JP2002274604A - Rack facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rack facility comprising racks, a stacker crane to put in and take out any object to/from any rack, and a self-mobile dolly to transport the object and hand over it to/from the stacker crane, whereby even in the case a load collapse has occurred on the dolly, it is precluded that the dolly obstructs the collapse correcting works. SOLUTION: The rack facility comprises a remote controller 29 equipped with a button from which the running time of the self-mobile dolly is entered in accordance with the frequency of pushing operations within a certain specified time and an optical transmission device to transmit running signals complying with the fed running time, and the arrangement further comprises an on-the- ground control device 26 which prepares a running command on the basis of the running signal transmitted from the optical transmission device and forwards it to a rotational driving device 19 of the dolly.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shelf facility for loading and unloading a load to and from a shelf by using a loading and unloading means.

[0002]

2. Description of the Related Art Conventionally, as this kind of shelf equipment, for example, as shown in FIG. 9, there is a shelf equipment having a pair of shelves 101 and a stacker crane 103 for putting a load 102 into and out of each shelf 101. The stacker crane 103 includes a moving body 105 moving in a passage 104 formed between a pair of shelves 101, a vertically movable platform 106 provided on the movable body 105, and a fork 10 provided on the vertically movable platform 106.
7. A home position HP is set at one end of the traveling path 108 of the stacker crane 103, and an opposite position (not shown) is set at the other end. The load 102 includes a plurality of articles 109.
Are stacked on a pallet 110.

[0003] A loading / unloading handling section 111 is formed outside each of the two shelves 101 on one side of the home position HP side. The handling section 111 has a moving path 1
Self-propelled carriage 113 that transports the load 102 by traveling on
(Handling means). The moving path 112
A transfer stop position A is set at one end (an end closer to the shelf 101), and a loading / unloading stop position B is set at the other end (an end farther from the shelf 101). . The self-propelled carriage 113 is configured to be supported and guided by a rail 114 laid along a movement path 112 to reciprocate between the delivery stop position A and the entrance / exit stop position B. . Further, the cargo handling unit 111 includes a delivery stop position detecting device 115 for detecting that the self-propelled truck 113 has reached the delivery stop position A, and a self-propelled truck 1.
An entrance / exit stop position detecting device 116 for detecting that the vehicle 13 has reached the entrance / exit stop position B is provided.

A ground-side control device 117 for controlling the stacker crane 103 and the self-propelled trolley 113 is provided between the left and right cargo handling sections 111. This ground-side control device 11
7 is a setting device 118 used for setting a work mode and the like.
The setting device 118 includes a remote controller 119.
Is provided with a receiving unit 120 for receiving the optical signal transmitted from.

According to this, when the goods 102 are stored,
The operator loads the load 102 on the self-propelled carriage 113 stopped at the parking / unloading stop position B using a forklift or the like, and then operates the buttons of the remote controller 119. As a result, the self-propelled carriage 113 travels from the entrance / exit stop position B to the delivery stop position A, and stops at the delivery stop position A by the detection of the delivery stop position detection device 115. The load 102 is transferred from the self-propelled carriage 113 to the stacker crane 103 by the withdrawal and retraction of the fork 107 of the stacker crane 103 that has moved to the home position HP and the elevation of the lift 106. Then load 1
02 is stored in a predetermined location of the shelf 101 by the stacker crane 103.

When unloading the load 102, the user operates the buttons on the remote controller 119 to move the self-propelled vehicle 11.
3 travels to the delivery stop position A, and stops at the delivery stop position A by detection of the delivery stop position detection device 115. In addition, the stacker crane 103
01, the load 102 is taken out and moved to the home position HP. The load 10 is moved by the fork 107 of the stacker crane 103 moving back and forth and the lifting table 106 moving up and down.
2 is delivered from the stacker crane 103 to the self-propelled carriage 113. Thereafter, the self-propelled carriage 113 travels from the delivery stop position A to the entry / exit stop position B, and stops at the entry / exit stop position B as detected by the entry / exit stop position detection device 116. Thereafter, the load 102 is unloaded from the self-propelled carriage 113 at the loading and unloading stop position B using a forklift or the like.

