling goods as the article transfer place of article transfer object, can and article transfer place as article transfer object between, begin the article transfer done with the article transfer mechanism fast, so, can carry article swimmingly, therefore, a kind of article transfer of being done with the article transfer mechanism of can beginning fast can be provided, and carry the article storage apparatus of article swimmingly.
Simultaneously, in the deceleration of apparatus for handling goods, the article transfer mechanism is dropped to than walking with highly also low, thus, along with the speed of travel of article transfer mechanism apparatus for handling goods near floor is slack-off, so, can be suppressed at the air turbulence due to the apparatus for handling goods article transfer mechanism in when walking, and the dust that suppresses floor side floats near the floor place.
The 5th characteristics of article storage apparatus of the present invention constitute, be in that the first～three characteristics constitute in any one, aforementioned running control mechanism, be when the position in the article transfer place that the items Handling device is walked be used as article transfer object in the aforementioned a plurality of article transfers of the correspondence place, when aforementioned article transfer mechanism with respect to height as the article transfer place of article transfer object, when highly also lower than aforementioned walking usefulness, control the start of aforementioned fortune product Handling device, make it after stopping the items Handling device, the items transfer mechanism be descended as the items transfer place of article transfer object from correspondence.
That is, when the position in the article transfer place that the items Handling device is walked be used as article transfer object in the aforementioned a plurality of article transfers of the correspondence place, correspondence be used as article transfer object article transfer place and after stopping apparatus for handling goods, the article transfer mechanism is descended, the article transfer mechanism is all to use highly taller than walking till stopping apparatus for handling goods, so, dust in the time of suitably being suppressed at the apparatus for handling goods walking floats, therefore, the article storage apparatus that can provide a kind of dust that can suitably be suppressed at apparatus for handling goods when walking to float.
Description of drawings
Fig. 1 is the cutaway view of article collecting apparatus;
Fig. 2 is the front elevation of article collecting apparatus;
Fig. 3 is the A-A cutaway view of Fig. 2;
Fig. 4 is the cutaway view of article collecting apparatus;
Fig. 5 is the apparatus for handling goods birds-eye view in the outstanding state;
Fig. 6 is control Z diagram of block;
Fig. 7 is the drawing of apparatus for handling goods travel controls;
The drawing of Fig. 8 (1)～(4) expression apparatus for handling goods lifting control;
The drawing of the apparatus for handling goods travel controls in Fig. 9 (1)～(4) the expression second enforcement state.
The main element nomenclature:
2 incorporating sections
3 article storing framves
4 mobile spaces
5 apparatus for handling goods
6 ventilating mechanisms that purify air
31 article are taken out of into portion
40 article transfer mechanisms
46 running control mechanisms
A article transfer place
The specific embodiment
Below, the present invention's example is described with reference to drawing.
The first enforcement state
As Fig. 1～shown in Figure 4, article storage apparatus is to be located in the dust free room 1, and it comprises: article storing frame 3 is being set up in parallel a plurality of incorporating sections 2 in length and breadth; Apparatus for handling goods 5, in the mobile space 4 in items accepting rack 3 the place aheads, walking freely on the support body Width, and, make 40 liftings of article transfer mechanism freely; Running control mechanism 46 (with reference to Fig. 6), will aforementioned a plurality of incorporating sections 2 and article take out of into portion 31 and be used as a plurality of article transfer place A, control the start of items Handling device 5, make it must implement to be used as the carrying of the container 13 of article betwixt; And the ventilating mechanisms 6 that purifies air, purification is down flowed in aforementioned mobile space 4 by aforementioned incorporating section 2 from items accepting rack 3 rear portion side with air, it is a downflow system.
Simultaneously, container 13 is to constitute with the peace and quiet reticulation support body that can ventilate with air, simultaneously, tabular body 12 (with reference to Fig. 3) such as glass board is got at above-below direction kept a plurality of tabular bodys 12 at interval under the lamination form.
The formation of aforementioned dust free room 1 is that its ground board constitutes with the vesicular wiregrating floor 7 with most air extractor vents, and the top ceiling that idiomorphism is formed in its top ceiling blows out portion 8 and makes to purify with the past floor side of air and blow.And, at aforementioned dust free room 1 place, be formed with the space that surrounds tops and side periphery with booster 11, dispose article storing frame 3 in the space that surrounds with aforementioned booster 11.
And, forming an incorporating section 2 by front and back pair of posts 9 and pair of right and left mounting support portion 10, aforementioned incorporating section 2 is a plurality of in length and breadth being set up in parallel.Each incorporating section 2 be to be connected with other incorporating sections of adjacency in other incorporating sections of adjacency on the support body Width and on the support body above-below direction, and air can circulate.
