CN103086109A - Article storage device - Google Patents

Article storage device Download PDF

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Publication number
CN103086109A
CN103086109A CN2012104375093A CN201210437509A CN103086109A CN 103086109 A CN103086109 A CN 103086109A CN 2012104375093 A CN2012104375093 A CN 2012104375093A CN 201210437509 A CN201210437509 A CN 201210437509A CN 103086109 A CN103086109 A CN 103086109A
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CN
China
Prior art keywords
mentioned
article
maintaining part
outstanding
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2012104375093A
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Chinese (zh)
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CN103086109B (en
Inventor
上田俊人
田中繁行
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Daifuku Co Ltd
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Daifuku Co Ltd
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Publication of CN103086109A publication Critical patent/CN103086109A/en
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Publication of CN103086109B publication Critical patent/CN103086109B/en
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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
    • B65G1/023—Arrangements of article supporting rollers on racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B65G45/00—Lubricating, cleaning, or clearing devices
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/025—Speed of the article
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors

Abstract

The present invention provides an article storage device. If a plurality of storage parts are indicated to serve as the storage parts for carrying action objects, movement control of a mobile base platform provided with an object retaining part is performed. When the mobile base platform accelerates from a movement initial position to a preset moving speed and moves at the preset moving speed, the mobile base plate is decelerated to a target stop position in relative to the storage part of the carrying action objects. If a passing time timed by a timing part become shorter than the time required when the mobile base platform moves from the movement initial position to the target stop position, extrusion movements of the object retaining part from a withdraw position starts. And before the mobile base platform stops at the target stop position, the object retaining part start with the extrusion movements from the withdraw position to the extrusion position.

Description

Article storage facility
Technical field
The present invention relates to article storage facility, described article storage facility possesses: mobile base station, and the front face side at the harvesting shelf that is disposed with a plurality of storage portions of receiving and keeping article moves in the orientation of above-mentioned storage portion; Shifting apparatus is equipped in this and moves on base station, makes the article maintaining part to the position and to be projected into the extrusion position advance and retreat of above-mentioned storage portion side mobile of decorporating of the above-mentioned mobile base station side of decorporating, and above-mentioned storage portion between the transfer article; Operating control system is controlled the movement of above-mentioned mobile base station and the advance and retreat of above-mentioned article maintaining part and is moved; Above-mentioned operating control system constitutes, in the situation that the storage portion as the transfer manipulating object in being instructed to above-mentioned a plurality of storage portion is carried out mobile control and outstanding control; Above-mentioned mobile control is for making above-mentioned mobile base station move to the target stop position, accelerating to the control of setting moving velocity and moving rear deceleration to set moving velocity from mobile starting position; Above-mentioned outstanding control is to make above-mentioned article maintaining part give prominence to mobile control from the above-mentioned position of decorporating towards above-mentioned extrusion position; Above-mentioned operating control system constitutes, and makes above-mentioned mobile base station stop beginning above-mentioned outstanding control before the above-mentioned target stop position by above-mentioned mobile control.
Background technology
Article storage facility as described above makes mobile base station move to target stop position for the storage portion of transfer manipulating object, makes the article maintaining part advance and retreat of shifting apparatus mobile, and the storage portion of transfer manipulating object between the transfer article.From the storage portion of transfer manipulating object to shifting apparatus transfer article, the article that are stored in storage portion are taken out, the storage portion transfer article from shifting apparatus to the transfer manipulating object, with article storage in storage portion and carry article.When mobile base station stops before the target stop position, begin to make the article maintaining part of shifting apparatus outstanding mobile towards extrusion position from the position of decorporating, make that the needed time of transfer article shortens from mobile base station moves to the target stop position.
In JP 2006-327759 communique (patent documentation 1), record an example of such article storage facility.In patent documentation 1, mobile base station head for target stop position moves in the orientation of storage portion, carry out outstanding starting position when differentiating with the position than target stop position by the gait of march of front and set and process when mobile base station moves to be set in, set outstanding starting position.And, constitute, when mobile base station moves to outstanding starting position, begin to make the article maintaining part to give prominence to action from the position of decorporating towards extrusion position.
Incidentally, in processing is set in the outstanding starting position of patent documentation 1, detect the gait of march that gait of march is differentiated the mobile base station of using the position, calculate based on this gait of march that moves base station and give prominence to the starting position.By begin the outstanding action of article maintaining part when mobile base station moves to the outstanding starting position that calculates like this, make the article maintaining part outstanding earlier before mobile base station moves to the target stop position, shortened the needed time of transfer article from mobile base station moves to the target stop position.
In the article storage facility of patent documentation 1, in the movement of mobile base station midway, the moving velocity in the orientation of the storage portion of movement-based base station calculates outstanding starting position.If movement-based speed is calculated outstanding starting position, the burden of operating control system becomes large, and this problem of spended time in the processing that operating control system carries out is arranged.Therefore, wish to obtain by simple processing the article maintaining part was begun from the opportunity of the outstanding action of the position of decorporating.
Summary of the invention
In view of above-mentioned background, hope realizes obtaining by simple processing and begins to make the article storage facility of article maintaining part from the opportunity of the outstanding outstanding movement in position of decorporating.
Relevant article storage facility of the present invention possesses: mobile base station, move along the orientation of above-mentioned storage portion in the front face side of harvesting shelf of a plurality of storage portions that are disposed with the harvesting article; Shifting apparatus is equipped in this and moves on base station, makes the article maintaining part to the position and to be projected into the extrusion position advance and retreat of above-mentioned storage portion side mobile of decorporating of the above-mentioned mobile base station side of decorporating, and above-mentioned storage portion between the transfer article; Operating control system is controlled the movement of above-mentioned mobile base station and the advance and retreat of above-mentioned article maintaining part and is moved; Above-mentioned operating control system constitutes, in the situation that be instructed to the storage portion as the transfer manipulating object in above-mentioned a plurality of storage portion, carries out mobile control and outstanding control; Above-mentioned mobile control is in order to make above-mentioned mobile base station move to the target stop position, to accelerate to the control of setting moving velocity, moving rear deceleration to set moving velocity from mobile starting position; Above-mentioned outstanding control is to make above-mentioned article maintaining part give prominence to mobile control from the above-mentioned position of decorporating towards above-mentioned extrusion position; Above-mentioned operating control system by above-mentioned mobile control make above-mentioned mobile base station stop at above-mentioned target stop position before the above-mentioned outstanding control of beginning; Here, above-mentioned operating control system also possesses the timing timing section in the elapsed time from the movement of above-mentioned mobile base station begins; Constitute, become than the short outstanding time with setting-up time of the required schedule time as condition take the time by the timing of above-mentioned timing section, begin above-mentioned outstanding control, the described required schedule time is that above-mentioned mobile base station moves to the above-mentioned needed time of target stop position from above-mentioned mobile starting position.
Namely, so that mobile base station begins elapsed time from the movement of mobile starting position and becomes than estimating that mobile base station moves to the short outstanding time with setting-up time of the needed required schedule time of target stop position as condition from controlling by movement, carry out outstanding control, with the outstanding action from the position of decorporating of beginning article maintaining part.
Thus, the outstanding movement from the position of decorporating of article maintaining part is forward outstanding with setting-up time when arriving the target stop position than mobile base station.Therefore, compare with the situation from the outstanding movement of the position of decorporating of beginning article maintaining part after mobile base station moves to the target stop position, can shorten mobile base station and move to the needed time of transfer article after the target stop position.
And, outstanding with setting-up time for example in the situation that mobile base station begins to make the article maintaining part to move towards extrusion position is outstanding from the position of decorporating from setting moving velocity to set under the state of deceleration/decel slowing down, calculate in advance and set the outstanding setting-up time of using based on setting deceleration/decel, thus, need to not calculate outstanding setting-up time by operating control system, can obtain by simple processing the article maintaining part was begun from the opportunity of the outstanding movement of the position of decorporating.
Thereby, can realize and can obtain the article storage facility that the article maintaining part is begun outstanding opportunity of moving from the position of decorporating by simple processing.
Below, example preferred embodiment of the present invention is described.
In the embodiment of relevant article storage facility of the present invention, preferably, above-mentioned harvesting shelf possesses a plurality of article supporting parts that devices spaced apart is arranged on the horizontal cross direction of shelf; Above-mentioned storage portion is formed on along the adjacent above-mentioned article supporting of the horizontal cross direction of shelf and uses between parts, constitute, receiving and keeping article across the state that is supported with parts along the adjacent above-mentioned article supporting of the horizontal cross direction of above-mentioned shelf, and be arranged with a plurality of on the horizontal cross direction of above-mentioned shelf; Setting is more outstanding until reach the little overhang of the overhang of above-mentioned article supporting use parts as setting overhang on its projected direction than the above-mentioned article maintaining part that makes the above-mentioned position of decorporating; Above-mentioned outstanding being set as with setting-up time adds time after time below outstanding required time to mobile required time; Above-mentioned mobile required time is to repeat scope from above-mentioned article maintaining part by the maintaining part that repeats at the horizontal cross direction of shelf with parts with the supporting of above-mentioned article to move to the above-mentioned needed time of target stop position to above-mentioned mobile base station, and described article support with parts carry and are stored in article in the storage portion of above-mentioned transfer manipulating object; Above-mentioned outstanding required time is that above-mentioned article maintaining part is projected into the above-mentioned needed time of setting overhang from the above-mentioned position of decorporating.
Namely, by will give prominence to setting-up time be set as to the article maintaining part by maintaining part repetition scope after mobile base station move to the needed mobile required time of target stop position and add time article maintaining part is projected into the time of setting below the needed outstanding required time of overhang from the position of decorporating after, the outstanding movement of beginning article maintaining part before the article maintaining part is by maintaining part repetition scope.
And, as setting overhang, set more outstanding until arrive the article supporting with the little overhang of overhang of parts, so the article maintaining part is not interfered with parts with the article supporting on its projected direction than the article maintaining part that makes the position of decorporating.
Thereby, with the article maintaining part by maintaining part repetition scope after the outstanding situation of beginning article maintaining part compare, can be with early outstanding required time or than the outstanding movement that begins the article maintaining part opportunity of its short time.
In the embodiment of relevant article storage facility of the present invention, preferably, also possess: position detection part, detect above-mentioned mobile base station with respect to the position in the orientation of the above-mentioned storage portion of above-mentioned harvesting shelf; Outstanding test section detects above-mentioned article maintaining part and is projected into above-mentioned setting overhang; Above-mentioned operating control system constitutes, in the situation that above-mentioned article maintaining part is just outstanding mobile by above-mentioned outstanding control, repeat scope and above-mentioned article maintaining part detected by above-mentioned outstanding test section to be projected into above-mentioned setting overhang in the situation that differentiate for above-mentioned article maintaining part is positioned at above-mentioned maintaining part based on the detection information of above-mentioned position detection part, carry out outstanding the interruption and control; It is the control that makes above-mentioned article maintaining part slow down, make the outstanding action of above-mentioned article maintaining part to stop with maintaining part with deceleration/decel that above-mentioned outstanding interruption is controlled; Above-mentioned setting overhang is set as just can make by above-mentioned outstanding control gives prominence on mobile above-mentioned article maintaining part is controlled at above-mentioned article maintaining part by above-mentioned outstanding interruption projected direction the overhang that stops with the front of parts in above-mentioned article supporting.