[0007]

In the above-mentioned conventional type,
In the unlikely event that the load 102 on the self-propelled trolley 113 collapses (the article 109 on the pallet 110 collapses),
The operator corrects the collapse of the load by correctly reloading the collapsed article 109 on the pallet 110. However, since the self-propelled truck 113 stops only at two preset stop positions A for delivery and a stop position B for entry and exit, the goods 1
09 is the self-propelled carriage 113 stopped at the delivery stop position A
When the vehicle falls into a narrow space between the rack 101 and the shelf 101, or falls into a narrow space between the self-propelled vehicle 113 stopped at the entrance / exit stop position B and the ground-side control device 117, the self-propelled vehicle 113 There is a problem that the work becomes a hindrance to the work to correct the collapse of the load and the work to correct the collapse of the load does not progress.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a shelf facility capable of preventing a cargo handling means (self-propelled truck) from obstructing a work for correcting a collapse of a load.

[0009]

According to a first aspect of the present invention, there is provided a shelf facility having a shelf for storing a load and a loading / unloading means for loading / unloading the shelf. Outside, is provided with a cargo handling means for traveling along the movement route to convey the cargo and transferring the cargo to and from the loading / unloading means at a predetermined position on the movement route, and a traveling distance of the cargo handling means by a predetermined operation. Or a remote operation device having a traveling operation means for inputting a traveling time, and a transmitting means for transmitting a traveling signal according to the traveling distance or traveling time inputted by the traveling operation means, The vehicle travels in accordance with the travel signal transmitted from the transmission means of the remote controller.

According to this, in the event that the load on the cargo handling means has collapsed, the worker corrects the collapse of the cargo by correctly reloading the collapsed cargo on the cargo handling means. At this time, if the stopped cargo handling means hinders the above-mentioned cargo collapse correction work, when the operator operates the traveling operation means of the remote controller and inputs the traveling distance or traveling time, the inputted traveling distance or traveling time is inputted. A running signal according to time is transmitted from the transmitting means,
In accordance with the traveling signal, the cargo handling means travels for the inputted traveling distance or traveling time.

As described above, since the cargo handling means can be manually operated for a predetermined traveling distance or traveling time by the remote operation of the remote controller, the cargo handling means can be moved to a position which does not hinder the work of correcting the collapse of the cargo ( Alternatively, the vehicle can be moved to the position where the work for correcting the collapse of the load is most easily performed).

In the second invention, the cargo handling means travels at a low speed in accordance with the travel signal transmitted from the transmission means of the remote controller. According to this, at the time of manual operation using the remote controller, the safety at the time of manual operation is improved because the cargo handling means runs at low speed.

According to a third aspect of the present invention, the traveling operation means inputs a plurality of traveling distances or traveling times according to a predetermined operation, and the cargo handling means travels the traveling distance or traveling time inputted by the traveling operation means. And then stop.

According to a fourth aspect of the present invention, the traveling operation means has a function of inputting the traveling time according to the number of operations within the predetermined time, the traveling time of the cargo handling means being R, and the traveling operation means being within the prescribed time. Assuming that the number of operations is N and an integer equal to or greater than 2 is X, R = X ^(N-1) .

According to a fifth aspect of the present invention, the traveling operation means has a function of inputting a traveling time according to the number of operations within a predetermined time, and the cargo handling means operates the traveling operation means only once during a predetermined time. In this case, the vehicle travels for the minimum set distance.

According to this, an operation (inching operation) for minutely moving the cargo handling means can be easily performed. In the sixth aspect of the present invention, the traveling operation means has a function of inputting a traveling time in accordance with the number of operations within a predetermined time, and the cargo handling means is capable of operating the traveling operation means a plurality of times within a predetermined time. The vehicle travels along a moving route.

According to this, it is possible to cause the cargo handling means to travel over the entire moving route at one time in one travel. Therefore, the trouble of operating the remote controller can be reduced as compared with the case where the cargo handling means is repeatedly run a plurality of times to travel the entire movement route.

According to a seventh aspect of the present invention, a plurality of traveling operation means are provided in the remote controller, and the traveling distance or traveling time of the cargo handling means is inputted by operating the two traveling operation means simultaneously.

According to this, it is possible to prevent an operation error such as an operator inputting the traveling distance or traveling time of the cargo handling means by mistake. According to the eighth aspect of the present invention, there is provided a display means for displaying the contents inputted by the traveling operation means.

