JP2000191113A - Article storage facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a article storage facility capable of reducing the cost of the facility by reducing the number of detecting means to detect whether or not articles are carried in an article storage part. SOLUTION: A loading and carrying part 5 to load and carry articles is movably provided at the transfer position to an article storage part 1 and at the position for carry-in/carry-out in/from an article carry-in/carry-out part, articles are transferred and carried between the loading and carrying part 5 and the article storage part 1 by the loading and carrying part 5, a control means to implement the movement control and the loading and carrying control of the loading and carrying part 5 is provided, an article detecting means 61 to detect the article presence condition where the article are present in the loading and carrying part 5, and the article absence condition is provided on the loading and carrying part 1. When the article is carried and transferred from he loading and carrying part 5 to the article storage part 1, the control means makes a judgment that the transfer of the articles to the article storage part 1 is completed when the set time is elapsed or the set quantity is carried after the article detecting means detects the article absence condition from the article presence condition.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article storage unit, comprising: Movably provided at a transfer position with respect to the object and an article carry-in / out position with respect to the article carry-in / out portion, and the article is transported between the placement / transport portion and the article storage portion by the placement / transport portion located at the transfer position. Movement control for moving the placement / transportation unit to the transfer position and the article loading / unloading position, and the placement / transportation for article transfer at the transfer position. The present invention relates to an article storage facility provided with control means for performing a placement and transport control for transporting a unit.

[0002]

2. Description of the Related Art In an article storage facility having such a configuration, when articles are transported and transferred from a placement and transport section to an article storage section, the articles are not reliably transported and transferred to the article storage section.
When the placing / conveying section is moved, the article and the placing / conveying section interfere with each other, thereby causing damage to the article and the placing / conveying section. Therefore, in the conventional equipment, detecting means for detecting whether or not the article is completely transported and transferred to the article storage unit, for example,
A detection sensor using a photoelectric tube is provided in each article storage unit, and after the detection sensor detects the completion of the conveyance and transfer of the article, it is configured to permit the movement of the placement and conveyance unit.

[0003]

Therefore, in the above-described conventional equipment, the number of detection sensors required by the number of article storage units is required, and signal lines and the like attached to the detection sensors are also required. There is a disadvantage that the cost increases and the cost increases as the number of article storage units increases.

The present invention has been made to solve the above-mentioned drawbacks, and an object of the present invention is to minimize the number of detecting means for detecting whether or not an article has been carried into an article storage section, thereby reducing the equipment. An object is to provide an article storage facility that can reduce costs.

[0005]

To achieve this object, according to the first aspect of the present invention, there is provided an article present state in which an article is present in a place near an article storage section in a loading and conveying section, and Article detection means for detecting the absence and absence of non-existence is provided in the placing and transporting section, and the moving control for moving the placing and transporting section and the placing and transporting control for carrying out transport for article transfer are performed. When the control means to be executed conveys and transfers the article from the placement conveyance section to the article storage section, after the set time elapses after the article detection means detects the non-existence state from the article existence state or after the conveyance of the set amount, It is configured to determine that the transfer of the article to the article storage unit is completed.

In other words, since the article storage section and the placing and transporting section are different from each other, and both move relatively, it is not necessary to simply provide the article detecting means as described above in the placing and transporting section. However, it is impossible to determine the completion of the transfer of the article to the article storage unit. However, it is determined that the transfer of the article to the article storage section is completed after a lapse of a set time or after a set amount of conveyance after the article detection means provided in the placement and conveyance section detects the non-existence state from the article presence state. This makes it possible to determine the completion of the transfer of the article to the article storage section by using the article detection means provided in the placing and transporting section.

The present invention focuses on this fact, and utilizes control means for controlling the operation of the loading and conveying unit.
It is intended to determine the completion of the transfer of the article to the article storage unit, whereby the provision of the article detection means in the loading / conveying unit only allows the completion of the transfer of the article to each of the plurality of article storage sections. Can be reliably determined, and it is not necessary to provide a detection unit in each article storage unit as in the related art, and the number of detection units can be reduced as much as possible, and the cost of equipment can be reduced.