Again, the formation of article storing frame 3 must form below hypomere incorporating section 2 and purifies air mobile mobilely with 16 ground, space, hypomere incorporating section 2 is positioned at leave toward tops apart from wiregrating floor 7 and sets position at interval.
The aforementioned ventilating mechanisms 6 that purifies air comprises: dust free room ventilating mechanisms 14 is supplied to making to purify air to be circulated under the form in the dust free room 1; Incorporating section ventilating mechanisms 15 leads to purified air stream to be located at article storing frame 3 each incorporating section 2 in the booster 11; And exhaust makes in the dust free room 1 of air exhaustion outside booster 11 in the booster 11 with peristome 29.
The formation of aforementioned dust free room ventilating mechanisms 14 is to be used as peace and quiet air by the air cleaningization on wiregrating floor 7 and to blow out under the form that portion 8 blows out from top ceiling making, and making purifies air circulates in dust free room 1.
Aforementioned dust free room ventilating mechanisms 14 comprises: induction chamber 17, be located at wiregrating floor 7 lower side; Air chamber 18 is located at top ceiling and is blown out portion's 8 upper sides; Air filter 19, by and be located at the institutes such as HEPA filter that top ceiling blows out portion 8 and constitute; Connect stream 20, be communicated with and connect induction chamber 17 and air chamber 18; Circulation is located at aforementioned connection stream 20 and sucking action induction chamber 17 with supply ventilating fan 21; And prefilter 22, in connecting stream 20, be located at the air exhaust end of circulation with supply ventilating fan 21.
Air in the aforementioned dust free room 1 is inhaled into induction chamber 17 with the draught effect of supply ventilating fan 21 by wiregrating floor 7 by circulation and is flowing in connection stream 20, is arrived air chamber 18 by prefilter 22 by peace and quietization.And, arrive the air of air chamber 18, be to be used as by the purifying air of air filter 19 peace and quietization, blow out portion 8 from top ceiling and down be blown out in the dust free room 1.
Thus, the air in the dust free room 1 is to circulate on one side with prefilter 22 and air filter 19 peace and quietization on one side, and blows out under the form that portion 8 blows side out toward below from top ceiling making to purify air, and supplies to dust free room 1 for a long time.
And, use air door 24 and free air capacity to regulate the aperture of using air door 26 by regulating outer gas intake quantity adjusting respectively, do exchange with the airborne both quantitative meeting in the dust free room ventilating mechanisms 14 on-cycle dust free rooms 1 with fresh air.
Aforementioned incorporating section ventilating mechanisms 15, corresponding respectively a plurality of incorporating sections 2 and be assembled in the side wall portion 11a of booster 11.And, incorporating section ventilating mechanisms 15, purifying air peace and quietization and under the form in booster 11 of circulating, make 2 rear portion side that purify air from the incorporating section in making dust free room 1 by incorporating section 2.
Aforementioned incorporating section ventilating mechanisms 15 comprises: dust removal filter 27, remove dust; And blowing fan 28, attracting outer the purifying air and, make 2 rear portion side that purify air Lou from the incorporating section pass through incorporating section 2 of booster 11 by under the state of dust removal filter 27.Be passed to purifying air in the booster 11, be that 2 rear portion side flow toward toe lateral along the support body fore-and-aft direction from the incorporating section by blowing fan 28, so, this purifies air by in the container 13 that is incorporated in incorporating section 2, when being described in more detail, by in container 13 with between the maintained a plurality of tabular bodys 12 of lamination state.
Aforementioned exhaust is with peristome 29, only be located at a pair of article storing frame 3 in one of person booster 11 side wall portion 11a in opposite directions.And exhaust flowing in opposite directions with under the state in space 16, is equipped on the bottom of booster 11 side wall portion 11a with peristome 29.
Purifying air supplies to each incorporating section 2 with blowing fan 28, so in each incorporating section 2, the pressure that purifies air can raise.With respect to this, purifying air is discharged to outside the booster 11 with peristome 29 from exhaust with supply ventilating fan 21 with circulation, so in the lower side, the pressure that purifies air can reduce in aforementioned booster 11.Therefore, the air in the booster 11 is that 2 rear portion side flow at mobile space 4 toward lower side from upper side toward anterior side flow from the incorporating section, and becomes down flow-type.