According to this, the operator can easily confirm the contents inputted by the traveling operation means by looking at the display means. According to the ninth aspect of the present invention, there is provided a control device for creating a travel command based on the travel signal transmitted from the transmission means of the remote controller and transmitting the created travel command to the cargo handling means.

According to this, the control device creates a travel command based on the travel signal transmitted from the transmission means of the remote controller, and transmits the created travel command to the cargo handling means. As a result, the cargo handling means travels a predetermined travel distance or travel time based on the travel command.

[0022]

FIG. 1 is a block diagram showing an embodiment of the present invention.
This will be described with reference to FIG. As shown in FIGS. 1 and 2,
Reference numeral 1 denotes a shelf facility, which includes a pair of storage shelves 2 and a stacker crane 8 (an example of a loading / unloading unit) for loading / unloading the load 3 from / to the storage shelves 2. Each of the storage shelves 2 has a load 3
Are formed. The load 3 is obtained by stacking a plurality of articles 6 on a pallet 7.

The stacker crane 8 is supported and guided by a moving body 10 moving in the front-rear direction in a passage 5 formed between the pair of storage shelves 2 and a post 11 provided on the moving body 10 to move vertically. Elevating platform 12 that can be moved up and down, and elevating platform 12
And a retractable fork 13 provided at the front end. The stacker crane 8 is provided with a crane-side control device 9 for controlling the movement of the moving body 10, the elevation of the elevating platform 12, and the movement of the fork 13. A home position HP is set at one end of the traveling path 24 of the stacker crane 8, and an opposite position (not shown) is set at the other end.

Outside the storage shelves 2 on one side of the home position HP, there are formed cargo handling portions 14 for loading and unloading. Each of the left and right cargo handling units 14 is provided with a self-propelled carriage 16 (an example of cargo handling means) that transports the load 3 by traveling on the moving route 15 in the same direction as the traveling route 24. The self-propelled trolley 16 includes a plurality of wheels 18 that roll on rails 17 laid along a movement path 15, a rotation driving device 19 such as a motor for rotating any one of the wheels 18, and a load 3. And a supporting portion 20 for supporting.

A transfer stop position A is set at one end of the moving path 15 (the end closer to the storage shelf 2), and at the other end (an end farther from the storage shelf 2). Stop position B is set. The self-propelled carriage 16 is a rail 1
7 and is reciprocated between the delivery stop position A and the entrance / exit stop position B. In addition, a delivery stop position detecting device 21 that detects that the self-propelled vehicle 16 has reached the delivery stop position A is provided in the cargo handling unit 14.
(A limit switch, etc.), and an entrance / exit stop position detecting device 22 (a limit switch, etc.) for detecting that the self-propelled vehicle 16 has reached the entrance / exit stop position B.

As shown in FIGS. 1 to 3, a ground-side control device 26 is provided between the left and right cargo handling sections 14, and a setting device used for setting a work mode and the like is provided in the control device 26. 27, a crane control unit 26a, and a bogie control unit 26b.

As shown in FIGS. 4 and 5, the setting device 2
Reference numeral 7 denotes an operation panel 28 and a remote controller 29 (an example of a remote controller). The remote controller 29 is supported by fitting the remote controller 29 into a rectangular recess 30 formed in the operation panel 28.

On the operation panel 28, a display screen 31 (an example of display means), an emergency stop button 32, a start button 33, a release button 34 for releasing an abnormality, and a changeover switch 35 for switching an operation mode are provided. Are provided.

As shown in FIG. 6, the remote controller 29 has a shift button 37, a storage mode selection button 38 for selecting the loading operation of the load 3, and a release mode selection button for selecting the loading operation of the load 3. 39, a picking mode selection button 40 for selecting a picking operation for the load 3, a numeric key switch 41 for inputting a number (corresponding to a shelf number) for specifying the location of the load storage unit 4, and selecting the self-propelled truck 16 on the left side. Selection button 42a, a selection button 42b for selecting the right-handed vehicle 16 on the right, a setting button 43, a clear button 44, an ID button 45, an emergency stop button 46, and an operation of these buttons 37 to 46. An optical transmission device 47 (an example of a transmission unit) for transmitting the input data or the like based on the input data as an optical signal is provided.

As shown in FIGS. 4 and 5, above the concave portion 30 of the operation panel 28, an optical receiving device 48 for receiving an optical signal transmitted from the optical transmitting device 47 of the remote controller 29 is provided.
(Receiving means) is provided. As shown in FIG. 4, when the remote controller 29 is fitted in the concave portion 30, the optical transmitter 47 is configured to face the optical receiver 48.