According to the second aspect of the present invention, when the control means conveys and transfers the article from the article storage section to the placing / conveying section, the article detection means detects the non-existence state from the article existence state. With this configuration, it is configured that it is determined that the transfer of the article to the loading / conveying section has been completed. Therefore, the article detection means for determining the completion of the transfer of the article to the article storage section is directly used. By utilizing this, it is possible to reliably determine that the transfer of the article to the loading / conveying section is completed.

According to the third aspect of the present invention, at the transfer position, a storage state where an article is present in the article storage section corresponding to the transfer position and a non-storage state where no article is present are detected. Since the storage state detecting means is provided in the placing / conveying section, it is not necessary to provide the storage state detecting means in each of the article storage sections, and the control means is based on information detected by the storage state detecting means. Therefore, since the transfer of the article between the loading / transporting section and the article storage section is performed, for example, even though the article is present in the article storage section, the article is transferred to the article storage section. It is possible to prevent double-transferring of articles from causing damage to the articles, and to provide double safety for storage equipment that manages the storage state and non-storage state of articles in each article storage unit. Work as a countermeasure That.

According to the fourth aspect of the present invention, the pair of transmission type protrusion detection means for detecting the protrusion of the article from each of the plurality of article storage sections includes a plurality of the plurality of article storage sections sandwiching the plurality of article storage sections. Since the articles are provided on both sides in the direction of arrangement of the article storage sections so as to face each other, it is possible to detect the protrusion of the articles in the plurality of article storage sections by the pair of protrusion detection means. The stop of the movement control of the placing / conveying unit is stopped in accordance with the detection of the protrusion of the article due to the above, so that the damage of the article or the placing / conveying unit due to the interference between the protruding article and the placing / conveying unit is prevented. be able to.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an article storage facility according to the present invention will be described with reference to the drawings. This article storage facility is applied to, for example, a multi-story parking lot for storing vehicles S as articles, and as shown in FIG. 1, a plurality of article storage units 1 for storing vehicles S are arranged in parallel in a horizontal direction. And
And a pair of article storage shelves 2 provided in a plurality of stages in the vertical direction.
Are arranged facing each other with a space therebetween, and a pair of article storage shelves 2
Is provided on the floor corresponding to the ground floor of the vehicle, and the direction of the vehicle S entering and exiting from the entrance 3 is about 9 degrees.
A turning device 4 is provided as an article carrying-in / out section for changing the angle by 0 degrees. A stacker including a loading / transporting unit 5 that is moved between a pair of article storage shelves 2 to a transfer position corresponding to each article storage unit 1 and an article loading / unloading position by movement including a lifting operation. A crane 6 is provided, and by the operation of the stacker crane 6 and the loading / unloading section 5, the vehicle S is placed and stored in any one of the article storage sections 1 from the article loading / unloading position, or is mounted on the article storage section 1. It is configured to carry out the stored vehicle S to the article carry-in / out position.

As shown in FIGS. 2 to 6, the swivel device 4 is configured to be swivelable around a vertical axis by a fulcrum pin 7 erected and fixed to the floor surface. A turning frame 9 supported on the floor surface by a grounding wheel 8, a conveyor device 10 supported on the turning frame 9 so as to be slidable in a horizontal direction, and a turning drive for turning the turning frame 9 together with the conveyor device 10; A slope guide that smoothly guides the vehicle S between the turning device 4 and the entrance 3 by eliminating a step between the floor near the entrance 3 and the conveying surface of the conveyor device 10. A plate 12 is provided. As shown in FIG. 4, the turning drive unit 11 includes, as shown in FIG. 4, a chain 13 having both ends connected and fixed to appropriate locations on the outer periphery of the turning frame 9, and a pair of idler sprockets 14 that interlock with the chain 13 and roll. It comprises a drive sprocket 15 that interlocks with the chain 13 and pulls the chain 13 in the forward and reverse directions, and a turning electric motor 16 that drives the drive sprocket 15 in the forward and reverse directions. , And the electric motor 16 for turning are installed on the floor outside the turning frame 9.