And, be flowing in the purification air part of mobile space 4 down, be that gravity flow is employed space 16 and flowed with peristome 29 and be discharged to outside the booster 11 in the dust free room 1 toward exhaust, afterwards, past below side flow and pass through wiregrating floor 7 and arrive induction chamber 17.Purifying the remaining part of using air, is to flow and pass through wiregrating floor 7 toward the interior lower side of booster with keeping former state to arrive induction chamber 17.
As mentioned above, the formation of the ventilating mechanisms 6 that purifies air, be make purification with air from article storing frame 3 rear portion side by incorporating section 2 from upper side toward lower side be flowing in the downflow system of mobile space 4.
As shown in Figure 3, items accepting rack 3 parts replace hypomere incorporating section 2, take out of into portion 31 and be provided with the article that take out tabular bodys 12 or make tabular body 12 move into container 13 from container 13.Items is taken out of into portion 31 and is provided with: pair of right and left lifting supporter 32, lifting mounting holding articles freely keep body 13; And transporter 33, be disposed between the pair of right and left lifting supporter 32, can free mounting carry tabular body 12; Take out of in the portion 31 in items,, take out tabular body 12 one by one and when supplying to article handling part 30, simultaneously, make the tabular body 12 of discharging move into container 13 from article handling part 30 from container 13 by lifting supporter 32 and transporter 33.
And, be communicated with article and take out of into portion 31 and also surround with booster 11 with the connected component of article handling part 30, in aforementioned interconnecting part office, be provided with to make and purify air from upper side toward the logical passage portion of below effluent with the ventilating mechanisms 34 that purifies air.
Simultaneously, transporter 33, it is also low to be adapted to the hypomere incorporating section of its carrying face aspect ratio 2 mounting surface height.
When taking out of at article into portion's 31 explanations, when the container 13 that supports with lifting supporter 32 mountings takes out tabular body 12 slices, decline lifting the supporter 32 and orlop tabular body 12 that is accommodated in container 13 is supported with transporter 33, make aforementioned tabular body 12 with transporter 33 towards the carrying of article handling device 30 mountings and take out.By repeating this action, from container 13 tabular body 12 slices are discharged, and tabular body 12 slices are supplied to article handling device 30.
Again, when making tabular body 12 slices move into the container 13 that supports with lifting supporter 32 mountings, under the state that lifting supporter 32 is elevated to be fit to the height of taking in tabular body 12, tabular body 12 from article handling device 30 is sent here is transported in the container 13 with transporter 33 mountings, decline lifting supporter 32 is so that aforementioned tabular body 12 is supported by the support portion outside the drawing in container 13.By repeating this action, make the tabular body of sending here from article handling device 30 12 be maintained at container 13 with the lamination state.
Then, apparatus for handling goods 5 is described.Apparatus for handling goods 5 is made of formula holder overhead traveling crane repeatedly, and aforementioned repeatedly formula holder overhead traveling crane comprises: the overhead traveling crane 37 of walking, and the top ceiling side rails 36 of being located at the guide rail 35 on mobile space 4 wiregrating floors 7 and being located at booster 11 tops is guided and is walked; Elevating bracket 39, along the upright elevation mast 38 of being located at aforementioned walking overhead traveling crane 37 and lifting freely; And article transfer device 40, be assembled in aforementioned elevating bracket 39, be implemented in the transfer of a plurality of article transfer place A and own lock container 13.
As shown in Figure 5, items shifting apparatus 40 comprises: rotary seat 41, rotating freely around the P1 of axle center up and down; And connecting rod mechanism 43, go out to retire the moving mounting portion 42 that stays on the aforementioned rotary seat 41 of propping up freely.And, the formation of article transfer device 40, by rotary seat 41, and make mounting portion 42 rotatable mobile, and, flexible by connecting rod mechanism 43 can make article transfer mechanism 40 return to state (with reference to Fig. 2) on the elevating bracket 39, and makes between the state of article transfer mechanism 40 outstanding article transfer place A sides and switch.
As shown in Figure 6, article storage apparatus is provided with the running control mechanism 46 of controlling 5 starts of items Handling device.
Aforementioned running control mechanism 46, the control walking start of electro-motor 47, and walking carriage 37 is walked till the walking stop position of corresponding article transfer place A, and, the control lifting start of electro-motor 48, and elevating bracket 39 is elevated to till the lifting stop position of corresponding article transfer place A, after making article transfer mechanism 40 be positioned at the position of corresponding article transfer place A, make its must and article transfer place A between load moving container 13 ground, control apparatus for handling goods 5 start.