That is, when being positioned at maintaining part, the article maintaining part repeats scope and detected to carry out to give prominence to when the article maintaining part is projected into the setting overhang by outstanding test section to interrupt controlling.And, set that overhang is set as in the situation that outstanding interruption has been carried out in supposition and control the overhang that the article maintaining part is stopped with the front of parts in the article supporting on its projected direction.Particularly, for example will detected by outstanding test section the article maintaining part be projected into set overhang, operating control system carry out outstanding interrupt controlling and send make the signal that outstanding article maintaining part in mobile stops after, the article maintaining part can not contact the article supporting with parts on and the overhang that can in front of it, article maintaining part be stopped is set as the setting overhang.
Thus, in the situation that approach and the article maintaining part is positioned under the situation that maintaining part repeats scope the article maintaining part and is projected into and sets overhang to the target stop position by mobile base station, when having carried out outstanding interruption control, also can make the article maintaining part be not in contact with article supportings with on parts and stop in front of it, prevent in the first place with the situation of parts so the article maintaining part can be touched the article supporting.
In the embodiment of relevant article storage facility of the present invention, preferably, above-mentioned outstanding test section possesses the signal efferent and signal consists of with judegment part, the signal that the outstanding movement of the output of described signal efferent and above-mentioned article maintaining part or overhang are corresponding, whether the above-mentioned article maintaining part of signal differentiation that described signal is exported based on above-mentioned signal efferent with judegment part has been projected into above-mentioned setting overhang; Above-mentioned outstanding test section has been projected into above-mentioned setting overhang as condition to differentiate above-mentioned article maintaining part by above-mentioned signal with judegment part, detects above-mentioned article maintaining part and has been projected into above-mentioned setting overhang.
That is, if from the outstanding movement of signal efferent output and article maintaining part or signal corresponding to overhang, differentiated for being projected into the setting overhang with judegment part by signal based on this signal, carry out outstanding interruption control by operating control system.And, because the signal efferent constitutes, the signal that output is corresponding with the outstanding movement of article maintaining part or overhang, so can from signal efferent output signal suitably, can detect exactly the article maintaining part by outstanding test section and be projected into the situation of setting overhang when the article maintaining part is projected into when setting overhang.
In the embodiment of relevant article storage facility of the present invention, preferably, above-mentioned timing section constitutes, also the elapsed time of timing from outstanding beginning of above-mentioned article maintaining part; Above-mentioned outstanding test section possesses above-mentioned timing section and timing judegment part; Above-mentioned timing constitutes with judegment part, in the situation that the elapsed time from outstanding beginning of above-mentioned article maintaining part of above-mentioned timing section timing becomes above-mentioned outstanding required time, differentiates and has been projected into above-mentioned setting overhang for above-mentioned article maintaining part; Above-mentioned outstanding test section has been projected into above-mentioned setting overhang as condition to be differentiated as above-mentioned article maintaining part with judegment part by above-mentioned timing, detects above-mentioned article maintaining part and has been projected into above-mentioned setting overhang.
That is, be that the article maintaining part is projected into and sets overhang in the situation that passed through outstanding required time, differentiated with judegment part by timing by timing section, carry out outstanding the interruption by operating control system and control.And, by with the elapsed time of timing from the timing section timing in the elapsed time of the mobile beginning of mobile base station from the outstanding beginning of article maintaining part, need in outstanding test section, special-purpose timing section be set, simplification that can implementation structure.
In the embodiment of relevant article storage facility of the present invention, preferably, above-mentioned operating control system is in the situation that be that the outstanding moving velocity of above-mentioned article maintaining part is the state in slowing down or the outstanding mobile state that stops by above-mentioned outstanding interruption control, passed through above-mentioned maintaining part repetition scope if differentiate for above-mentioned article maintaining part based on the detection information of above-mentioned position detection part, made above-mentioned article maintaining part be projected into above-mentioned extrusion position.
Namely, the outstanding moving velocity of article maintaining part is the state in slowing down or the outstanding state that stops that moving even by outstanding interruption control, if also the article maintaining part repeats scope by maintaining part by the movement of mobile base station, the worry that does not have the supporting of article maintaining part and article to interfere with parts.Therefore, in the situation that interrupt the execution of controlling and the outstanding moving velocity of article maintaining part repeats scope for mobile base station under the state in slowing down or the outstanding mobile state that stops has passed through maintaining part by outstanding, make the article maintaining part be projected into extrusion position, thus, can prevent the article maintaining part touch article supportings with parts in, continuation or begin again to carry out the outstanding movement of article maintaining part.
In the embodiment of relevant article storage facility of the present invention, preferably, the supporting of above-mentioned article possess adjacent to the vertical pillar of establishing of above-mentioned storage portion with parts and be arranged on above-mentioned pillar, from above-mentioned pillar on the horizontal cross direction of above-mentioned shelf in the storage portion the side-prominent mounting supporting mass in side; Above-mentioned storage portion constitutes, and by supporting across a pair of above-mentioned mounting supporting mass mounting, in above-mentioned storage portion, described a pair of mounting supporting mass is between adjacent above-mentioned pillar with article storage; Above-mentioned shifting apparatus can move down the loading product and consist of at the state that is supporting article by above-mentioned article maintaining part mounting, constitute, with the width on the horizontal cross direction of above-mentioned shelf than the mounting supporting under from above-mentioned article maintaining part to two of the horizontal cross direction of above-mentioned shelf side-prominent states of the wide article of the width of above-mentioned article maintaining part; Above-mentioned operating control system is not being loaded under the light condition of supports articles by above-mentioned article maintaining part, under the just outstanding mobile state of above-mentioned article maintaining part by above-mentioned outstanding control, take the detection information based on above-mentioned position detection part determine above-mentioned article maintaining part be positioned at above-mentioned maintaining part repeat scope and by above-mentioned outstanding test section detect above-mentioned article maintaining part be projected into unloaded with the setting overhang as condition, carry out above-mentioned outstanding interruption control; Carry under state in the reality that is supporting article by above-mentioned article maintaining part mounting, under the just outstanding mobile state of above-mentioned article maintaining part by above-mentioned outstanding control, determine take the detection information based on above-mentioned position detection part and be positioned at by the article of above-mentioned article maintaining part mounting supporting the article that repeat at the horizontal cross direction of above-mentioned shelf with above-mentioned pillar and repeat scope and above-mentioned article maintaining part detected by above-mentioned outstanding test section to be projected into real carrying with the setting overhang as condition, carry out above-mentioned outstanding interruption control.
That is, under light condition, by the article maintaining part will be stored in article in storage portion copy get and from storage portion with article to mobile base station transfer.In the situation that the article in accepting storage portion like this, the article maintaining part is more outstanding than the lower surface height on the lower of article to be positioned at.The article maintaining part of this moment is positioned at the height that might contact with pillar or mounting supporting mass.
So, under light condition, in the situation that differentiating for the position on the horizontal cross direction of shelf of article maintaining part is arranged in maintaining part repetition scope and detects the article maintaining part by outstanding test section, the detection information of position-based test section is projected into the setting overhang, carrying out outstanding the interruption controls, thus, the contact of article maintaining part under light condition can be prevented in the first place with the situation on parts (pillar and mounting supporting mass) in the article supporting.
In addition, carry under state real, will be unloaded to storage portion by the article of article maintaining part mounting supporting, from mobile base station to storage portion transfer article.In the situation that like this to storage portion handing-over article, be positioned at more outstanding than the top side's of upper surface of mounting supporting mass height with the lower surface of article.The article of this moment are positioned at the height that might touch pillar.And, because article are outstanding at the horizontal cross direction of shelf from the article maintaining part, so more easily contact on pillar than article maintaining part.
So, carry under state real, be arranged in article repetition scope and detect the article maintaining part by outstanding test section and be projected into real carrying with setting overhang and carry out the outstanding control of interrupting in the situation that the detection information of position-based test section is differentiated the position that is bearing in the horizontal cross direction of shelf of the article on the article maintaining part for mounting, thus, can will carry the situation that article under state touch pillar and prevent in the first place real.
in the embodiment of relevant article storage facility of the present invention, preferably, the above-mentioned outstanding setting-up time of using, under above-mentioned light condition, be set as and add unloaded with the time after the time below outstanding required time with mobile required time to zero load, above-mentioned zero load is to repeat scope from above-mentioned article maintaining part by above-mentioned maintaining part to move to the above-mentioned needed time of target stop position to above-mentioned mobile base station with mobile required time, above-mentioned zero load is that above-mentioned article maintaining part is projected into the above-mentioned unloaded needed time of overhang of setting of using from the above-mentioned position of decorporating with outstanding required time, carry under state in above-mentioned reality, be set as real carrying with mobile required time added real carrying with the time after the time below outstanding required time, it is to repeat scope from article by above-mentioned article to move to the above-mentioned needed time of target stop position to above-mentioned mobile base station that above-mentioned reality is carried with mobile required time, and it is that above-mentioned article maintaining part is projected into above-mentioned reality and carries the use setting needed time of overhang from the above-mentioned position of decorporating that above-mentioned reality is carried with outstanding required time.
Namely, under light condition, add unloaded with the time after the time below outstanding required time as outstanding the setting with setting-up time with mobile required time to zero load, so outstanding movement of beginning article maintaining part before the article maintaining part is by maintaining part repetition scope, and be arranged in the article maintaining part under the state of maintaining part repetition scope, the overhang of article maintaining part becomes than zero load with setting the little overhang of overhang.Thereby, with the article maintaining part by maintaining part repetition scope after the outstanding situation of beginning article maintaining part compare, can be with early unloaded with outstanding required time or than the outstanding movement that begins the article maintaining part opportunity of its short time, and the article maintaining part can be touched the situation that article support with parts and prevent in the first place.
In addition, carry under state real, as outstanding the setting with setting-up time, real carrying with mobile required time added real carrying with the time after the time below outstanding required time, so outstanding movement of beginning article maintaining part before article are by article repetition scope, and be arranged in the article maintaining part under the state of article repetition scope, the overhang of article maintaining part becomes than real carries with setting the little overhang of overhang.Thereby, with article by article repetition scope after the outstanding situation of beginning article maintaining part compare, can be with real carrying with outstanding required time or than the outstanding movement that begins the article maintaining part opportunity of its short time early, and the situation that article can be touched pillar prevents in the first place.
In the embodiment of relevant article storage facility of the present invention, above-mentioned setting moving velocity, accelerate to the setting acceleration/accel of above-mentioned setting moving velocity and part or all from the setting deceleration/decel that above-mentioned setting moving velocity slows down, based on the distance from above-mentioned mobile starting position to above-mentioned target stop position or noly keeping article and be set as different values by above-mentioned article maintaining part.