The conveyor device 10 comprises a pair of left and right roller conveyors. The left and right roller conveyors have a plurality of rollers 18 rotatably supported by a support frame 17 and are connected to the respective rollers 18. Sprocket 19
The chain 20 is wound over the roller conveyors, and the left and right roller conveyors are interlocked and connected to each other by a connection shaft 21, and are driven by a single electric motor 22 to rotate in a forward / reverse direction in a left / right synchronous state. The support frame 17 is provided with a plurality of idle-type guide rollers 24 that are rolled and guided along guide rails 23 provided on the turning frame 9, and between the turning frame 9 and the supporting frame 17. , An air cylinder 25 is interposed, and the conveyor device 10 slides along the conveyance direction by the expansion and contraction operation of the air cylinder 25, protrudes from the revolving frame 9, and is mounted on the loading / conveying section of the stacker crane 6. 5 and a retreat position where the revolving frame 9 retreats to the revolving center side of the revolving frame 9.
A vehicle detection sensor 26 of a reflection type using ultrasonic waves is provided near one side end of the vehicle.

As shown in FIGS. 7 and 8, the stacker crane 6 includes a pair of rectangular cylindrical vertical frames 27 and an upper frame 28 connecting the upper portions of the vertical frames 27.
And a lower frame 29 connecting the lower part. The upper frame 28 includes a plurality of upper idler wheels 31 that roll on the both sides of the upper guide rail 30 in contact therewith.
Are provided with a plurality of lower idler wheels 33 that roll on contact with both side portions of the lower guide rail 32 and a pair of running wheels 34 that roll on the lower guide rail 32. The lower frame 29 is further provided with a traveling electric motor 35 for driving one of the pair of traveling wheels 34 in the forward / reverse direction. The forward / reverse driving of the traveling electric motor 35 causes
A frame body composed of the vertical frame 27 and upper and lower frames 28 and 29 is configured to be able to reciprocate along upper and lower guide rails 30 and 32.

The placing and transporting section 5 includes the vertical frame 27.
Elevator 36 configured to be vertically movable along the
And the loading / conveying conveyor 3 provided on the lift 36
The lifting platform 36 is provided with a plurality of idle-type guide rollers 38 that roll by contacting both sides of the pair of vertical frames 27.
A plurality of wires 40 each having a wire 9 are connected to each other, and are suspended and supported by the upper frame 28 by the wires 40. The wire 40 is wound around a plurality of guide pulleys 41 provided on the upper frame 28 and the lower frame 29, and is also wound around a drive pulley 43 interlockingly connected to an electric motor 42 for lifting and lowering installed on the lower frame 29. The lifting table 36 provided with the loading / conveying conveyor 37 is configured to be vertically movable along the vertical frame 27 by the forward / reverse rotation drive of the lifting / lowering electric motor 42.

That is, the placing / transporting section 5 is driven by the forward / reverse rotation of the traveling electric motor 35 to drive the vertical frame 27.
The upper and lower frames 28 and 29 are reciprocated and run along the upper and lower guide rails 30 and 32, and the elevating table 36 is moved up and down by forward and reverse rotation of the electric motor 42 for elevating. Thus, the vehicle S can be placed and transported between the transfer position for each article storage unit 1 and the article carry-in / out position. Then, the placing and carrying conveyor 3 of the placing and carrying part 5
7, the vehicle S can be placed and transported between the conveyor device 10 in the turning device 4 and itself, and between each article storage unit 1 and itself. It is configured to be able to.

[0017] Therefore, the placing and conveying conveyor 37 described above,
As shown in FIG. 9 and FIG.
0, the left and right roller conveyors include a plurality of rollers 45 rotatably supported by a support frame 44, and a chain extending over a sprocket 46 connected to each roller 45. 47 is wound, and is driven forward and reverse in a left-right synchronous state by one electric motor 48 arranged at an intermediate position between the left and right roller conveyors. The support frame 44 of the loading / conveying conveyor 37 has a transporting / transporting posture for projecting toward the article storage unit 1 and transporting / transporting the vehicle S when the transfer frame is at the transfer position with respect to each article storage unit 1. In the transfer / conveying posture, which is freely retractable and retractable to the storage / conveying conveyor 37 side, and protrudes to the article storage unit 1 side,
A total of four support members 50 configured to be placed and supported on the receiving portion 49 on the article storage unit 1 side in a state where the rise with respect to the placement and conveyance conveyor 37 is regulated, the conveyance direction of the placement and conveyance conveyor 37. It is provided on both sides of both ends.