As shown in FIG. 3, the crane control unit 26a of the ground-side control device 26 includes an optical receiving device 48.
A control command for the stacker crane 8 is created based on the optical signal received in step (1), and the created control command is transmitted to the crane-side control device 9 of the stacker crane 8.
Also, the bogie controller 26b of the ground-side controller 26
Is for generating a travel command for the self-propelled vehicle 16 based on the optical signal (travel signal) received by the optical receiver 48 and transmitting the generated travel command to the rotation drive device 19 of the self-propelled vehicle 16. The traveling command and the two stop position detecting devices 21;
The rotation drive device 19 is controlled based on the detection signal 22. Note that the bogie controller 26b and the rotary drive 1
The transmission and reception of the signal with the transmission line 9 are performed via the cable 50 (see FIG. 1), but may be performed by optical communication.

As shown in FIG. 6, the shift button 37, the entry mode selection button 38, and the exit mode selection button 39 of the remote controller 29 are operated by the number of operations (1 to 4) within a predetermined time (1 to 3 seconds). This is an example of a traveling operation means for inputting the traveling time of the self-propelled bogie 16 by the number of times). The operation pattern of the buttons 37, 38, 39 and the remote controller 29 are transmitted through the bogie controller 26b of the ground-side control device 26. The traveling command transmitted to the rotation drive device 19 of the self-propelled trolley 16 corresponds as follows. ◎ When the shift button 37 and the storage mode selection button 38 are simultaneously pressed once per second (operation pattern), the traveling time of the self-propelled trolley 16 is reduced to 1 second (traveling distance = 150 mm).
Corresponding to the forward traveling command. ◎ When the shift button 37 and the storage mode selection button 38 are simultaneously pressed twice per second (operation pattern), the traveling time of the self-propelled trolley 16 is 3 seconds (traveling distance = 490 mm).
Corresponding to the forward traveling command. When the shift button 37 and the storage mode selection button 38 are simultaneously pressed three times in two seconds (operation pattern), the traveling time of the self-propelled bogie 16 is reduced to nine seconds (distance = 1490 m).
m). ◎ When the shift button 37 and the storage mode selection button 38 are simultaneously pressed four times or more in three seconds (operation pattern),
This corresponds to a forward traveling command in which the traveling time of the self-propelled carriage 16 is set to 27 seconds. When the shift button 37 and the delivery mode selection button 39 are simultaneously pressed once per second (operation pattern), the traveling time of the self-propelled trolley 16 is reduced to 1 second (traveling distance = 150 mm).
Corresponding to the reverse travel command. When the shift button 37 and the delivery mode selection button 39 are simultaneously pressed twice per second (operation pattern), the traveling time of the self-propelled trolley 16 is 3 seconds (traveling distance = 490 mm)
Corresponding to the reverse travel command. When the shift button 37 and the delivery mode selection button 39 are simultaneously pressed three times in two seconds (operation pattern), the traveling time of the self-propelled carriage 16 is reduced to nine seconds (distance = 1490 m).
m). ◎ When the shift button 37 and the delivery mode selection button 39 are simultaneously pressed four times or more in three seconds (operation pattern),
This corresponds to a reverse traveling command that sets the traveling time of the self-propelled carriage 16 to 27 seconds.

The forward running in the above-mentioned operation pattern 1 means that the self-propelled vehicle 16 travels on the moving route 15 toward the entrance / exit stop position B. Traveling toward the vehicle stop position A.

Further, in the above operation pattern ~,
Assuming that the running time is R seconds and the number of operations (the number of presses) of each of the buttons 37, 38, and 39 within a predetermined time is N, there is a relationship of R = 3 ^(N-1) .

Further, the self-propelled carriage 16 moves from the delivery stop position A to the entrance / exit stop position B (or the entrance / exit stop position B).
Is required to travel over the entire length (= 2700 mm) of the moving path 15 from the transfer pattern to the transfer stop position A), which is shorter than 27 seconds in the above operation pattern and longer than 9 seconds in the operation pattern. It is set to a value (for example, 16 seconds).