Namely, for example in the situation that the distance from mobile starting position to the target stop position is long, with compare from mobile starting position to the shorter situation of the distance of target stop position, as setting moving velocity, setting acceleration/accel and set moving velocity and can set larger value.Perhaps, in the situation that do not kept the light condition of article by the article maintaining part, with keeping the situation of article to compare by the article maintaining part, set larger value etc. as setting moving velocity, set acceleration/accel and setting moving velocity, thus, can realize the movement of mobile base station high speed, article efficient is transported well.
In the embodiment of relevant article storage facility of the present invention, preferably, above-mentioned operating control system constitutes, move to short decorporating with the time of setting-up time of needed time of the above-mentioned position of decorporating in the situation that become to decorporate from above-mentioned extrusion position than above-mentioned article maintaining part by elapsed time from decorporating of above-mentioned article maintaining part is mobile beginning of above-mentioned timing section timing, beginning is towards the movement of the above-mentioned mobile base station of next target stop position.
Namely, if the elapsed time of moving beginning from decorporating of article maintaining part moves to short decorporating with the time of setting-up time of needed time of the position of decorporating for decorporating from extrusion position than article maintaining part, begin the movement towards the mobile base station of next target stop position.
Thus, mobile base station decorporate that the position is forward decorporates with the time of setting-up time from the movement mobile starting position decorporating to than article maintaining part, so with decorporate the position in the article maintaining part after begin the movement from mobile starting position of mobile base station situation compare, the needed time of the next article of transfer is shortened.
Description of drawings
Fig. 1 is the block diagram of article storage facility.
Fig. 2 is the lateral plan of stack crane.
Fig. 3 means the birds-eye view of decorporate position and the extrusion position of article maintaining part.
Fig. 4 means to copy and takes stop position and unload the lateral plan of using stop position.
Fig. 5 means the birds-eye view that makes article be positioned in the state on the article maintaining part.
Fig. 6 is control block diagram.
Fig. 7 means the zero load birds-eye view of setting overhang of article maintaining part.
Fig. 8 means that the reality of article maintaining part carries with the birds-eye view of setting overhang.
Fig. 9 means the diagram of curves that gait of march changes.
Figure 10 means the diagram of curves of advance and retreat velocity variations.
Figure 11 means the diagram of curves of the relation that the movement of advancing, lifting moving and advance and retreat are mobile.
Figure 12 means the birds-eye view of the movement of copying the article maintaining part of getting in processing.
Figure 13 means the birds-eye view of the movement of the article maintaining part that unloads in processing.
Figure 14 copies the diagram of circuit of getting processing.
Figure 15 is the diagram of circuit that unloads processing.
The specific embodiment
Below, based on the description of drawings embodiments of the present invention.
As shown in Figure 1, the article storage facility of present embodiment possess harvesting shelf 2, the stack crane 3 of advancing along the horizontal cross direction of shelf at the front side of this harvesting shelf 2 of the storage portion 1 that is arranged with harvesting article W on the horizontal cross direction of shelf and above-below direction and have four jiaos of loading supports articles W hold that being transported into of the goods 4a of section transport use hold goods platform 4.
In addition, in Fig. 1, the direction that is represented by arrow X is the horizontal cross direction of shelf, and the direction that is represented by arrow Y is the shelf fore-and-aft direction, and the direction that is represented by arrow Z is above-below direction.
［ harvesting shelf ］
Harvesting shelf 2 is provided with a pair of with mutual opposed mode devices spaced apart.Each is received and kept shelf 2 and possesses on the horizontal cross direction of shelf with a plurality of article supportings of uniformly-spaced arranging with parts 5, during adjacent a pair of article supporting is received and kept storage portion 1 with article W under with the state of parts 5 supports articles W on being used in the horizontal cross direction of shelf.
If the harvesting form to the article W in storage portion 1 is illustrated, article supportings possesses with the state adjacent to storage portion 1 with parts 5 and founds the pillar 5a that establishes and to be arranged on mounting supporting mass 5b pillar 5a on to the side-prominent state of the interior side of storage portion 1 from this pillar 5a on the horizontal cross direction of shelf, the article W that is stored in storage portion 1 is loaded supporting across a pair of mounting supporting mass 5b between adjacent pillar 5a.
And, with in the supporting of horizontal cross direction is adjacent along shelf pillar 5a(article with parts 5) between form the form of a storage portion 1, be disposed with a plurality of storage portions 1 along the horizontal cross direction of shelf in harvesting shelf 2.In addition, on pillar 5a, devices spaced apart is equipped with a plurality of mounting supporting mass 5b on above-below direction, to form the form of storage portion 1 above these mounting supporting masses 5b, is disposed with along the vertical direction a plurality of storage portions 1 on harvesting shelf 2.
In addition, storage portion 1 is disposed with a plurality of on the horizontal cross direction of shelf and above-below direction, but in the present embodiment, the horizontal cross direction of shelf in the horizontal cross direction of these shelves and above-below direction is equivalent to the orientation of storage portion 1.
As shown in Figure 3, mounting supporting mass 5b installs across pair of posts 5a adjacent on fore-and-aft direction, and it is one side-prominent that the stack crane 3 on from pillar 5a to the shelf fore-and-aft direction is positioned at.
［ stack crane ］
As shown in Figure 2, stack crane 3 possess on the travel path 6 that is formed between a pair of harvesting shelf 2 along shelf horizontal cross direction advance freely the chassis 8 of advancing, along vertically be located at freely bay-lift 10 of mast 9 liftings on this chassis 8 of advancing, be equipped on bay-lift 10, under with the state of article maintaining part 11a mounting supports articles W freely the shifting apparatus 11 of transfer article W and the control setup H(of movement that controls hoisting crane 3 with reference to Fig. 6).
In addition, by making stack crane 3 along the movement of advancing of the horizontal cross direction of shelf, in the front face side of harvesting shelf 2, bay-lift 10 moves along the horizontal cross direction of shelf.This bay-lift 10 is equivalent to be moved the mobile base station of operation along the orientation of storage portion 1 in the front face side of harvesting shelf 2.
And, stack crane 3 is advanced by travel wheel 7 use that will roll on guide rail 12 and is arranged along travel path 6 with electro-motor M1 rotary actuation, described guide rail 12, the chassis 8 of advancing is advanced along the horizontal cross direction of shelf, be attached on bay-lift 10 with electro-motor M2 rotary actuation, described metal wool 13 by the drum barrel 14 use liftings of batching with coiling metal wool 13, make bay-lift 10 along the above-below direction lifting.
As shown in Figure 3, shifting apparatus 11 constitutes, and the article maintaining part 11a of mounting supports articles W is mobile to position and the extrusion position advance and retreat of decorporating, and can or hold goods platform 4 and transfer article W between oneself in storage portion 1.The position of decorporating is the position (position that represents with solid line in the position shown in Fig. 3 (a) and Fig. 4) of the article maintaining part 11a when making article maintaining part 11a decorporate bay-lift 10 side, and extrusion position is the position (position that represents with imaginary line in the position shown in Fig. 3 (b) and Fig. 4) of the article maintaining part 11a when making article maintaining part 11a be projected into the storage portion side.In addition, the side that shifting apparatus 11 can make a side that article maintaining part 11a rotates, is positioned to one of a pair of harvesting shelf 2 harvesting shelf 2 around vertical axis or another harvesting shelf 2 be positioned at is selected a ground and is given prominence to and consist of, constitute, with respect to a pair of harvesting shelf 2 which storage portion 1 can both and each storage portion 1 between transfer article W.In addition, the advance and retreat direction of article maintaining part 11a is the direction identical with the shelf fore-and-aft direction.
As shown in Figure 5, due to wider than the width on the horizontal cross direction of shelf of article maintaining part 11a by the width on the horizontal cross direction of shelf of the article W of shifting apparatus 11 transfers, so article maintaining part 11a is with article W mounting supporting under from article maintaining part 11a to two of the horizontal cross direction of shelf side-prominent states.Width on the horizontal cross direction of the shelf of article W is less than the interval of adjacent pillar 5a on the horizontal cross direction of shelf, and is larger than the interval of a pair of mounting supporting mass 5b that loads supports articles W.In addition, the width on the horizontal cross direction of the shelf of article maintaining part 11a is less than the interval of a pair of mounting supporting mass 5b of mounting supports articles W.
As shown in Figure 6, in stack crane 3, be provided with the horizontal cross direction of shelf that detects bay-lift 10 the position advanced positions detecting sensor 15 and detect the lifting position detecting sensor 16 of position of the above-below direction of bay-lift 10.Advanced positions detecting sensor 15 and lifting position detecting sensor 16 are made of the head of the linear scale of magnetic-type, advanced positions detecting sensor 15 is located on the chassis 8 of advancing, with scale (not shown) the detection position information according to the use of advancing that arranges along travel path 6, lifting position detecting sensor 16 is located on bay-lift 10, with scale (not shown) the detection position information of using according to the lifting that arranges along mast 9.
In addition, advanced positions detecting sensor 15 is indirectly to detect the parts of the position on the horizontal cross direction of shelf of bay-lift 10 and mounting supporting article W thereon by detection advance position on the horizontal cross direction of shelf of chassis 8, is equivalent to detect the position detection part with respect to the position on the horizontal cross direction of shelf of harvesting shelf 2 of bay-lift 10.
In addition, on bay-lift 10, be provided with the no no detecting sensor 18 of depositing of depositing from the overhang detecting sensor 17 of the overhang of the position of decorporating and the article W on test item maintaining part 11a of test item maintaining part 11a.Overhang detecting sensor 17 is made of rotary encoder, constitutes the output pulse signal with the mobile interlock of advance and retreat of article maintaining part 11a.Overhang detecting sensor 17 is equivalent to the signal efferent of output signal with the outstanding mobile interlock of article maintaining part 11a.
And as shown in Figure 6, test item maintaining part 11a is projected into zero load and is made of overhang detecting sensor 17 and judegment part described later 23 with setting overhang and being projected into real carrying with the outstanding test section 22 of setting overhang.Differentiate article maintaining part 11a by judegment part 23 and be projected into the unloaded setting overhang of using, detect article maintaining part 11a and be projected into unloaded with setting overhang; Differentiate article maintaining part 11a by judegment part 23 and be projected into real carrying with setting overhang, detect article maintaining part 11a and be projected into real carrying with setting overhang.In addition, the unloaded setting overhang that is equivalent to the present application with the setting overhang.
As shown in Figure 7, unloaded be set as with the setting overhang, in the situation that by made by outstanding control described later outstanding article maintaining part 11a in mobile be projected into unloaded with setting overhang after overhang detecting sensor 17 output pulse signals, the outstanding speed that makes article maintaining part 11a with maintaining part with the deceleration/decel deceleration, can make article maintaining part 11a support at article the overhang that the front with parts 5 stops on projected direction.
If be illustrated, as shown in Figure 7, to leave interference to the front with parts 5 from article supportings and prevent that the set positions with the article maintaining part 11a of setpoint distance from being the emergent stopping position, half the set positions of article maintaining part 11a that will give prominence to from the position of decorporating the overhang of emergent stopping position is the deceleration starting position.And, from be projected into by article maintaining part 11a unloaded with setting overhang from overhang detecting sensor 17 output pulse signals, slow down to the outstanding speed of actual object maintaining part 11a, need to from by overhang detecting sensor 17 output pulse signals to being begun to carry out period that outstanding interruption described later controls by control setup H, and beginning the driving time that slows down to the outstanding speed of actual object maintaining part 11a from the outstanding execution of interrupting controlling.Therefore, consider these periods and driving time, set unloaded with setting overhang with the place of setpoint distance leaving time lag to the front from the deceleration starting position.