And, at running control mechanism 46, store expression corresponding a plurality of article transfer place A and predefined walking stop position information and represent corresponding a plurality of article transfer place A and predefined lifting stop position information.Again, at running control mechanism 46, store and be used as the corresponding a plurality of article transfer place A of expression and two information of predefined lifting stop position information, it is respectively: represent the lower position information of lifting stop position, reach the information of high position with the lifting stop position.
As shown in Figure 4, distolateral at aforementioned guide rail 35 1, having the range finding of making is incident upon on the direction of travel with laser, and, acceptance detects mechanism 49 with the range finding of the baffle reflection of being located at walking carriage 37 detects walking carriage 37 walking positions with laser walking position, and the information that detects that aforementioned walking position detects mechanism 49 is an input running control mechanism 46.
Again, has the range finding of making in the horizontal direction at walking carriage 37 with the laser projection, and, acceptance detects mechanism 50 with the range finding of the baffle reflection of being located at elevating bracket 39 detects elevating bracket 39 lifting positions with laser lifting position, and what aforementioned lifting position detected mechanism 50 detects information system input running control mechanism 46.
Aforementioned running control mechanism 46, be when being required between two article transfer place A conveying container 13, must make the A ground, article transfer place to the carrying terminal point, the start of control apparatus for handling goods 5 from the initial point article transfer place of two article transfer place A A conveying container 13.
With the control of the carrying due to the aforementioned running control mechanism 46 is to implement to comprise: preceding walking is handled, and makes article transfer mechanism 40 be positioned at the position of corresponding initial point article transfer place A; Fish for processing, from initial point article transfer place A load moving container 13 to apparatus for handling goods 5; The back walking is handled, and makes article transfer mechanism 40 be positioned at the position of corresponding terminal point article transfer place A; And the processing that descends, make container 13 transfers to terminal point article transfer place A from article transfer mechanism 40.
Preceding walking is handled, be to detect detecting information and representing the information of the walking stop position of corresponding initial point article transfer place A of mechanism 49 according to walking position, make walking carriage 37 stop at the walking stop position of corresponding initial point article transfer place A, and, detect detecting information and representing the information of the lower position of corresponding initial point article transfer place A of mechanism 50 according to lifting position with the lifting stop position, make elevating bracket 39 stop at the lower position lifting stop position of corresponding initial point article transfer place A, and make article transfer mechanism 40 be positioned at position in opposite directions with initial point article transfer place A.
Simultaneously, preceding walking is handled, and is not supported in by mounting at container 13 under the state of article transfer mechanism 40 to implement.
Fish for processing, make article transfer mechanism 40 outstanding initial point article transfer place A sides, under this outstanding state, detect detecting information and representing the information of the high position of corresponding initial point article transfer place A of mechanism 50 according to lifting position with the lifting stop position, the high position of rising elevating bracket 39 to corresponding initial point article transfer place A is used till the lifting stop position, after fishing for the container 13 that is incorporated in initial point article transfer place A, article transfer mechanism 40 is return on the elevating bracket 39 with article transfer mechanism 40.
The back walking is handled, detect detecting information and representing the information of the walking stop position of corresponding initial point article transfer place A of mechanism 49 according to walking position, make walking carriage 37 stop at the walking stop position of corresponding initial point article transfer place A, and, detect detecting information and representing the information of the high position of corresponding terminal point article transfer place A of mechanism 50 according to lifting position with the lifting stop position, stop elevating bracket 39 and use on the lifting stop position, make article transfer mechanism 40 be positioned at position in opposite directions with terminal point article transfer place A in the high position of corresponding terminal point article transfer place A.
Simultaneously, back walking is handled, and is to implement container 13 is supported in the state of article transfer mechanism 40 by mounting under.
Descend and handle, be to make article transfer mechanism 40 outstanding toward terminal point article transfer place A, under this outstanding state, detect detecting information and representing the information of the lower position of corresponding terminal point article transfer place A of mechanism 50 according to lifting position with the lifting stop position, the lower position of decline elevating bracket 39 to corresponding terminal point article transfer place A is used till the lifting stop position, after container 13 drops to terminal point article transfer place A, return article transfer mechanism 40.
Then, illustrate that preceding walking is handled and the walking of back walking processing is handled.
As shown in Figure 7, aforementioned running control mechanism 46 is when walking during apparatus for handling goods 5, must control the start of apparatus for handling goods 5 with default frequent walking with target speed of travel apparatus for handling goods 5 ground of walking.