As shown in FIG. 3, the bogie controller 26b has a counter 51 for counting the number of pulses of the optical signal received by the optical receiver 48, and a counter 51 for counting the first pulse. Is provided with a timer 52 that is activated for example.
One pulse (running signal) is counted per second, and in the case of the operation pattern, four pulses are counted per three seconds. In addition, the pulse and the operation pattern in the above operation pattern ~ (forward travel command) ~ (backward travel command)
Are distinguished from each other by using pulses having different shapes such as pulse widths.

The bogie control unit 26b of the ground-side control device 26 is configured to control the traveling direction and traveling time inputted from the remote controller 29 according to each of the operation patterns 1 to 4, the traveling distance corresponding to this traveling time, and the selected left and right. One of the self-propelled vehicles 16 is displayed on the display screen 31.

Hereinafter, the traveling control of the self-propelled carriage 16 by the ground side control device 26 will be described with reference to the flowchart of FIG. If the load 3 on the right-handed self-propelled truck 16 collapses (the article 6 on the pallet 7 collapses), the worker correctly reloads the collapsed article 6 on the pallet 7 and collapses the load. To correct. At this time, if the stopped right self-propelled trolley 16 hinders the above-mentioned load collapse correction work, the operator switches the changeover switch 35 to the manual mode (step-1). Then, an optical signal is transmitted from the optical transmitter 47 to the optical receiver 48 when the operator performs an input operation on the remote controller 29 (step-2). At this time, the operator selects the right selection button 42b in step-2.
Is pressed, it is determined that the right-handed vehicle 16 has been selected (step-3). Further, when the shift button 37 and the storage mode selection button 38 are simultaneously pressed in step-2, the forward traveling command is issued. (Step-
4). Then, the pulse P received by the optical receiving device 48
The number of (running signals) is counted by the counter 51, and the timer 52 is activated to measure the time (step-5).

For example, when the operator selects the right-handed vehicle 16 with the selection button 42b and executes the operation pattern, one pulse P is counted per second (step-6). Run command data for running for only one second is created (step-7).

Thereafter, since it is determined in step-4 that the command is a forward running command, the determination in step-8 is Y.
It becomes ES, and converts the forward running command and the running command data (running for one second) created in step -7 into an electric signal, and outputs the electric signal from the bogie controller 26b to the rotation drive device 19 of the right-handed self-propelled bogie 16. And, on the display screen 31,
The selected traveling vehicle (= right side), the traveling direction (= forward), traveling time (= 1 second), and traveling distance (= 150 m)
m) is displayed (step-9).

As a result, the rotary drive unit 19 is driven, and the right-handed self-propelled carriage 16 travels forward at low speed for one second and then stops. At this time, the traveling distance of the self-propelled trolley 16 is equivalent to the minimum set distance (= 150 mm), and such an operation of slightly moving the self-propelled trolley 16 (inching operation) can be easily performed.

When the operator executes the above operation pattern in step-2, two pulses P are counted per second (step-10), whereby the traveling command data for traveling for 3 seconds is obtained. It is created (step-11). Thereafter, since it is determined in step-4 that the vehicle is traveling forward, the forward traveling command and the traveling command data (traveling for 3 seconds) created in step-11 are converted into electric signals, and the control unit 26b for the bogie is used. To the rotation drive device 19 of the right-handed traveling vehicle 16 on the right side, and on the display screen 31, the selected traveling vehicle (= right side), the traveling direction (= forward), and the traveling time (= 3 seconds)
And the travel distance (= 490 mm) are displayed (step-9). As a result, the rotary drive device 19 is driven, and the right-handed self-propelled vehicle 16 travels forward at a low speed for only three seconds and then stops.

When the operator executes the operation pattern in the step-2, three pulses are counted in 2 seconds (step-12).
Run command data for running for only 9 seconds is created (step-13). Thereafter, similarly, the rotation drive device 19
The self-propelled carriage 16 on the right side moves forward at a low speed for only 9 seconds and then stops.

When the operator executes the above operation pattern in step-2, four or more pulses are counted in 3 seconds (step-14), whereby the travel command data for running for 27 seconds is generated. It is created (step-15). Thereafter, in the same manner, the rotary driving device 19 is driven, and the right-handed self-propelled vehicle 16 travels forward at a low speed for only 27 seconds. Thereby, the right-handed self-propelled carriage 16 can be moved at once from the delivery stop position A to the entry / exit stop position B over the entire length of the moving path 15. As described above, since the vehicle can be driven at one time over the entire length of the movement route 15 in one run, the self-propelled vehicle 1
The operation of the remote controller 29 can be omitted in comparison with the case where the vehicle 6 is repeatedly driven a plurality of times to travel the entire length of the movement path 15.