Each supporting member 50 is provided with a loading and conveying conveyor 37.
Is located outside the support shaft 51 of the roller 45 located on both sides in the conveyance direction, and is rotatably supported relative to the support shaft 51. The member 52 is located, and the swing member 52 is also pivotally supported so as to be relatively rotatable with respect to the support shaft 51, and extends over each support member 50 and the swing member 52 in the same manner as the roller 45 of the loading and conveying conveyor 37. An idler auxiliary roller 53 is rotatably mounted.
An operation arm 54 is formed integrally with each support member 50, and the loading / conveying conveyor 3 is attached to the operation arm 54.
One end of a balance arm 55 pivotally attached to the support frame 44 of the seventh swingable shaft around the horizontal axis is interlocked and connected to the other end of the balance arm 55 through an elongated hole. The push-pull rod 56 is linked to one side, that is, on the left side of FIG. 9, in conjunction with a drive arm 58 that is rotated by a posture changing electric motor 57, and
Driving arm 58 that is rotated via a pair of gears 59
, And a total of four support members 50 can be changed to the above-described transfer / transport posture and the storage posture by forward / reverse rotation driving of the posture changing electric motor 57.

The supporting frame 44 of the loading and conveying conveyor 37 includes
A total of four stoppers 60 are fixed, and as described above, when each support member 50 is in the transfer / transport position, the operation arm 54 formed integrally with each support member 50 is received by each stopper 60. Thus, the transfer / transport posture of each support member 50 is maintained, and the upward swing of each support member 50 with respect to the support frame 44 is prevented. Among the total of four swing members 52 swinging integrally with each support member 50, one of the two swing members 52 located at both ends in the transport direction of the loading and transporting conveyor 37 is provided with one of FIG.
As shown in FIG. 4, a light projector 61 as an article detecting means 61
a and the light receiver 61b, for example, the light projector 6
In the state where the support members 50 are in the transfer / transport posture, the light emitters 61a are provided on the columns 62 connected to the support frame 44, and the light receivers 61 are positioned above the support members 50.
b, it is configured to detect an article presence state in which the vehicle S as an article is present on the loading / conveying conveyor 37 and a non-existence state in which the vehicle S is not present,
Each of the columns 62 is provided with a reflection type ultrasonic sensor 63 serving as a storage state detecting unit. The storage state in which the vehicle S exists in the article storage unit 1 corresponding to the transfer position, and the vehicle S
Is configured to detect a non-storage state in which no is present.

As shown in FIG. 10, each of the article storage sections 1 is also provided with a placing and carrying conveyor 64 for placing and carrying the vehicle S. The placing and carrying conveyor 64 is also provided with the above-described conveyor device 10 and the carrying apparatus. Similarly to the transfer conveyor 37, the roller conveyor is constituted by a pair of left and right roller conveyors. The left and right roller conveyors include a plurality of rollers 6 rotatably supported by a support frame 65.
6, and a chain 68 is wound over a sprocket 67 connected to each roller 66. However, the placing and carrying conveyor 64 of the article storage unit 1 is configured to be non-drive type, and the placing and carrying conveyor 3 provided on the lift 36.
7 is driven using the driving force of the electric motor 48. Therefore, as shown in FIGS. 10 to 12, the drive shaft 69 driven forward and reverse by the electric motor 48 switches between a drive state in which the electromagnetic clutch 70 rotates integrally and a non-drive state in which the idle state occurs. A free drive gear 71 is externally fitted, and a driven gear 72 that is rotationally driven by the drive gear 71 is integrally rotatably attached to a connection shaft 73 on each article storage unit 1 side.