Thus, be projected into by article maintaining part 11a unloaded with setting overhang after overhang detecting sensor 17 output pulse signals, carrying out outstanding the interruption by control setup H controls, 11 send the signal that article maintaining part 11a is stopped from control setup H to shifting apparatus, by from the deceleration starting position, the outstanding speed of article maintaining part 11a slows down with deceleration/decel with maintaining part, article maintaining part 11a stops in the emergent stopping position.
In addition, as shown in Figure 8, real carry be set as with the setting overhang in the situation that carry with setting overhang after overhang detecting sensor 17 output pulse signals in fact by outstanding article maintaining part 11a in mobile is projected into, the outstanding speed that makes article maintaining part 11a with maintaining part with the deceleration/decel deceleration, can make to load be bearing in the overhang that the article W on article maintaining part 11a stops in the front of pillar 5a on projected direction.
If be illustrated, as shown in Figure 8, to leave from pillar 5a to the front that to interfere the set positions prevent with the article maintaining part 11a of setpoint distance be the emergent stopping position, will give prominence to from the end that mounting is bearing in the outstanding side of the article W on the article maintaining part 11a that is positioned at the position of decorporating half the set positions of article maintaining part 11a that puts in place in the distance of the outstanding side end of the article maintaining part 11a of emergent stopping position is the deceleration starting position.And, consider above-mentioned period and driving time, set real carrying with setting overhang with the place of setpoint distance leaving time lag to the front from the deceleration starting position.
Thus, be projected into real carrying with setting overhang after overhang detecting sensor 17 output pulse signals by article maintaining part 11a, by carried out by control setup H outstanding interrupt controlling and from the deceleration starting position the outstanding speed of article maintaining part 11a slow down with deceleration/decel with maintaining part, article maintaining part 11a stops in the emergent stopping position.
［ control setup ］
As shown in Figure 6, in control setup H, the detection information of input advanced positions detecting sensor 15 and the detection information of lifting position detecting sensor 16, control setup H differentiates the position of the horizontal cross direction of shelf of bay-lift 10 based on the detection information of advanced positions detecting sensor 15, differentiate the position of the above-below direction of bay-lift 10 based on the detection information of lifting position detecting sensor 16.
In addition, in control setup H, input possesses based on differentiate the judegment part 23 of the overhang of article maintaining part 11a from the impulse singla of overhang detecting sensor 17 with program form from the impulse singla of overhang detecting sensor 17.This judegment part 23 is by will be from the pulse count signal of overhang detecting sensor 17, differentiates article maintaining part 11a and whether is projected into unloadedly whether be projected into real carrying with the setting overhang with setting overhang and article maintaining part 11a.In addition, judegment part 23 is equivalent to differentiate based on the signal of overhang detecting sensor 17 the signal judegment part whether article maintaining part 11a is projected into the setting overhang.
In addition, in control setup H, the detection information of no detecting sensor 18 is deposited in input, control setup H is based on the detection information of depositing no detecting sensor 18, and differentiation is not by the light condition of article maintaining part 11a mounting supports articles W or carries state by the reality of article maintaining part 11a mounting supports articles W.
In addition, in control setup H, possess the timing section 20 in timing elapsed time with program form, by this timing section 20 will the bay-lift 10 that horizontal cross direction moves from mobile starting position along shelf the elapsed time from mobile the beginning.
In addition, control setup H is equivalent to control the operating control system that the advance and retreat of the movement of bay-lift 10 and the article maintaining part 11a in shifting apparatus 11 move.
Hold goods platform 4 for reaching separately of a plurality of storage portions 1, preset the mobile stop position as the target stop position that the position on the horizontal cross direction of shelf is determined.In addition, hold goods platform 4 for reaching separately of a plurality of storage portions 1, copying of presetting that position on above-below direction determined taken stop position and set amount and copied than this and take unloading that stop bit sets high and use stop position.
As shown in Figure 3, be positioned at bay-lift 10 under the state of mobile stop position, on the horizontal cross direction of shelf, article maintaining part 11a is positioned at the central authorities of adjacent pair of posts 5a.And, due to article supportings with parts 5(pillar 5a) on the horizontal cross direction of shelf uniformly-spaced arranging, so for a plurality of mobile stop position of setting respectively in a plurality of storage portions 1 of arranging on the horizontal cross direction of shelf on the horizontal cross direction of shelf with uniformly-spaced setting.Incidentally, to hold mobile stop position that goods platform 4 sets, with to the end that is positioned at the horizontal cross direction of shelf with the interval of holding the mobile stop position that the adjacent storage portion of goods platform 41 sets, the interval of mobile stop position of compare above-mentioned a plurality of storage portion 1 setting is wide.
As shown in Fig. 4 (a), be positioned under the state of copying the height of taking stop position at bay-lift 10, the mounting surface of the mounting supports articles W of article maintaining part 11a is positioned at the width up and down of mounting supporting mass 5b, as shown in Fig. 4 (b), be positioned at bay-lift 10 under the state that unloads the height of using stop position, the height of the mounting surface of article maintaining part 11a is positioned at the top side of mounting surface than the mounting supports articles W of mounting supporting mass 5b.
Control setup H constitutes, by administration (not shown) instruction warehouse-in instruction or the outbound instruction from upper class, if the storage portion 1 as the transfer manipulating object in a plurality of storage portions 1 is instructed to, carry out mobile control, elevating control, outstanding control and the control of decorporating.Control setup H controls the action of advancing with electro-motor M1, so that bay-lift 10 moves to the mobile stop position corresponding with the storage portion 1 of transfer manipulating object along the horizontal cross direction of shelf in mobile control.Control setup H controls lifting with the action of electro-motor M2 in elevating control, take stop position or unload and use stop position so that bay-lift 10 moves to corresponding the copying of storage portion 1 of transfer manipulating object along above-below direction.Control setup H controls the action of shifting apparatus 11 in outstanding control, so that article maintaining part 11a is outstanding mobile to extrusion position from the position of decorporating.Control setup H controls the action of shifting apparatus 11, the movement so that article maintaining part 11a decorporates from extrusion position to the position of decorporating in the control of decorporating.
Control setup H is in mobile control, advance with the action of electro-motor M1 by the movement-based speed-mode control, control the movement on the horizontal cross direction of shelf of bay-lift 10, described moving velocity pattern refer to from mobile starting position with set acceleration/accel accelerate to set gait of march and reach set gait of march after, slow down to set deceleration/decel, move to for the mobile stop position as the storage portion 1 of transfer manipulating object.
Move in control at this, will set moving velocity, accelerate to the setting acceleration/accel of setting moving velocity and part or all from set the setting deceleration/decel that moving velocity slows down based on the distance from mobile starting position to mobile stop position or noly keeping the carrying state of article W to be set as different values by article maintaining part 11a.
Particularly, the miles of relative movement as the distance on the horizontal cross direction of shelf with the mobile stop position from the starting position of advancing (moving source) to mobile destination is divided into short range, middle distance, long apart from these 3 kinds.And, as shown in Figure 9, in the moving velocity pattern, the carrying state of movement-based distance and article W, be that short-range situation, miles of relative movement are that situation, the miles of relative movement of middle distance is that long distance and carrying state are that real situation, miles of relative movement of carrying state is that long distance and carrying state are these 4 situations of situation of light condition corresponding to miles of relative movement, 4 kinds of mobile forms are arranged.Setting acceleration/accel in the moving velocity pattern and set deceleration/decel and be set as, with situation, the long distance of short-range situation, middle distance and be in real situation of carrying state, long distance and be the order of the situation of light condition, it is large that value becomes.In addition, set moving velocity and be set as, with the order of the situation of the situation of short-range situation, middle distance, long distance, it is large that value becomes, in the situation that long distance and be to carry situation and the long distance of state and be light condition in fact is set as identical value.
And, will be from mobile stop position to mobile stop position adjacent on the horizontal cross direction of shelf as 1 interval, corresponding to presetting the required schedule time from the mobile stop position as the starting position of advancing to the interval number as the mobile stop position of mobile destination, will be stored in control setup H the predefined so required schedule time.Whether this required schedule time according to above-mentioned 4 kinds of mobile forms and as the mobile stop position of the starting position (moving source) of advancing or be to set the different time corresponding to the position of holding goods platform 4 as the mobile stop position of mobile destination, and each required schedule time is with the information of the information of expression interval number, 4 kinds of mobile forms of expression and represent mobile starting position (moving source) or whether mobile stop position (mobile destination) is to set up corresponding form corresponding to the information of the position of holding goods platform 4 to be stored in during the required schedule time shows.Control setup H is because in 4 kinds of mobile forms, set moving velocity, set acceleration/accel and set deceleration/decel different corresponding to 4 kinds of mobile form required schedule times of storage.In addition, be whether the position corresponding with holding goods platform 4 and to store the required schedule time be because even identical interval number, miles of relative movement is also different corresponding to mobile starting position or mobile stop position.
Control setup H sets the moving velocity pattern as follows.
At first, based on from as the mobile stop position of the starting position (moving source) of advancing to the interval number as the mobile stop position of mobile destination, the classification of differentiating miles of relative movement is short range, middle distance or which kind of classification of growing distance.
Then, the classification of movement-based distance and carrying state (being light condition or the real state that carries), to set moving velocity, set acceleration/accel and set deceleration/decel and set, whether the classification of movement-based distance, carrying state (being light condition or the real state that carries) and mobile starting position or mobile stop position are corresponding to the position of holding goods platform 4, set the required schedule time with reference to required schedule time table.
And, based on these interval numbers, setting moving velocity, setting acceleration/accel and setting deceleration/decel and the required schedule time, set the moving velocity pattern.
In elevating control, control by the rising or falling speed pattern based on bay-lift 10 action that electro-motor M2 is used in lifting, the movement on the above-below direction of control bay-lift 10.The rising or falling speed pattern mean accelerate to the setting acceleration/accel with lifting from the lifting starting position set rising or falling speed and reach set rising or falling speed after, to set that lifting is slowed down with deceleration/decel and lifting moving to for taking stop position as copying of the storage portion 1 of transfer manipulating object or the time with the rising or falling speed of the bay-lift 10 of stop position unloaded changes.Detailed explanation is omitted, but in this elevating control, set rising or falling speed, lifting with set acceleration/accel and lifting with set deceleration/decel part or all based on reaching whether keeping article W(carrying state by article maintaining part 11a from the lifting starting position to copying the distance (interval number) of taking stop position or unloading with stop position), control is set as different values equally from advancing.
In outstanding control, based on the outstanding movement of outstanding speed-mode control article maintaining part 11a.Outstanding velocity mode means to be projected into from the position of decorporating that time of outstanding speed of the article maintaining part 11a of extrusion position changes, be with maintaining part with acceleration/accel accelerate to maintaining part with advance and retreat speed, reach maintaining part with advance and retreat speed after with the velocity mode of maintaining part with the deceleration/decel deceleration.