In the forward traveling of the stacker crane 8 as described above, the traveling time (1 second, 3 seconds, 9 seconds, 27
The self-propelled carriage 16 is moved into and out of the parking position B by the end of the second).
When the vehicle has traveled to the position, the entry / exit stop position detecting device 22 detects the self-propelled trolley 16 and turns on, whereby the trolley control unit 26b stops the rotary drive device 19 and forcibly stops the self-propelled trolley 16. At the same time, the traveling command is released.

The above description is for the case where the right-handed self-propelled carriage 16 is moved forward. When the vehicle is to be moved backward, in step 2 above, the operator operates the shift button 37 and the delivery mode selection button 39 of the remote controller 29. Press at the same time. Accordingly, the bogie controller 26b determines that the command is a reverse traveling command (step -16), further counts the number of pulses P (traveling signal) received by the optical receiver 48 by the counter 51, and sets the timer 52 Is started and the time is measured (step-5).

Thereafter, the operation is the same as when the vehicle is traveling forward. When the operator executes the above operation pattern, one pulse is counted per second (step-6), whereby the vehicle travels for one second. Command data is created (step-7). Thereafter, since it is determined in step 16 that the command is a reverse travel command, the determination in step 8 is NO, and the reverse drive command and the travel command data (1 second travel) created in step 7 are transmitted by an electric signal. To the right-handed self-propelled truck 16 from the truck controller 26b.
Output to the rotation drive device 19 and the display screen 31
On the top, the selected traveling vehicle (= right side), the traveling direction (= reverse), traveling time (= 1 second), and traveling distance (= 15)
0 mm) is displayed (step 17). As a result, the rotary drive device 19 is driven, and the right-handed self-propelled vehicle 16 moves backward at low speed for one second and then stops. Thereby, the operation (inching operation) of moving the self-propelled vehicle 16 minutely can be easily performed during the backward traveling as in the forward traveling.

When the operator executes the above operation pattern in step-2, two pulses are counted per second (step-10), whereby
Run command data for running for 3 seconds is created (step-11). Thereafter, similarly, the rotation drive device 19
The self-propelled vehicle 16 on the right side moves backward at low speed for only 3 seconds and then stops.

When the operator executes the operation pattern in the step-2, three pulses are counted in two seconds (step-12).
Run command data for running for only 9 seconds is created (step-13). Thereafter, similarly, the rotation drive device 19
The self-propelled carriage 16 on the right side moves backward at a low speed for only 9 seconds and then stops.

When the operator executes the operation pattern in the step-2, four or more pulses are counted in 3 seconds (step-14), whereby the travel command data for running for 27 seconds is obtained. It is created (step-15). Thereafter, in the same manner, the rotary drive device 19 is driven, and the right-handed self-propelled carriage 16 moves backward at a low speed for only 27 seconds. Accordingly, the right-handed self-propelled carriage 16 can be moved at once from the entrance / exit stop position B to the delivery stop position A over the entire length of the moving path 15. As described above, since the vehicle can be driven at one time over the entire length of the movement route 15 in one run, the self-propelled vehicle 1
The operation of the remote controller 29 can be omitted in comparison with the case where the vehicle 6 is repeatedly driven a plurality of times to travel the entire length of the movement path 15.

In the reversing travel of the self-propelled vehicle 16 as described above, the self-propelled vehicle 16 has traveled to the transfer stop position A by the end of the travel time (1 second, 3 seconds, 9 seconds, 27 seconds). In this case, the transfer stop position detecting device 21 detects the self-propelled vehicle 16 and turns on, whereby the bogie control unit 26b stops the rotation drive device 19 and the self-propelled vehicle 16
And the traveling command is released.

When the right-handed vehicle 16 is moving forward or backward as described above, any one of the buttons 40 to 40 other than the shift button 37, the entry mode selection button 38 and the exit mode selection button 39 of the remote controller 29 is used. By pressing the button 46, both the judgments of step-4 and step-16 become NO, the travel stop command is converted into an electric signal, outputted from the bogie controller 26b to the rotary drive device 19, and displayed on the display screen 31. Is displayed (step-18). As a result, the rotary drive device 19 stops, and the right-handed self-propelled vehicle 16 that is running stops.