The rotational force of the driving gear 71 is
4, the transmission gear 74 is transmitted to the driven gear 72, so that the relay gear 74 includes a pair of rocking plates 75 that are rockably supported on the driving shaft 69 on both sides of the driving gear 71.
Over a support shaft 76 erected over
In addition to being supported in a state of being always meshed with the drive gear 71, a roller 77 is freely rotatably supported by the support shaft 76, and a roller 7 is also mounted on the connection shaft 73 of each article storage unit 1.
8 is freely rotatably supported. The swing plate 75 includes
A drive arm 81 driven by an electric motor 80 is interlocked and connected via a push-pull rod 79, and the drive arm 81 is operated by the electric motor 80 to swing the rocking plate 75, thereby causing the swing plate 75 to swing as shown in FIG. As shown in FIG. 12A and FIG. 12A,
When the relay gear 74 and the roller 77 are retracted inward of the conveyor, and as shown in FIG. 11B and FIG. The relay gear 74 meshes with the driven gear 72 while appropriately maintaining the distance between the shaft centers with the driven gear 72, that is, the backlash, and the rotational force of the drive gear 71 is transmitted to the driven gear 72 via the relay gear 74. It is configured to be freely switchable between the state in which it is performed.

The loading / conveying conveyor 64 on each article storage unit 1 side
As shown in FIG. 13, a pair of braking members 82 acting on the connecting shaft 73 of the loading / conveying conveyor 64 are provided on the supporting frame 65.
Are mounted so as to be rotatable via horizontal axes, and gears 83 fixed to the respective braking members 82 are engaged with each other. The pair of braking members 82 are configured to be close to each other by a tension spring 84 to apply a braking force to the connection shaft 73, and the stacker crane 6
The braking member 82 located on the side of the
5 are connected in series. On the stacker crane 6 side, there is provided a pusher 86 which abuts on the operation arm 85, separates the braking members 82 from each other against the urging force of the tension spring 84, and releases the braking force on the connecting shaft 73. The pusher 86 is configured to be able to expand and contract by an air cylinder 87 provided on the stacker crane 6 side.

In the multi-story parking garage having such a structure, a plurality of article storage sections 1 are arranged not only in the horizontal direction but also in a plurality of levels in the vertical direction. The placing and conveying conveyor 64 is composed of a pair of left and right roller conveyors as described above, and a space penetrating in the vertical direction is formed between the two roller conveyors. With a small number of detecting means, it is possible to detect the protrusion of the vehicle S carried into each article storage unit 1. That is,
In this multi-story parking garage, as shown in FIG. 15, the light projecting device 88a and the light receiving device 88b constituting the transmissive projection detecting device 88 are, for example, the light projecting device 88a below and the light from the light projecting device 88a It passes through the space between the respective roller conveyors, and is arranged so as to be able to receive light by a light receiver 88b located above.
However, the vehicle S is displaced to the stacker crane 6 side for some reason and is not protruded from a predetermined position in all the article storage sections 1 because the number of the article storage sections 1 arranged in the horizontal direction is provided. It is configured to be able to detect whether or not. Note that the light emitter 88a and the light receiver 88b can be arranged upside down, and in any case, when dust easily adheres to the light emitter 88a or the light receiver 88b arranged below, a wiper or the like is used. It is also possible to provide such a configuration that dust is automatically removed every set time.

The operation of the multi-story parking garage having the above configuration is managed and controlled by a control device H as control means using a computer. Therefore, as shown in FIG. Detection sensor 26, article detection means 61, ultrasonic sensor 63, protrusion detection means 88
It is configured to input information from sensors and the like. Then, when the vehicle S is to be stored, the vehicle S to be stored is placed on the conveyor device 10 of the turning device 4 in the forward posture and the parking brake is applied, and thereafter, the vehicle S is stored in the control device H by an operation device (not shown). Command. Then, the conveyor device 10 is driven in the forward direction of the vehicle S with the rotation of the electric motor 22. At this time, if the parking brake is applied, the vehicle S is reliably advanced, and after the set time elapses, the ultrasonic vehicle detection sensor 26 detects the vehicle S, and the parking brake is applied. Otherwise, the vehicle S does not advance due to the wheel idling of the vehicle S, and the vehicle detection sensor 26 does not detect the vehicle S even after the set time has elapsed.