In addition, in the control of decorporating, based on the movement of decorporating of the speed-mode control article maintaining part 11a that decorporates.The velocity mode of decorporating means to decorporate to from extrusion position and decorporates that time of the speed of decorporating of article maintaining part 11a of position changes, be accelerate to acceleration/accel with maintaining part maintaining part with advance and retreat speed, reaching maintaining part with advance and retreat speed after with the velocity mode of maintaining part with the deceleration/decel deceleration.
In this outstanding control and the control of decorporating, as shown in figure 10, maintaining part with acceleration/accel, maintaining part with deceleration/decel and maintaining part with advance and retreat speed according to being to carry state or light condition is set as different values in fact, maintaining part is light condition than in fact year state large speed with deceleration/decel and maintaining part with the advance and retreat Speed Setting with acceleration/accel, maintaining part.
If control setup H is carried out to copy to get and processes and unload processing, conveying articles W by administration's instruction warehouse-in instruction or outbound instruction from upper class.That is, if by the instruction of instruction warehouse-in, carry out the article W that will hold on goods platform 4 and copy copying of getting and get processing, execution is copied with this article W that gets and is unloaded processing to what storage portion 1 unloaded, makes article W to storage portion 1 warehouse-in.In addition, if by instruction outbound instruction, carry out the article W will be stored in storage portion 1 and copy copying of getting and get processing, execution is copied the article W that gets to holding the processing of unloading of unloading on goods platform 4, make the article W that is stored in storage portion 1 to holding outbound on goods platform 4 with this.
Like this, control setup H constitutes, based on the action of controlling stack crane 3 by warehouse-in instruction or the outbound instruction of administration's instruction of upper class.
And, in the situation that with respect to the storage portion 1 of transfer manipulating object or hold goods platform 4 and copy and get processing, the detection information and executing of putting detecting sensor 15 and lifting position detecting sensor 16 based on advancing moves to be controlled and elevating control, the bay-lift 10 that makes light condition moves to for the storage portion 1 of transfer manipulating object or holds the mobile stop position of goods platform 4 about the horizontal cross direction of shelf, moves to for the storage portion 1 of this transfer manipulating object or holds copying of goods platform 4 and take stop position about above-below direction.And, carry out outstanding control and make the article maintaining part 11a of light condition be projected into extrusion position, carry out elevating control and make bay-lift 10 rise to move to unload to use stop position, execution is decorporated and is controlled and make the real article maintaining part 11a that the carries state position of decorporating of decorporating to, copies with article maintaining part 11a and gets being stored in article W in storage portion 1.
In addition, in the situation that with respect to the storage portion 1 of transfer manipulating object or hold goods platform 4 and unload processing, detection information and executing based on advanced positions detecting sensor 15 and lifting position detecting sensor 16 moves control and elevating control, make the real bay-lift 10 that carries state move to mobile stop position for the storage portion 1 of transfer manipulating object about the horizontal cross direction of shelf, move to for the storage portion 1 of this transfer manipulating object or hold unloading of goods platform 4 and use stop position about above-below direction.And, carry out outstanding control, make the real article maintaining part 11a that carries state be projected into extrusion position, carry out elevating control and make bay-lift 10 descend to moving to copy to take stop position, execution is decorporated and is controlled and make the article maintaining part 11a of the light condition position of decorporating of decorporating to, and the article W on article maintaining part 11a is unloaded to storage portion 1.
Control setup H begins transfer control and elevating control simultaneously in the situation that copy and get processing.In the situation that by the movement of the above-below direction of the mobile bay-lift 10 than being brought by elevating control of the mobile horizontal cross direction of shelf of controlling the bay-lift 10 that brings Zao completing more, be positioned at for the storage portion 1 of transfer manipulating object on the horizontal cross direction of shelf or holding under the state of mobile stop position of goods platform 4 and shelve outstanding control at bay-lift 10, until move to for the storage portion 1 of this transfer manipulating object or hold copying of goods platform 4 and take stop position.And, pass through elevating control, bay-lift 10 moves to for the storage portion 1 of this transfer manipulating object or holds copying of goods platform 4 and take stop position, if bay-lift 10 become be positioned on the horizontal cross direction of shelf for the storage portion 1 of transfer manipulating object or hold goods platform 4 mobile stop position, be positioned at for the storage portion 1 of this transfer manipulating object on above-below direction or hold the state that copying of goods platform 4 taken stop position, carry out outstanding control.
On the other hand, in the situation that the above-below direction of the bay-lift 10 that is brought by elevating control is mobile than by the movement of the mobile horizontal cross direction of shelf of controlling the bay-lift 10 that brings Zao completing more, control setup H as shown in figure 11, make bay-lift 10 stop beginning outstanding control to for the storage portion 1 of transfer manipulating object or before holding the mobile stop position of goods platform 4 controlling by movement.Control setup H constitutes, control the action of shifting apparatus 11, if so that the elapsed time being begun by the movement from the horizontal cross direction of shelf of bay-lift 10 of timing section 20 timing becomes move to from mobile starting position than bay-lift 10 the short outstanding time with setting-up time of the needed required schedule time of mobile stop position, begin the outstanding movement from the position of decorporating.In addition, constitute, control the movement of bay-lift 10, if be projected into the short lifting of needed time of extrusion position from the position of decorporating than article maintaining part 11a with the time of setting-up time so that the elapsed time being begun by the outstanding movement from article maintaining part 11a of timing section 20 timing becomes, take stop position and begin to rise mobile from copying.In addition, constitute, control the action of shifting apparatus 11, so that take elapsed time that stop position begins upper rise and become than taking stop position and rise and move to the time of unloading with the short use setting-up time of decorporating of needed time of stop position from copying from copying from bay-lift 10, article maintaining part 11a begins the movement of decorporating from extrusion position.In addition, constitute, control the movement of bay-lift 10, move to short decorporating with the time of setting-up time of needed time of the position of decorporating if the elapsed time mobile so that begin from article maintaining part 11a from extrusion position to decorporate becomes to decorporate from extrusion position than article maintaining part 11a, make bay-lift 10 towards moving on the horizontal cross direction of shelf for the storage portion 1 of next transfer manipulating object or the mobile stop position that holds goods platform 4.
Control setup H is in the situation that unload processing, and the situation of getting control is same with copying, and begins simultaneously transfer control and elevating control.In the situation that by the movement of the above-below direction of the mobile bay-lift 10 than being brought by elevating control of the mobile horizontal cross direction of shelf of controlling the bay-lift 10 that brings Zao completing more, be positioned at for the storage portion 1 of transfer manipulating object on the horizontal cross direction of shelf or holding under the state of mobile stop position of goods platform 4 and shelve outstanding control at bay-lift 10, until move to for the storage portion 1 of this transfer manipulating object or hold unloading of goods platform 4 and use stop position.And, pass through elevating control, bay-lift 10 moves to for the storage portion 1 of this transfer manipulating object or holds unloading of goods platform 4 and use stop position, if bay-lift 10 become be positioned on the horizontal cross direction of shelf for the storage portion 1 of transfer manipulating object or hold goods platform 4 mobile stop position, be positioned at for the storage portion 1 of this transfer manipulating object on above-below direction or hold the state with stop position of unloading of goods platform 4, carry out outstanding control.
On the other hand, in the situation that the above-below direction of the bay-lift 10 that is brought by elevating control is mobile than by the movement of the mobile horizontal cross direction of shelf of controlling the bay-lift 10 that brings Zao completing more, the situation of getting processing is same with copying, control setup H makes bay-lift 10 stop beginning outstanding control to for the storage portion 1 of transfer manipulating object or before holding the mobile stop position of goods platform 4 controlling by movement.Control setup H constitutes, control the action of shifting apparatus 11, if so that the elapsed time being begun by the movement from the horizontal cross direction of shelf of bay-lift 10 of timing section 20 timing becomes move to from mobile starting position than bay-lift 10 the short outstanding time with setting-up time of the needed required schedule time of mobile stop position, begin the outstanding movement from the position of decorporating.In addition, constitute, control the movement of bay-lift 10, if be projected into the short lifting of needed time of extrusion position from the position of decorporating than article maintaining part 11a with the time of setting-up time so that the elapsed time being begun by the outstanding movement from article maintaining part 11a of timing section 20 timing becomes, from unload begin to descend with stop position mobile.In addition, constitute, control the action of shifting apparatus 11, if so that become than taking short decorporating with the time of setting-up time of needed time of stop position from unloading to descend to moving to copy with stop position from the elapsed time of unloading beginning to descend with stop position from bay-lift 10, article maintaining part 11a begins the movement of decorporating from extrusion position.In addition, constitute, control the movement of bay-lift 10, move to short decorporating with the time of setting-up time of needed time of the position of decorporating if the elapsed time mobile so that begin from article maintaining part 11a from extrusion position to decorporate becomes to decorporate from extrusion position than article maintaining part 11a, make bay-lift 10 towards moving on the horizontal cross direction of shelf for the storage portion 1 of next transfer manipulating object or the mobile stop position that holds goods platform 4.
control setup H constitutes, do not loaded under the light condition of supports articles W by article maintaining part 11a, under the outstanding state in mobile of article maintaining part 11a by outstanding control, be that article maintaining part 11a repeats scope with the article supporting with the maintaining part that parts 5 repeat on the horizontal cross direction of shelf differentiating based on the detection information of advanced positions detecting sensor 15, and article maintaining part 11a being detected by outstanding test section 22 is projected in the unloaded situation of setting overhang, the outstanding interruption that execution makes article maintaining part 11a that the outstanding movement of article maintaining part 11a is stopped is controlled.
In addition, control setup H constitutes, carried under state by the reality of article maintaining part 11a mounting supports articles W, under the outstanding mobile state of article maintaining part 11a by outstanding control, be bearing in that article W on article maintaining part 11a is arranged in pillar 5a in the situation that the article repetition scope that repeats on the horizontal cross direction of shelf and article maintaining part 11a detected by outstanding test section 22 and be projected into real carrying with setting overhang is carried out the outstanding control of interrupting for mounting differentiating based on the detection information of advanced positions detecting sensor 15.
and, control setup H constitutes, in the situation that be light condition and be that the outstanding moving velocity of article maintaining part 11a is the state in slowing down or the outstanding state that stops that moving by outstanding interruption control, if being judged as article maintaining part 11a based on the detection information of advanced positions detecting sensor 15 has passed through maintaining part and has repeated scope, control the action of shifting apparatus 11 so that article maintaining part 11a is projected into extrusion position, in the situation that be real year state and be that the outstanding moving velocity of article maintaining part 11a is the state in deceleration or the outstanding state that stops that moving by outstanding interruption control, if differentiate for article W has passed through article based on the detection information of advanced positions detecting sensor 15 and repeat scope, control the action of shifting apparatus 11, so that article maintaining part 11a is projected into extrusion position.