That is, in the walking that preceding walking is handled and the back walking is handled is handled, when making walking carriage 37 walkings, after accelerating to the frequent walking usefulness target speed of travel, keep state with the walking of the target speed of travel, when making walking carriage 37 near the walking stop position of the article transfer place A that is used as article transfer object, decelerate to from the target speed of travel stop with speed after, walk with speed stopping, and walking carriage 37 is stopped at be used as the walking stop position of the article transfer place A of article transfer object.
Simultaneously, about the target speed of travel, stop to preestablish, obtain the time point that arrives the target speed of travel or must decelerate to the time point that stops with speed by travel distance with low velocity and acceleration-deceleration.Again, being used as the article transfer place A of article transfer object, is above-mentioned initial point article transfer place A or terminal point article transfer place A.
And, as shown in Figure 8, aforementioned running control mechanism 46, when walking items Handling device 5, items transfer mechanism 40 is positioned at than being used in setting walking that the dust that suppresses to be present in aforementioned mobile space 4 floor side floats with highly taller ground, position, the start of control items Handling device 5.
Again, aforementioned running control mechanism 46 is after the walking of beginning items Handling device 5, items transfer mechanism 40 is risen to than aforementioned walking use highly tallerly, the start of control items Handling device 5.
And, aforementioned running control mechanism 46, walk correspondence among aforementioned a plurality of article transfer place A when being used as the position of article transfer place A of article transfer object making items Handling device 5, when aforementioned article transfer mechanism 40 with respect to height as the article transfer place A of article transfer object, when highly also lower than aforementioned walking usefulness, the start of control items Handling device 5, make it stop as the items transfer place A of article transfer object items transfer mechanism 40 being descended before items Handling device 5 also wants early from correspondence.
Simultaneously, walking is with height, be configured to make elevating bracket 39 be elevated to corresponding by on count under the state of lifting stop position of second section incorporating section 2 height at article transfer mechanism 40 places.
That is, when making walking carriage 37 walkings, for example, as making container 13 be transported to article carrying portion 31 ground by counting the 3rd section incorporating section 2 on certainly, article transfer mechanism 40 aspect ratios walking after article transfer mechanism 40 height before walking is handled and walking are handled is with highly also will hang down the time, shown in Fig. 8 (1), the beginning walking carriage 37 walking after soon, article transfer mechanism 40 is positioned at walks with the elevating bracket 39 that rises to heavens, afterwards, article transfer mechanism 40 is maintained under the state of walking with height, make walking carriage 37 walkings, and when walking carriage 37 near as the walking stop position of the items transfer place A of article transfer object the time, when walking carriage 37 stops or after stopping soon, must make elevating bracket 39 be positioned at the lifting stop position ground of correspondence, elevating bracket 39 is descended as the items transfer place A of article transfer object.
Again, when making walking carriage 37 walkings, for example, make container 13 be transported to 2 ground, epimere incorporating section as taking out of from article into portion 31, article transfer mechanism 40 aspect ratios walking before walking is handled is with highly also will hang down the time, and the article transfer mechanism 40 aspect ratios walking of walking after handling is when highly taller, shown in Fig. 8 (2), the beginning walking carriage 37 walking after soon, make elevating bracket 39 rise to the lifting stop position of correspondence as the items transfer place A of article transfer object, afterwards, make elevating bracket 39 maintain the lifting stop position, stop at the walking stop position up to walking carriage 37.
Again, when making walking carriage 37 walkings, for example, make container 13 be transported to article as certainly epimere incorporating section 2 and take out of 31 ground into portion, article transfer mechanism 40 aspect ratios walking before walking is handled is when highly taller, and the article transfer mechanism 40 aspect ratios walking of walking after handling is with highly also will hang down the time, shown in Fig. 8 (3), in the beginning walking of walking carriage 37 and not lifting elevating bracket 39 ground, article transfer mechanism 40 is maintained at than walking with making walking carriage 37 walkings under the highly taller state, when walking carriage 37 near as the walking stop position of the items transfer place A of article transfer object the time, when walking carriage 37 stops or after stopping soon, must make elevating bracket 39 be positioned at the lifting stop position ground of correspondence, elevating bracket 39 is descended as the items transfer place A of article transfer object.
Again, when making walking carriage 37 walkings, for example, as make container 13 be transported to 2 ground, epimere incorporating section from epimere incorporating section 2, article transfer mechanism 40 aspect ratios walking after article transfer mechanism 40 height before walking is handled and walking are handled is when highly taller, shown in Fig. 8 (4), in the walking of beginning walking carriage 37 and not lifting elevating bracket 39 ground, article transfer mechanism 40 is maintained at than walking with highly taller, stops at the walking stop position up to walking carriage 37.