When the vehicle detection sensor 26 does not detect the vehicle S, the electric motor 22 is stopped and an alarm device (not shown) is activated to alert the user to apply the parking brake. When the vehicle detection sensor 26 detects the vehicle S, the electric motor 22 is rotated in the reverse direction to reverse the vehicle S to the original position, the electric motor 16 is driven to rotate, and the turning frame 9 turns together with the conveyor device 10, and the vehicle S S such that the vehicle S faces the loading and transporting section 5 of the stacker crane 6
Is changed by about 90 degrees. Next, the air cylinder 25
And the conveyor device 10 is protruded from the revolving frame 9 so as to be close to the loading / conveying section 5 of the stacker crane 6, and the electric motor 22 is rotationally driven, and at the same time, the electric motor 48 of the stacker crane 6 is also rotationally driven. Let it.

The conveyor device 10 is driven by the electric motor 22 on the swivel device 4 side, and the loading / transporting conveyor 37 of the loading / transporting section 5 is driven by the electric motor 48 on the stacker crane 6 side.
Are operated in the same direction, respectively, and the vehicle S on the conveyor device 10 is transferred onto the placement / conveyor 37 of the placement / transportation unit 5 and reaches a predetermined position. Based on this, both electric motors 22 and 48 are stopped. Thereafter, if the respective protrusion detection means 88 does not detect the protrusion of the vehicle S, the moving movement of the frame body by the rotational drive of the electric motor 35 for traveling and the raising operation of the lift base 36 by the rotational drive of the electric motor 42 for elevation. Is moved to the transfer position with respect to the predetermined article storage unit 1 by the above operation. When the protrusion detection means 88 detects the protrusion of the vehicle S, the moving movement of the frame body is performed. The alarm device (not shown) is operated without performing the operation of raising the elevator 36.

The placing / conveying conveyor 37 is raised slightly above a predetermined transfer position, and a total of four support members 50 are driven by the rotation of the posture changing electric motor 57.
Is changed from the storage position to the transfer / transport position, the placement / conveyor 37 is lowered, and each support member 50 is placed and supported on the receiving portion 49 of the article storage unit 1, and the action of the stopper 60 is performed. As a result, the transfer / conveyance posture is maintained, and the lowering of the placement / conveyance conveyor 37 is stopped. When the support member 50 is maintained in the transfer / transport position, the auxiliary roller 53 erected over the support member 50 and the swing member 52.
Are located between the placing and carrying conveyor 37 of the placing and carrying unit 5 and the placing and carrying conveyor 64 of the article storage unit 1, and the carrying surfaces of the placing and carrying conveyors 37 and 64 and the carrying surface of the auxiliary roller 53 are Are substantially flush with each other, so that the vehicle S can be smoothly transferred.
1a is opposed to the upper light receiver 61b.

In this state, the ultrasonic sensor 63 detects whether or not another vehicle S is present in the article storage unit 1 into which the vehicle S is to be loaded and transferred. By the swing of the swing plate 75 accompanying the driving of the electric motor 80, the relay gear 74 and the roller 77 in the retired state are operated to swing,
An appropriate backlash is maintained by the contact between the rollers 77 and 78, the relay gear 74 meshes with the driven gear 72, and the rotational force of the drive gear 71 is transmitted to the driven gear 72 via the relay gear 74. Becomes Next, the elevator 36
The electric motor 48 of the loading / conveying conveyor 37 provided in the vehicle is driven, and the braking by the braking member 82 on the side of the article storage unit 1 where the vehicle S is to be loaded and transferred is released, and the article storage unit 1 side Is switched to the driving state, and the transfer conveyor 3 of the transfer
7 and the loading / conveying conveyor 64 of the article storage unit 1 are operated, and the vehicle S on the loading / conveying unit 510 is transferred onto the loading / conveying conveyor 64 of the article storage unit 1.