［ mobile control and the outstanding relation of controlling ］
as described above, control setup H processes and unloads processing copying to get, in the situation that by the movement of the above-below direction of the mobile bay-lift 10 than being brought by elevating control of the mobile horizontal cross direction of shelf of controlling the bay-lift 10 that brings Zao completing more, even completed by the mobile movement of controlling the horizontal cross direction of shelf of the bay-lift 10 that brings, the movement of the above-below direction that is brought by elevating control is not completed yet, do not take stop position or unload and use stop position if article maintaining part 11a is positioned to copy on above-below direction, shelve outstanding control, complete and become article maintaining part 11a and be positioned to copy and take stop position or unload with after the state of stop position in the movement of the above-below direction of the bay-lift 10 that is brought by elevating control, begin outstanding control.On the other hand, in the situation that the above-below direction of the bay-lift 10 that is brought by elevating control is mobile than by the movement of the mobile horizontal cross direction of shelf of controlling the bay-lift 10 that brings Zao completing more, control setup H stops to for the storage portion 1 of transfer manipulating object or before holding the mobile stop position of goods platform 4 bay-lift 10 controlling by movement, the article maintaining part 11a that begins to make shifting apparatus 11 from the position of decorporating towards the outstanding mobile outstanding control of extrusion position.Then, mobile control with the outstanding relation of controlling described.
get processing (article maintaining part 11a is light condition) copying, as the outstanding setting-up time of using, setting adds unloaded with the time after outstanding required time or add than zero load with the time of outstanding required time after the short time to zero load with mobile required time, described zero load is by moving to mobile stop position needed time in the maintaining part repetition scope that the horizontal cross direction of shelf repeats to bay-lift 10 with parts 5 with the article supporting from article maintaining part 11a with mobile required time, described zero load is that article maintaining part 11a is projected into the unloaded needed time of overhang of setting of using from the position of decorporating with outstanding required time, the article W mounting that the supporting of described article will be stored in parts 5 in the storage portion 1 of transfer manipulating object supports.That is, get processing copying, as the outstanding setting-up time of use, set zero load is added that with mobile required time zero load is with time after the time below outstanding required time.
And, as shown in figure 12, get processing in the situation that copy, shorter in the outstanding time that adds the time after time lag is with setting-up time with setting-up time than the required schedule time if the elapsed time being begun by the movement from bay-lift 10 of timing section 20 timing becomes, begin outstanding control.
Time lag is considered from timing section 20 timing times to being carried out the outstanding time of controlling by control setup H, and beginning the outstanding mobile time from the position of decorporating and set from carried out the outstanding actual object maintaining part 11a that controls to by control setup H with setting-up time.Namely, get processing in the situation that copy, if establishing the required schedule time is T1, give prominence to setting-up time (zero load being added unloaded with the time after the time below outstanding required time with mobile required time) is T3 for T2, time lag setting-up time, if from bay-lift 10 begin mobile by 20 timing of timing section T1-(T2+T3) time, begin outstanding control.Result, when begin from bay-lift 10 mobile by 20 timing of timing section begin the outstanding movement from the position of decorporating of article maintaining part 11a during the time of T1-T2, when begin from bay-lift 10 mobile through during required schedule time T1, bay-lift 10 moves to mobile stop position.
in unloading processing (article maintaining part 11a is the real state that carries), as the overhang setting-up time, setting added real year with the time after outstanding required time or added than carrying in fact the time of outstanding required time after the short time of using with mobile required time real year, it is to be bearing in article W on article maintaining part 11a from mounting to repeat scope by the article that repeat at the horizontal cross direction of shelf with pillar 5a adjacent to the storage portion 1 of transfer manipulating object and move to the needed time of mobile stop position to bay-lift 10 that described reality is carried with mobile required time, it is that article maintaining part 11a is projected into real carrying with setting the needed time of overhang from the position of decorporating that described reality is carried with outstanding required time.That is, in unloading processing, as the outstanding setting-up time of using, set real carrying with mobile required time added real carrying with the time after the time below outstanding required time.
And, as shown in figure 13, in the situation that unload processing, also with to copy the situation of getting processing same, if the elapsed time being begun by the movement from bay-lift 10 of timing section 20 timing becomes shorter in the outstanding time that adds the time after time lag is with setting-up time with setting-up time than the required schedule time, begin outstanding control.
Namely, in the situation that unload processing, if establishing the required schedule time is T1, give prominence to setting-up time (real carrying with mobile required time added real carrying with the time after the time below outstanding required time) is that T4, time lag setting-up time are T5, if from bay-lift 10 begin mobile by 20 timing of timing section T1-(T4+T5) time, begin outstanding control.Result, when begin from bay-lift 10 mobile by 20 timing of timing section during the time of T1-T4, the outstanding movement from the position of decorporating of beginning article maintaining part 11a, when begin from bay-lift 10 mobile through during required schedule time T1, bay-lift 10 moves to mobile stop position.
In the present embodiment, the elapsed time of timing section 20 timing when control setup H begins mobile control is as beginning elapsed time mobile from bay-lift 10 at the horizontal cross direction of shelf.
Process and unload processing copying to get, article maintaining part 11a is that the moving velocity of bay-lift 10 is from setting moving velocity to set the deceleration/decel deceleration midway when repeating scope by maintaining part.Therefore, unloaded is the time that the setting deceleration/decel by bay-lift 10 determines uniquely with mobile required time and real year with mobile required time.That is, get processing in the situation that copy, if the classification of miles of relative movement (short range, middle distance, long distance) is identical, set deceleration/decel identical, so unloaded identical with mobile required time.In addition, in the situation that unload processing, if the classification of miles of relative movement is identical, set deceleration/decel identical, so real year identical with mobile required time.Therefore, zero load corresponds respectively to the classification of miles of relative movement and presets the time with mobile required time with mobile required time and real carrying.
Be provided with and set the outstanding time setting part 21 with setting-up time of change.Copy and get outstanding in processing and can unloadedly unloadedly set between with the time below the time after outstanding required time with zero load is added with mobile required time with the time of mobile required time surpassing with setting-up time, unload in processing outstanding with setting-up time can surpass real carry with time of mobile required time with set year adding with mobile required time in fact in fact between the time below the time of year using after giving prominence to required time.
Then, copy based on flowchart text shown in Figure 14 and get processing.
At first, harvesting is had the storage portion 1 of article W of transfer object as the storage portion 1 of transfer manipulating object, carry out based on from mobile starting position (the mobile stop position that unloads processing last time) set copying of required time and moving velocity pattern etc. to the miles of relative movement of the mobile stop position of the storage portion 1 of transfer manipulating object and get and set processing.（S1）
Then, begin mobile control, the decorporating of article maintaining part 11a in processing of unloading before just controlled and finished and article maintaining part 11a decorporates to and decorporates behind the position, the beginning elevating control.Namely, about the movement on the horizontal cross direction of the shelf of bay-lift 10, before just unload in processing article maintaining part 11a move to begin before the position of decorporating mobile, but about the movement on the above-below direction of bay-lift 10, before just unload in processing article maintaining part 11a move to begin behind the position of decorporating mobile.（S2～S4）
If by 20 timing of timing section horizontal cross direction begins elapsed time mobile and reaches outstanding control and begin to finish and article maintaining part 11a is positioned to unload at above-below direction and use stop position with time (shorter in the outstanding time that adds the time after time lag is with setting-up time with setting-up time than the required schedule time) and elevating control from mobile starting position along shelf from bay-lift 10, begin to give prominence to control.（S5～S7）
Be arranged in the state of maintaining part repetition scope and article maintaining part 11a detected by outstanding test section 22 and be projected into unloadedly with setting overhang if article maintaining part 11a detected based on the detection information of advanced positions detecting sensor 15, carry out outstanding the interruption and control.Then, if predefined standby with setting-up time through before article maintaining part 11a detected based on the detection information of advanced positions detecting sensor 15 and passed through maintaining part and repeat scope, begin again outstanding control.Although in the situation that from begin outstanding interrupt controlling through standby with setting-up time but article maintaining part 11a do not detected based on the detection information of advanced positions detecting sensor 15 and passed through maintaining part and repeat scope, be judged as extremely and give the alarm.（S8～S11）
Then, if (in the present embodiment, be time from control setup H begins outstanding control by time that begins from article maintaining part 11a from the position of decorporating outstanding of timing section 20 timing.Replace it, can be also the time from the pulse signal genration of overhang detecting sensor 17) become elevating control and begin to use the time, begin elevating control, if by 20 timing of timing section to take the time that stop position begins upper rise (be to begin to copy from control setup H to take the time of rising controlling in the present embodiment, from copying from bay-lift 10.Replace it, can be also the time of detection information from the state that indeclinable state switches to variation from lifting position detecting sensor 16) become to decorporate to control and begin to use the time, begin the control of decorporating, if (is to begin to decorporate time controlling from control setup H in the present embodiment, by 20 timing of timing section from article maintaining part 11a from the time extrusion position begins to decorporate.Replacing it, can be also the time from the pulse signal genration of overhang detecting sensor 17) become elevating control and begin to use the time, begin the next processing of unloading, by the article maintaining part 11a position of decorporating of decorporating to, copy to get and finish dealing with.（S12～S17）
Then, unload processing based on flowchart text shown in Figure 15.
At first, with the storage portion 1 of the article W of the harvesting transfer object storage portion 1 as the transfer manipulating object, carry out based on from mobile starting position (last time copy the mobile stop position of getting processing) set unloading of required time and moving velocity pattern etc. to the miles of relative movement of the mobile stop position of the storage portion 1 of transfer manipulating object and set processing.（S21）
Then, begin mobile control, control and finish and article maintaining part 11a decorporates to and decorporates behind the position, the beginning elevating control the decorporating of article maintaining part 11a in getting processing of copying last time.（S22～S24）
If by 20 timing of timing section horizontal cross direction begins elapsed time mobile and reaches outstanding control and begin to finish and article maintaining part 11a is positioned to copy at above-below direction and takes stop position with time (shorter in the outstanding time that adds the time after time lag is with setting-up time with setting-up time than the required schedule time) and elevating control from mobile starting position along shelf from bay-lift 10, begin outstanding control.（S25～S27）
Be bearing in article W on article maintaining part 11a and be arranged in the state of article repetition scope and article maintaining part 11a detected by outstanding test section 22 and be projected into real carrying with setting overhang if mounting detected based on the detection information of advanced positions detecting sensor 15, carry out the outstanding control of interrupting.Then, if predefined standby with setting-up time through before article W detected based on the detection information of advanced positions detecting sensor 15 and passed through article and repeat scope, begin again outstanding control.Although in the situation that outstanding with setting-up time but not article W do not detected based on the detection information of advanced positions detecting sensor 15 through standby interrupting controlling and repeat scope by article from beginning, be judged as extremely and give the alarm.（S28～S31）
Then, if (in the present embodiment, be time from control setup H begins outstanding control by time that begins from article maintaining part 11a from the position of decorporating outstanding of timing section 20 timing.Replace it, can be also the time from the pulse signal genration of overhang detecting sensor 17) become elevating control and begin to use the time, begin elevating control, if (is to begin to copy from control setup H to take the time of rising controlling in the present embodiment, by 20 timing of timing section from bay-lift 10 from the time of unloading beginning to descend with stop position.Replace it, can be also the time of detection information from the state that indeclinable state switches to variation from lifting position detecting sensor 16) become to decorporate to control and begin to use the time, begin the control of decorporating, if (is to begin to decorporate time controlling from control setup H in the present embodiment, by 20 timing of timing section from article maintaining part 11a from the time extrusion position begins to decorporate.Replacing it, can be also the time from the pulse signal genration of overhang detecting sensor 17) become elevating control and begin to use the time, begin next copying and get processing, by the article maintaining part 11a position of decorporating of decorporating to, unload and finish dealing with.（S32～S37）
Like this, if the elapsed time of bay-lift 10 from mobile starting position begins to move became than the short outstanding time with setting-up time of required time from controlling by movement, carry out outstanding control, with the outstanding movement from the position of decorporating of beginning article maintaining part 11a.Therefore, compare with the situation from the outstanding movement of the position of decorporating of beginning article maintaining part 11a after bay-lift 10 moves to the target stop position, can shorten the needed time of transfer article W.