And, even in this case, lifting moving elevating bracket 39 etc. between lower position is with lifting stop position and high position usefulness lifting stop position, when making walking carriage 37 walkings, article transfer mechanism 40 is maintained at than walking with highly taller, in response to needs make elevating bracket 39 liftings on one side.
Simultaneously, though in walking carriage 37 quickens, article transfer mechanism 40 is risen to surpasses the walking height, but, in walking, the speed of travel of walking carriage 37 is smaller, so, air-flow disorderly less, along with walking carriage 37 speeds of travel are accelerated, article transfer mechanism 40 is to leave floor, so, subaerial air turbulence during apparatus for handling goods 5 walking is suppressed, and the dust that can suppress floor side floats.
Again, in walking carriage 37 slows down, though being dropped to, article transfer mechanism 40 is lower than the walking height, but, along with article transfer mechanism 40 near floor, the speed of travel of walking carriage 37 can be slack-off, so, subaerial air turbulence during apparatus for handling goods 5 walking is suppressed, and the dust that can suppress floor side floats.
The second enforcement state
This second enforcement state is that the second enforcement state is handled in the walking that preceding walking is handled and the back walking is handled in first example.Below, illustrating that walking is before this handled and second example is handled in the walking of back walking processing, other formations are identical with first example, so its explanation is omitted.
As Fig. 7 and shown in Figure 9, aforementioned running control mechanism 46 is items transfer mechanism 40 is risen to surpass aforementioned walking with behind the height, begins to make items Handling device 5 walking ground, the start of control items Handling device 5.
Again, aforementioned running control mechanism 46, walk correspondence among aforementioned a plurality of article transfer place A when being used as the position of article transfer place A of article transfer object making items transfer mechanism 40, when aforementioned article transfer mechanism 40 with respect to height as the article transfer place A of article transfer object, when highly also lower than aforementioned walking usefulness, the start of control items Handling device 5, make it must be corresponding after stopping items Handling device 5, items transfer mechanism 40 be descended as the article transfer place A of article transfer object.
That is, when making walking with chassis 37 walkings, for example, as making container 13 be transported to article carrying portion 31 ground by counting the 3rd section incorporating section 2 on certainly, article transfer mechanism 40 aspect ratios walking after article transfer mechanism 40 height before walking is handled and walking are handled is with highly also will hang down the time, shown in Fig. 9 (1), must make article transfer mechanism 40 be positioned at walking with after elevating bracket 39 is risen, the walking of beginning walking carriage 37, afterwards, article transfer mechanism 40 is maintained under the state of walking with height, make walking carriage 37 walkings, after making walking carriage 37 stop at walking stop position as the article transfer place A of article transfer object, must make elevating bracket 39 be positioned at the lifting stop position ground of corresponding article transfer place A as article transfer object, make elevating bracket 39 declines.
Again, when making walking carriage 37 walkings, for example, make container 13 be transported to 2 ground, epimere incorporating section as taking out of from article into portion 31, article transfer mechanism 40 aspect ratios walking before walking is handled is with highly also will hang down the time, and the walking article transfer mechanism 40 aspect ratios walking of handling back is used when highly taller, shown in Fig. 9 (2), elevating bracket 39 is risen towards the lifting stop position of correspondence as the article transfer place A of article transfer object, afterwards, rise to walking point in height at article transfer mechanism 40, after the walking of beginning walking carriage 37 makes elevating bracket 39 rise to the lifting stop position of correspondence as the article transfer place A of article transfer object, keep elevating bracket 39 at the lifting stop position, stop at the walking stop position up to walking carriage 37.
Again, when making walking carriage 37 walkings, for example, make container 13 be transported to article as certainly epimere incorporating section 2 and take out of 31 ground into portion, article transfer mechanism 40 aspect ratios walking before walking is handled is when highly taller, and the article transfer mechanism 40 aspect ratios walking of walking after handling is with highly also will hang down the time, shown in Fig. 9 (3), in the beginning walking of walking carriage 37 and not lifting elevating bracket 39 ground, article transfer mechanism 40 is maintained at than walking with making walking carriage 37 walkings under the highly taller state, when walking carriage 37 near as the walking stop position of the article transfer place A of article transfer object the time, when walking carriage 37 stops or after stopping soon, must make elevating bracket 39 be positioned at lifting stop position ground, elevating bracket 39 is descended, after walking carriage 37 stops at the walking stop position of correspondence as the items transfer place A of article transfer object, must make elevating bracket 39 be positioned at the lifting stop position ground of correspondence, elevating bracket 39 be used highly from walking descended as the article transfer place A of article transfer object.