At this time, with the transfer of the vehicle S, the floodlight 6
The article detecting means 61 composed of 1a and the light receiver 61b first detects the presence of the vehicle S, and thereafter detects the absence of the vehicle S. Based on the detection information, when the control device H detects the absence of the vehicle S from the presence detection, the vehicle S reaches a predetermined position of the article storage unit 1 after a lapse of a set time from the detection of the absence of the vehicle S. It is determined that the transfer has been completed, and the placing member conveyor 1 of the article storage unit 1 is braked by the braking member 82, the electromagnetic clutch 70 is switched to the non-driving state, and the electric motor 48 is stopped. The storage operation of the vehicle S ends.

When the vehicle S is to be unloaded, the vehicle S is carried out of the article storage section 1 onto the turning device 10 by an operation reverse to the above-described loading operation. Since the direction is changed, doorway 3
Can be issued from During this retrieval, the article detecting means 61 detects the presence of the vehicle S from the absence thereof, and thereafter detects the absence of the vehicle S. Then, when the control device H detects the absence of the vehicle S from the presence detection, the vehicle S reaches a predetermined position of the placing and transporting unit 5 after a lapse of a set time from the detection of the absence, and the unloading and transfer is completed. Is determined to have been made.

As described above, the control device H determines the completion of the carrying-in / transfer of the vehicle S and the completion of the carrying-out / transfer of the vehicle S based on the detection information from the article detecting means 61 provided on the placing / transporting part 5 side. It is determined. In this case, since the article detecting means 61 is provided on the loading / conveying unit 5 side, when the vehicle S is carried in and transferred, the article detecting means 61 detects the absence of the vehicle S from the presence detection and then sets a predetermined time. After the passage, it is necessary to determine that the carry-in / transfer has been completed. However, at the time of carry-out / transfer, the carry-out / transfer is performed as soon as the absence of the vehicle S is detected from the presence detection of the vehicle S depending on the installation position of the article detection means 61. Can be determined to have been completed. In addition, in both of the carry-in transfer and the carry-out transfer, when it is determined that the carry-in transfer or the carry-out transfer has been completed after the elapse of the set time,
Instead of the set time, after the transfer of the set amount, the set amount is detected based on, for example, the number of revolutions of the electric motor 48 that drives the loading and conveying conveyor 37, and the carry-in transfer or the carry-out transfer is completed. It can also be configured to be determined as such.

[Other Embodiments] (1) In the above embodiment, the vehicle S is shown as an example of an article. However, the vehicle S is not limited to a passenger car, but may be used in an automatic warehouse, for example. The present invention can be applied to various vehicles such as a self-propelled transport vehicle and a hand-held transport vehicle, and can also be applied to various articles other than the vehicle.

(2) In the above embodiment, an example is shown in which the article detecting means 61 is constituted by the light projecting device 61a and the light receiving device 61b. As the article detecting means, a reflection type sensor using ultrasonic waves or infrared rays is used. And various sensors such as a proximity sensor.

(3) In the above embodiment, an example in which the carry-in / out detection means is constituted by the reflection type ultrasonic sensor 63 is shown. However, as this carry-in / out detection means, a reflection type infrared sensor or the like is used. be able to.

(4) In the above embodiment, the article storage shelves 2 in which a plurality of article storage portions 1 are arranged in a horizontal direction and a plurality of stages are provided in a vertical direction are shown. It is also applicable to an article storage shelf in which a plurality of article storage units are arranged in parallel only, or conversely, an article storage shelf in which a plurality of article storage units 1 are arranged only in the horizontal direction. If so, a pair of light emitters 88a and light receivers 88b constituting the protrusion detection means 88 will be provided on both sides in the horizontal parallel direction, and if the article storage shelves are arranged only in the vertical direction, A pair of light emitters 88a and light receivers 88b are provided on both sides in the upper and lower parallel directions.