And, because outstanding calculating in advance based on the deceleration/decel from the bay-lift 10 of setting the moving velocity deceleration with setting-up time set, so need to not calculate outstanding setting-up time by control setup H, can obtain by simple processing article maintaining part 11a was begun from the opportunity of the outstanding movement of the position of decorporating.
［ other embodiments ］
(1) in the above-described embodiment, constitute, with the orientation of the horizontal cross direction of shelf as storage portion 1, with mobile stop position as the target stop position, under the mobile base station state that horizontal cross direction moves along shelf, stop beginning outstanding control at mobile base station before mobile stop position, but also can constitute, with the orientation of above-below direction as storage portion 1, to copy and take stop position or unload with stop position as the target stop position, at mobile base station along the vertical direction under the state of lifting moving, stop beginning outstanding control before taking stop position or unloading with stop position to copying at mobile base station.
(2) in the above-described embodiment, constitute, under the outstanding mobile state of article maintaining part 11a by outstanding control, maintaining part repeats scope and article maintaining part 11a is projected into the setting overhang if article maintaining part 11a is positioned at, carrying out outstanding the interruption controls, but also can constitute, not carry out outstanding the interruption and control.
In addition, to set that overhang is set as in the situation that be projected into corresponding to outstanding article maintaining part 11a in mobile and set overhang and make article maintaining part 11a slow down, can make article maintaining part 11a to stop at the article supporting with the overhang of the front of parts 5 on its projected direction with maintaining part with deceleration/decel after output pulse signal, but set overhang so long as use the little overhang of the overhang of parts 5 just passable than the article maintaining part 11a that makes the position of decorporating is outstanding on its projected direction until arrive the article supporting.
(3) in the above-described embodiment, constitute, in the situation that be that the outstanding moving velocity of article maintaining part 11a is the state in slowing down or the outstanding state that stops that moving by the execution of outstanding interruption control, if determining article maintaining part 11a, the detection information of position-based test section passed through maintaining part repetition scope, make article maintaining part 11a be projected into extrusion position, but also can constitute, in the situation that be that the outstanding moving velocity of article maintaining part 11a is the state in slowing down or the outstanding state that stops that moving by the execution of outstanding interruption control, even determining article maintaining part 11a, the detection information of position-based test section passed through maintaining part repetition scope, the outstanding movement of article maintaining part 11a is stopped and keeping the state that this stops.
(4) in the above-described embodiment, with shifting apparatus 11 transfer article W and consisting of freely under the state that is being supported article W by article maintaining part 11a mounting, constitute, with the width on the horizontal cross direction of shelf than the wide article W of the width of article maintaining part 11a mounting supporting under from article maintaining part 11a to two of the horizontal cross direction of shelf side-prominent states, but also can with shifting apparatus 11 by a pair of article maintaining part 11a from shelf horizontal side direction controlling under the state of article W freely transfer article W and consisting of, constitute, article maintaining part 11a keeps under the state of the both sides of the horizontal cross direction of shelf that is positioned at article W.
Incidentally, in the situation that like this shifting apparatus 11 constituted, control article W by article maintaining part 11a, also the article supporting can be possessed with parts 5 and vertically be located at along the pillar 5a between the storage portion 1 of the horizontal cross direction arrangement of shelf and consist of across the article supporting mass that sets up along the adjacent pillar 5a of the horizontal cross direction of shelf.
And, control about outstanding the interruption, can be also, do not controlled under the light condition of article W by a pair of article maintaining part 11a, giving prominence under mobile state by the outstanding a pair of article maintaining part 11a that controls the state that leaves, repeat scope and article maintaining part 11a detected by outstanding test section 22 to be projected into the setting overhang if differentiate for a pair of article maintaining part 11a that leaves state is positioned at maintaining part, carry out outstanding the interruption and control.In addition, can be also, carry under state in the reality of controlling article W by a pair of article maintaining part 11a, giving prominence under mobile state by the outstanding a pair of article maintaining part 11a that controls near state, repeat scope and article maintaining part 11a detected by outstanding test section 22 to be projected into real carrying with setting overhang if differentiate for a pair of article maintaining part 11a near state is positioned at maintaining part, carry out outstanding the interruption and control.
Incidentally, maintaining part repetition scope under Light Condition is made as leaves the pillar 5a with the article W in the storage portion 1 that will be stored in by a pair of article maintaining part 11a the transfer manipulating object to a pair of article maintaining part 11a of the state that leaves of controlling releasing of article W and supporting repeats on the horizontal cross direction of shelf scope mutually, and real maintaining part repetition scope of carrying under state is made as the scope that repeats on the horizontal cross direction of shelf with a pair of article maintaining part 11a near state that controls article W with a pair of article maintaining part 11a and the pillar 5a that supports the article W in the storage portion 1 that is stored in the transfer manipulating object close to each other.
in addition, as the outstanding setting-up time of using, can be also, under light condition, setting moves to the mobile required time of the needed zero load of target stop position to repeating scope from a pair of article maintaining part 11a that leaves state by the maintaining part under light condition to mobile base station, add that article maintaining part 11a is projected into from the position of decorporating unloaded needed unloaded with the time after outstanding required time or add than zero load with giving prominence to the time of required time after the short time with setting overhang, carry under state real, setting is to repeating scope and move to the needed reality of target stop position to mobile base station and carry and use mobile required time from carrying maintaining part under state near a pair of article maintaining part 11a of state by reality, add that article maintaining part 11a is projected into real year from the position of decorporating and carries with the time after outstanding required time or add the time of outstanding required time after the short time of using than real year with the needed reality of setting overhang.
(5) in the above-described embodiment, state under set different time with setting-up time at light condition and real carrying with outstanding, but also can divide into the same time of phasing at light condition and real year state with giving prominence to setting-up time.
Particularly, for example also can unloaded add the real outstanding outstanding setting-up time of using with setting-up time and real year state that is made as light condition with the shorter time in the time after outstanding required time that carries with the time after outstanding required time with to real carrying with mobile required time with zero load is added with mobile required time.
(6) in the above-described embodiment, to set moving velocity, set acceleration/accel and set whole in deceleration/decel, based on the distance from mobile starting position to the target stop position or noly keeping article W and be set as different values by article maintaining part 11a, but also can will set moving velocity, set acceleration/accel and set a part in deceleration/decel based on the distance from mobile starting position to the target stop position or noly keeping article W and be set as different values by article maintaining part 11a.
Particularly, can be also for example, set moving velocity based on the distance from mobile starting position to the target stop position or noly keeping article W and be set as different values by article maintaining part 11a, set acceleration/accel and set deceleration/decel with distance from mobile starting position to the target stop position and whether keeping article W to have nothing to do and be set as identical value by article maintaining part 11a.
In addition, also can will set the whole of moving velocity, setting acceleration/accel and setting deceleration/decel and the distance from mobile starting position to the target stop position and whether keep article W to have nothing to do and be set as identical value by article maintaining part 11a.
(7) in the above-described embodiment, if become to decorporate from extrusion position than article maintaining part 11a by elapsed time from decorporating of article maintaining part 11a is mobile beginning of timing section 20 timing and move to short decorporating with the time of setting-up time of needed time of the position of decorporating, make mobile base station begin movement towards next target stop position, decorporate at article maintaining part 11a and decorporate before the position, mobile base station is begun mobile towards next target stop position, decorporate behind the position but also can decorporate at article maintaining part 11a, mobile base station is begun mobile towards next target stop position.
(8) in the above-described embodiment, the harvesting shelf 2 in storage portion 1 spread configuration on above-below direction and the horizontal cross direction of shelf, but also can be with storage portion 1 spread configuration on the horizontal cross direction of shelf only in harvesting shelf 2, perhaps in harvesting shelf 2 with storage portion 1 spread configuration on above-below direction only.
(9) in the above-described embodiment, the head of advanced positions test section with the linear scale of magnetic-type consisted of, but also the advanced positions test section can be consisted of with laser range finder or rotary encoder.
(10) in the above-described embodiment, operating control system is differentiated article maintaining part 11a and whether has been passed through holder and repeat the position based on the advance detection information of advanced positions test section of the position on the horizontal cross direction of shelf of chassis 8 of detection, whether but operating control system also can constitute, exist the article supporting to differentiate article maintaining part 11a with the detection information of depositing no sensor of parts 5 whether to have passed through holder repetition position at the both ends of the horizontal cross direction of shelf of article maintaining part 11a based on detecting.
(11) in the above-described embodiment, also the signal efferent is used the rotary encoder of the output pulse signal corresponding to the outstanding movement of article maintaining part 11a to consist of, but also the signal efferent can be used the laser range finder of the output signal corresponding to the overhang of article maintaining part 11a to consist of, can also make the setting of signal efferent when article maintaining part 11a is projected into the setting overhang contact action on article maintaining part 11a and the limit switch of be unlocked operation, output signal.
in addition, in the above-described embodiment, to give prominence to that test section 22 possesses the signal efferent and signal consists of with judegment part, but also can constitute, make article maintaining part 11a outstanding with specific velocity mode on one side, on one side with the timing section's elapsed time of 20 timing from outstanding beginning of article maintaining part 11a, if the elapsed time from outstanding beginning of article maintaining part 11a of timing section 20 timing becomes outstanding required time, be that article maintaining part 11a is projected into the setting overhang by differentiating with the judegment part 23 of judegment part as timing, make outstanding test section 22 possess timing section 20 and judegment part 23, be projected into the setting overhang by differentiating article maintaining part 11a by judegment part 23, come test item maintaining part 11a to be projected into the setting overhang.
(12) in the above-described embodiment, time lag is considered period and driving time with setpoint distance and set, but also time lag can not be considered the period with setpoint distance and only consider that driving time sets, for example set overhang in place from the deceleration starting position to the front that leave the distance of considering driving time from.That is, also can be set as that when given prominence to this settings overhang operating control system sends signal that the article maintaining part 11a in outstanding the movement is stopped, then article maintaining part 11a can not touch article and supports the overhang that stops in its front with parts 5 with setting overhang.
(13) in the above-described embodiment, illustration control setup H in the situation that by instruction warehouse-in instruction or outbound instruction set to get about copying of this instruction with reference to required schedule time table and process and unload the required schedule time of processing and the article storage facility that consists of, but can be also control setup H in the situation that by instruction warehouse-in instruction or outbound instruction calculate by computing the article storage facility that the required schedule time consists of.