Again, when making walking carriage 37 walkings, for example, as make container 13 be transported to 2 ground, epimere incorporating section from epimere incorporating section 2, article transfer mechanism 40 aspect ratios walking after article transfer mechanism 40 height before walking is handled and walking are handled is when highly taller, shown in Fig. 9 (4), in the walking of beginning walking carriage 37 and not lifting elevating bracket 39 ground, article transfer mechanism 40 is maintained at than walking with highly taller, stops at the walking stop position up to walking carriage 37.
And, even in this case, lifting moving elevating bracket 39 etc. between lower position is with lifting stop position and high position usefulness lifting stop position, when making walking carriage 37 walkings, article transfer mechanism 40 is maintained at than walking with highly taller, in response to needs make elevating bracket 39 liftings on one side.
And, Fig. 9 (1)～(4), expression begins to be used as the lifting moving of the elevating bracket 39 of benchmark with walking carriage 37 walking, toward the beginning of elevating bracket 39 walkings with the lifting moving of height, even in any case, all implements with identical sequential.
Other examples
(1) formation of the above-mentioned first enforcement state, be after the walking of beginning apparatus for handling goods 5, article transfer mechanism 40 is risen to surpass the walking height, stop the preceding beginning of apparatus for handling goods 5 as the items transfer place A of article transfer object from correspondence, article transfer mechanism 40 is descended; And the formation of the second enforcement state, be article transfer mechanism 40 to be risen to surpass walking with behind the height, the walking of beginning apparatus for handling goods 5, corresponding as article transfer object article transfer place A and after stopping apparatus for handling goods 5, article transfer mechanism 40 is descended; But, it constitutes also can be after the walking of beginning apparatus for handling goods 5, article transfer mechanism 40 is risen to surpass walking with behind the height, corresponding as article transfer object items transfer place A and stop after the apparatus for handling goods 5, article transfer mechanism 40 is descended, perhaps, it constitutes also can be that article transfer mechanism 40 is risen to above walking with behind the height, the walking of beginning apparatus for handling goods 5, stop the preceding beginning of apparatus for handling goods 5 as the article transfer place A of article transfer object from correspondence, article transfer mechanism 40 is descended.
(2) formation of above-mentioned enforcement state, be when making walking carriage 37 walkings, article transfer mechanism 40 before walking is handled is with highly taller than walking, article transfer mechanism 40 after walking is handled is to use than walking when highly also hanging down, when walking carriage 37 near as the walking stop position of the article transfer place A of article transfer object the time, perhaps, after walking carriage 37 stops at walking stop position as the article transfer place A of article transfer object, must make elevating bracket 39 be positioned at the lifting stop position ground of correspondence as the article transfer place A of article transfer object, elevating bracket 39 is descended continuously, but, its constitute also can be after 37 walkings of beginning walking carriage soon, must make article transfer mechanism 40 be positioned at walking uses to heavens, elevating bracket 39 is descended, when walking carriage 37 near as the walking stop position of the article transfer place A of article transfer object the time, perhaps, after walking carriage 37 stops at walking stop position as the article transfer place A of article transfer object, must make elevating bracket 39 be positioned at the lifting stop position ground of correspondence, elevating bracket 39 be used highly from walking descended as the article transfer place A of article transfer object.
(3) in above-mentioned enforcement state, though make walking with highly being configured to: make elevating bracket 39 be elevated to corresponding by on count under the state of lifting stop position of second section incorporating section 2 the place height of article transfer mechanism 40.But walking is with height, is can corresponding elevating bracket 39 or the shape of article transfer mechanism 40 and article size etc. and the air turbulence when making apparatus for handling goods 5 walkings and appropriate change.
Claims (5)
1. article storage apparatus comprises:
The article storing frame is being set up in parallel a plurality of incorporating sections in length and breadth;
Apparatus for handling goods, in the mobile space in items accepting rack the place ahead, walking freely on the support body Width, and, make the lifting of article transfer mechanism freely;
The running control mechanism, will aforementioned a plurality of incorporating sections and article take out of into portion and be used as a plurality of article transfers place, control the start of items Handling device, make it must implement article carrying betwixt; And
The ventilating mechanisms that purifies air makes purification flow by aforementioned incorporating section and in aforementioned mobile space from items accepting rack rear portion side with air, and, in aforementioned mobile space toward current downflow;
Wherein, aforementioned running control mechanism is when making the walking of items Handling device, the start of control items Handling device makes the travel height of items transfer mechanism, must be than the setting walking of floating for the dust that suppresses to be present in aforementioned mobile space floor side with highly taller.