(5) As in the previous embodiment, when using a plurality of article storage shelves 2 in which a plurality of article storage sections 1 are arranged in a horizontal direction and a plurality of article storage sections 1 are provided vertically, As a moving configuration, the following configuration can be adopted instead of the stacker crane 6. For example, an elevating frame having a length corresponding to the horizontal movement range of the loading / transporting section 5 is provided, and the placing / transporting section 5 is movable on the elevating frame in the horizontal direction. With the horizontal movement of the loading and transporting section 5, the loading and transporting section 5 may be moved between a transfer position for the article storage section 1 and an article loading / unloading position for the article loading / unloading section. In that case,
If the article is a vehicle S, the vehicle S
Can be horizontally moved along the front-rear direction of the vehicle body, or the vehicle S can be horizontally moved along the lateral width direction of the vehicle body.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of a multistory parking lot.

FIG. 2 is a plan view of a swing device.

FIG. 3 is a plan view of a revolving frame.

FIG. 4 is a plan view of a main part of the turning device.

FIG. 5 is a plan view of a main part of the turning device.

FIG. 6 is a sectional view of a main part of the turning device.

FIG. 7 is a front view of a stacker crane.

FIG. 8 is a side view of the placing and transporting unit.

FIG. 9 is a side view of the placing and transporting unit.

FIG. 10 is a plan view of a placing and transporting unit.

FIG. 11 is a side view of a main part of the placing and transporting unit.

FIG. 12 is a side view of a main part of the placing and transporting unit.

FIG. 13 is a side view of a main part of the article storage unit.

FIG. 14 is a perspective view of a loading and conveying unit and an article storage unit.

FIG. 15 is a schematic front view of a multistory parking lot.

FIG. 16 is a block diagram of a control device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 article storage section 2 article storage shelf 4 article carry-in / out section 5 loading / conveying section 61 article detection means 63 storage state detection means 88 protrusion detection means H control means S article

Claims (4)

[Claims] 1. A loading / transporting section for loading / transporting an article for transferring articles between each of a plurality of article storage sections on an article storage shelf and the self, the transfer position with respect to the article storage section and the article. A loading / unloading unit which is movably provided to an article loading / unloading position with respect to the loading / unloading unit, and wherein the loading / transporting unit located at the loading / unloading position transfers and transports articles between the loading / transporting unit and the article storage unit. A movement control for moving the placing / conveying unit to the transfer position and the article carrying-in / out position; and a loading operation for carrying out the carrying operation of the placing / conveying unit for article transfer at the transfer position. An article storage facility provided with control means for performing the placement and conveyance control, wherein an article existence state in which an article is present at a location adjacent to the article storage section in the placement and transportation section, and a non-existence in which the article is not present The article detection means for detecting the state When the article is conveyed and transferred from the article conveyance section to the article storage section, the article detection section detects the non-existence state from the article existence state, and is set after the article is conveyed and transferred from the article conveyance section to the article storage section. An article storage facility configured to determine that transfer of articles to the article storage section has been completed after a lapse of time or after a set amount of conveyance. 2. An apparatus according to claim 1, wherein said control means conveys and transfers an article from said article storage section to said placing and conveying section, and as said article detection means detects a non-existent state from an article present state. 2. The article storage facility according to claim 1, wherein the article storage facility is configured to determine that the transfer of the article to the placing / transporting unit has been completed. 3. 3. A storage state detecting means for detecting, at the transfer position, a storage state in which an article is present in an article storage section corresponding to the transfer position and a non-storage state in which no article is present, Provided in a transport unit, wherein the control unit is configured to execute transfer of an article between the placing / transporting unit and the article storage unit based on detection information by the storage state detection unit. Claim 1
Or the article storage facility according to 2. 4. A pair of transmissive protrusion detection means for detecting protrusion of an article from each of the plurality of article storage units, the pair of transmission type protrusion detection means sandwiching the plurality of article storage units, and The control means is provided so as to face each other on both sides, and the control means is configured to stop the execution of the movement control of the placing / conveying unit according to the detection of the protrusion of the article by the protrusion detection means. Item 4. The article storage facility according to any one of Items 3.