(14) in the above-described embodiment, illustration the elapsed time of timing section 20 timing when control setup H begins mobile control as horizontal cross direction begins the structure in the elapsed time mobile from bay-lift 10 along shelf, but replace it, the elapsed time in the time of can being also 20 timing of timing section from the detection information of advanced positions detecting sensor 15 from indeclinable state transitions for the state that changes is as horizontal cross direction begins the structure in the elapsed time mobile from bay-lift 10 along shelf.
Description of reference numerals
1 storage portion
2 harvesting shelves
5 article supporting parts
The 5a pillar
5b loads supporting mass
10 move base station
11 shifting apparatus
11a article maintaining part
15 position detection parts
17 signal efferents
20 timing sections
22 outstanding test sections
23 signal judegment parts
The H operating control system
The W article.

Claims (10)

1. article storage facility,
Possess:
Mobile base station moves along the orientation of above-mentioned storage portion in the front face side of harvesting shelf of a plurality of storage portions that are disposed with the harvesting article;
Shifting apparatus is equipped in this and moves on base station, makes the article maintaining part to the position and to be projected into the extrusion position advance and retreat of above-mentioned storage portion side mobile of decorporating of the above-mentioned mobile base station side of decorporating, and above-mentioned storage portion between the transfer article;
Operating control system is controlled the movement of above-mentioned mobile base station and the advance and retreat of above-mentioned article maintaining part and is moved;
Above-mentioned operating control system constitutes, in the situation that be instructed to the storage portion as the transfer manipulating object in above-mentioned a plurality of storage portion, carries out mobile control and outstanding control;
Above-mentioned mobile control is in order to make above-mentioned mobile base station move to the target stop position, to accelerate to the control of setting moving velocity, moving rear deceleration to set moving velocity from mobile starting position;
Above-mentioned outstanding control is to make above-mentioned article maintaining part give prominence to mobile control from the above-mentioned position of decorporating towards above-mentioned extrusion position;
Above-mentioned operating control system by above-mentioned mobile control make above-mentioned mobile base station stop at above-mentioned target stop position before the above-mentioned outstanding control of beginning;
It is characterized in that,
Above-mentioned operating control system also possesses the timing timing section in the elapsed time from the movement of above-mentioned mobile base station begins;
Constitute, become than the short outstanding time with setting-up time of the required schedule time as condition take the time by the timing of above-mentioned timing section, begin above-mentioned outstanding control, the described required schedule time is that above-mentioned mobile base station moves to the above-mentioned needed time of target stop position from above-mentioned mobile starting position.
2. article storage facility as claimed in claim 1, is characterized in that,
Above-mentioned harvesting shelf possesses a plurality of article supporting parts that devices spaced apart is arranged on the horizontal cross direction of shelf;
Above-mentioned storage portion is formed on along the adjacent above-mentioned article supporting of the horizontal cross direction of shelf and uses between parts, constitute, receiving and keeping article across the state that is supported with parts along the adjacent above-mentioned article supporting of the horizontal cross direction of above-mentioned shelf, and be arranged with a plurality of on the horizontal cross direction of above-mentioned shelf;
Setting is more outstanding until reach the little overhang of the overhang of above-mentioned article supporting use parts as setting overhang on its projected direction than the above-mentioned article maintaining part that makes the above-mentioned position of decorporating;
Above-mentioned outstanding being set as with setting-up time adds time after time below outstanding required time to mobile required time;
Above-mentioned mobile required time is to repeat scope from above-mentioned article maintaining part by the maintaining part that repeats at the horizontal cross direction of shelf with parts with the supporting of above-mentioned article to move to the above-mentioned needed time of target stop position to above-mentioned mobile base station, and described article support with parts carry and are stored in article in the storage portion of above-mentioned transfer manipulating object;
Above-mentioned outstanding required time is that above-mentioned article maintaining part is projected into the above-mentioned needed time of setting overhang from the above-mentioned position of decorporating.
3. article storage facility as claimed in claim 2, is characterized in that,
Also possess:
Position detection part, detect above-mentioned mobile base station with respect to the position in the orientation of the above-mentioned storage portion of above-mentioned harvesting shelf;
Outstanding test section detects above-mentioned article maintaining part and is projected into above-mentioned setting overhang;
Above-mentioned operating control system constitutes, in the situation that above-mentioned article maintaining part is just outstanding mobile by above-mentioned outstanding control, repeat scope and above-mentioned article maintaining part detected by above-mentioned outstanding test section to be projected into above-mentioned setting overhang in the situation that differentiate for above-mentioned article maintaining part is positioned at above-mentioned maintaining part based on the detection information of above-mentioned position detection part, carry out outstanding the interruption and control;
It is the control that makes above-mentioned article maintaining part slow down, make the outstanding action of above-mentioned article maintaining part to stop with maintaining part with deceleration/decel that above-mentioned outstanding interruption is controlled;
Above-mentioned setting overhang is set as just can make by above-mentioned outstanding control gives prominence on mobile above-mentioned article maintaining part is controlled at above-mentioned article maintaining part by above-mentioned outstanding interruption projected direction the overhang that stops with the front of parts in above-mentioned article supporting.
4. article storage facility as claimed in claim 3, is characterized in that,
Above-mentioned outstanding test section possesses the signal efferent and signal consists of with judegment part, the signal that the outstanding movement of the output of described signal efferent and above-mentioned article maintaining part or overhang are corresponding, whether the above-mentioned article maintaining part of signal differentiation that described signal is exported based on above-mentioned signal efferent with judegment part has been projected into above-mentioned setting overhang;
Above-mentioned outstanding test section constitutes, and has been projected into above-mentioned setting overhang as condition to differentiate above-mentioned article maintaining part by above-mentioned signal with judegment part, detects above-mentioned article maintaining part and has been projected into above-mentioned setting overhang.
5. article storage facility as claimed in claim 3, is characterized in that,
Above-mentioned timing section constitutes, also the elapsed time of timing from outstanding beginning of above-mentioned article maintaining part;
Above-mentioned outstanding test section possesses above-mentioned timing section and timing judegment part;
Above-mentioned timing constitutes with judegment part, in the situation that the elapsed time from outstanding beginning of above-mentioned article maintaining part of above-mentioned timing section timing becomes above-mentioned outstanding required time, differentiates and has been projected into above-mentioned setting overhang for above-mentioned article maintaining part;
Above-mentioned outstanding test section constitutes, and has been projected into above-mentioned setting overhang as condition to be differentiated as above-mentioned article maintaining part with judegment part by above-mentioned timing, detects above-mentioned article maintaining part and has been projected into above-mentioned setting overhang.
6. article storage facility as described in any one in claim 3～5, is characterized in that,
Above-mentioned operating control system constitutes, in the situation that be that the outstanding moving velocity of above-mentioned article maintaining part is the state in slowing down or the outstanding state that stops that moving by above-mentioned outstanding interruption control, passed through above-mentioned maintaining part repetition scope if differentiate for above-mentioned article maintaining part based on the detection information of above-mentioned position detection part, made above-mentioned article maintaining part be projected into above-mentioned extrusion position.
7. article storage facility as described in any one in claim 3～5, is characterized in that,
The supporting of above-mentioned article possess adjacent to the vertical pillar of establishing of above-mentioned storage portion with parts and be arranged on above-mentioned pillar, from above-mentioned pillar on the horizontal cross direction of above-mentioned shelf in the storage portion the side-prominent mounting supporting mass in side;
Above-mentioned storage portion constitutes, and by supporting across a pair of above-mentioned mounting supporting mass mounting, in above-mentioned storage portion, described a pair of mounting supporting mass is between adjacent above-mentioned pillar with article storage;
Above-mentioned shifting apparatus can move down the loading product and consist of at the state that is supporting article by above-mentioned article maintaining part mounting, constitute, with the width on the horizontal cross direction of above-mentioned shelf than the mounting supporting under from above-mentioned article maintaining part to two of the horizontal cross direction of above-mentioned shelf side-prominent states of the wide article of the width of above-mentioned article maintaining part;
Above-mentioned operating control system constitutes,
Do not loaded under the light condition of supports articles by above-mentioned article maintaining part, under the just outstanding mobile state of above-mentioned article maintaining part by above-mentioned outstanding control, take the detection information based on above-mentioned position detection part determine above-mentioned article maintaining part be positioned at above-mentioned maintaining part repeat scope and by above-mentioned outstanding test section detect above-mentioned article maintaining part be projected into unloaded with the setting overhang as condition, carry out above-mentioned outstanding interruption control;
Carry under state in the reality that is supporting article by above-mentioned article maintaining part mounting, under the just outstanding mobile state of above-mentioned article maintaining part by above-mentioned outstanding control, determine take the detection information based on above-mentioned position detection part and be positioned at by the article of above-mentioned article maintaining part mounting supporting the article that repeat at the horizontal cross direction of above-mentioned shelf with above-mentioned pillar and repeat scope and above-mentioned article maintaining part detected by above-mentioned outstanding test section to be projected into real carrying with the setting overhang as condition, carry out above-mentioned outstanding interruption control.
8. article storage facility as claimed in claim 7, is characterized in that,
The above-mentioned outstanding setting-up time of using
Under above-mentioned light condition, be set as zero load is added with mobile required time unloaded with the time after the time below outstanding required time,
Above-mentioned zero load is to repeat scope from above-mentioned article maintaining part by above-mentioned maintaining part to move to the above-mentioned needed time of target stop position to above-mentioned mobile base station with mobile required time,
Above-mentioned zero load is that above-mentioned article maintaining part is projected into the above-mentioned unloaded needed time of overhang of setting of using from the above-mentioned position of decorporating with outstanding required time;
Carry under state in above-mentioned reality, be set as real carrying with mobile required time added real carrying with the time after the time below outstanding required time,
It is to repeat scope from article by above-mentioned article to move to the above-mentioned needed time of target stop position to above-mentioned mobile base station that above-mentioned reality is carried with mobile required time,
It is that above-mentioned article maintaining part is projected into above-mentioned reality and carries with setting the needed time of overhang from the above-mentioned position of decorporating that above-mentioned reality is carried with outstanding required time.
9. article storage facility as described in any one in claim 1～5, is characterized in that,
Above-mentioned setting moving velocity, accelerate to the setting acceleration/accel of above-mentioned setting moving velocity and part or all from the setting deceleration/decel that above-mentioned setting moving velocity slows down, based on the distance from above-mentioned mobile starting position to above-mentioned target stop position or noly keeping article and be set as different values by above-mentioned article maintaining part.
10. article storage facility as described in any one in claim 1～5, is characterized in that,
Above-mentioned operating control system constitutes, elapsed time beginning take the action of decorporating from above-mentioned article maintaining part by the timing of above-mentioned timing section becomes to decorporate from above-mentioned extrusion position than above-mentioned article maintaining part and moves to the short time with setting-up time of decorporating of needed time of the above-mentioned position of decorporating as condition, begins the movement towards the above-mentioned mobile base station of next target stop position.
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