2. article storage apparatus as claimed in claim 1, wherein, aforementioned running control mechanism is after the walking of beginning items Handling device, the start of control items Handling device must rise to than aforementioned walking with highly taller the items transfer mechanism.
3. article storage apparatus as claimed in claim 1, wherein, aforementioned control works is that the items transfer mechanism is risen to than aforementioned walking with after highly taller, the start of control items Handling device makes the items Handling device must begin walking.
4. as each described article storage apparatus in the claim 1 to 3, wherein, aforementioned running control mechanism is when the position in the article transfer place that the items Handling device is walked be used as article transfer object in the aforementioned a plurality of article transfers of the correspondence place, when aforementioned article transfer mechanism with respect to height as the article transfer place of article transfer object, when highly also lower than aforementioned walking usefulness, control the start of aforementioned fortune product Handling device, make it stop as the items transfer place of article transfer object the items transfer mechanism being descended before the items Handling device also wants early from correspondence.
5. as each described article storage apparatus in the claim 1 to 3, wherein, aforementioned running control mechanism is when the position in the article transfer place that the items Handling device is walked be used as article transfer object in the aforementioned a plurality of article transfers of the correspondence place, when aforementioned article transfer mechanism with respect to height as the article transfer place of article transfer object, when highly also lower than aforementioned walking usefulness, control the start of aforementioned fortune product Handling device, make it after stopping the items Handling device, the items transfer mechanism be descended as the items transfer place of article transfer object from correspondence.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP176717/06 | 2006-06-27 | ||
| JP2006176717A JP4126619B2 (en) | 2006-06-27 | 2006-06-27 | Goods storage facility |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101096242A true CN101096242A (en) | 2008-01-02 |
| CN101096242B CN101096242B (en) | 2010-07-14 |
Family
ID=39010366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007100057688A Expired - Fee Related CN101096242B (en) | 2006-06-27 | 2007-02-13 | Device for preserving articles |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP4126619B2 (en) |
| KR (1) | KR100834243B1 (en) |
| CN (1) | CN101096242B (en) |
| TW (1) | TW200800761A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101565122B (en) * | 2008-04-22 | 2012-08-01 | 株式会社大福 | Object conveying device |
| CN102652099A (en) * | 2009-12-10 | 2012-08-29 | 株式会社大福 | Article storage facility |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5888288B2 (en) * | 2013-06-26 | 2016-03-16 | 株式会社ダイフク | Inspection equipment for goods storage facilities |
| CN112147935B (en) * | 2020-09-25 | 2022-04-08 | 劢微机器人科技(深圳)有限公司 | Method, device and equipment for controlling fork arm of unmanned forklift and storage medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3555673B2 (en) | 1997-11-06 | 2004-08-18 | 株式会社ダイフク | Agriculture and marine products processing system |
| JP2000016521A (en) * | 1998-07-02 | 2000-01-18 | Murata Mach Ltd | Automatic warehouse |
| JP3788296B2 (en) * | 2001-09-10 | 2006-06-21 | 株式会社ダイフク | Goods storage equipment for clean rooms |
| JP3818434B2 (en) * | 2001-09-10 | 2006-09-06 | 株式会社ダイフク | Purified air storage system |
| JP2004269214A (en) * | 2003-03-11 | 2004-09-30 | Daifuku Co Ltd | Purified air circulating type storage equipment |
-
2006
- 2006-06-27 JP JP2006176717A patent/JP4126619B2/en not_active Expired - Fee Related
- 2006-12-27 TW TW095149180A patent/TW200800761A/en not_active IP Right Cessation
-
2007
- 2007-02-13 CN CN2007100057688A patent/CN101096242B/en not_active Expired - Fee Related
- 2007-02-23 KR KR1020070018359A patent/KR100834243B1/en active IP Right Grant
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101565122B (en) * | 2008-04-22 | 2012-08-01 | 株式会社大福 | Object conveying device |
| CN102652099A (en) * | 2009-12-10 | 2012-08-29 | 株式会社大福 | Article storage facility |
| CN102652099B (en) * | 2009-12-10 | 2014-09-24 | 株式会社大福 | Article storage facility |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI322126B (en) | 2010-03-21 |
| TW200800761A (en) | 2008-01-01 |
| JP2008007224A (en) | 2008-01-17 |
| CN101096242B (en) | 2010-07-14 |
| KR100834243B1 (en) | 2008-05-30 |
| KR20080000503A (en) | 2008-01-02 |
| JP4126619B2 (en) | 2008-07-30 |
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