As described above, the right-handed self-propelled carriage 16 can be manually moved back and forth for a predetermined traveling time by the remote control of the remote controller 29, so that the worker can correctly place the broken article 6 on the pallet 7. When reloading and correcting the collapse of the cargo, the remote control 29 is operated and the self-propelled truck 16 on the right side is operated.
Can be moved to a position where it does not hinder the above-mentioned load collapse correction work (or a position where the load collapse correction work is most easily performed). Thus, the work to correct the collapse of the load on the right-handed self-propelled carriage 16 is accelerated.

Also, by any chance, the load 3 on the left-handed
In the event that the cargo collapses, the operator must proceed to step-3
, The left-hand selection button 42a of the remote controller 29 may be pressed to select the self-propelled trolley 16 on the left. Thereby, the self-propelled truck 1 on the left side is operated by remote control of the remote controller 29.
6 can be manually moved back and forth for a predetermined traveling time, so that when the worker reloads the collapsed article 6 correctly on the pallet 7 and corrects the collapse of the load, the operator operates the remote controller 29 to move the left side of the left side. The self-propelled trolley 16 can be moved to a position that does not hinder the above-mentioned load collapse correction work (or a position where the load collapse correction work is most easily performed). This allows
The work to correct the collapse of the self-propelled truck 16 on the left side is accelerated.

Further, the operator can easily confirm the traveling direction, traveling time, traveling distance, and the selected one of the right and left self-propelled trolleys inputted by the remote controller 29, by looking at the display screen 31. Can be. Furthermore, in the above-mentioned operation patterns, it is necessary to simultaneously press two buttons (i.e., the shift button 37 and the selection button 38 or the shift button 37 and the selection button 39) at the same time. Can be prevented.

The above is a description of the case where the self-propelled carriage 16 is driven by manual operation. In the case of automatic operation, the changeover switch 35 is switched to the remote mode as shown in FIG. For example, when the load 3 is stored using the right-handed self-propelled carriage 16, the worker uses the forklift or the like to stop the load 3 to be stored at the parking stop position B for right-handed self-propelled. It is placed on the trolley 16, and then, the storage mode selection button 38 of the remote controller 29 is pressed, the right selection button 42b is pressed, the ten key switch 41 is pressed, the target shelf number is input, and the setting button 43 is pressed. As a result, the optical signal is transmitted from the optical transmitter 47 of the remote controller 29 and received by the optical receiver 48 of the operation panel 28. Based on the received optical signal, the crane controller 26a of the ground-side controller 26 The storage command data is created and transmitted to the crane-side control device 9 and the bogie controller 26b
Transmits a traveling signal to the rotation drive device 19.

As a result, the rotary drive unit 19 is operated, and the right-handed self-propelled vehicle 16 travels at high speed from the stop position B for loading and unloading to the stop position A for delivery, and then the vertical movement of the stacker crane 8 at the home position HP. As the table 12 moves up and down and the fork 13 moves back and forth, the load 3 is transferred from the self-propelled truck 16 at the transfer stop position A to the stacker crane 8. Thereafter, based on the storage command data, the stacker crane 8 travels and stores the load 3 into the load storage unit 4 corresponding to the target shelf number.

When unloading the load 3 using the right-handed self-propelled carriage 16, the operator presses the unloading mode selection button 39 of the remote controller 29 and presses the right selection button 42b.
A ten key switch 41 is pressed to input a target shelf number, and a setting button 43 is pressed. As a result, the optical signal is
9 is received by the light receiving device 48 of the operation panel 28 and received by the light receiving device 48 of the operation panel 28. Based on the received light signal, the crane control unit 26a of the ground-side control device 26 creates the exit command data. While transmitting to the crane-side control device 9, the bogie control unit 26 b transmits a traveling signal to the rotary drive device 19.

Thus, the stacker crane 8 takes out the load 3 from the load storage section 4 corresponding to the target shelf number, moves it to the home position HP, and rotates the rotary drive 1
9 operates, and the self-propelled carriage 16 on the right travels at high speed to the delivery stop position A. After that, the home position HP
As the elevator 12 of the stacker crane 8 moves up and down and the fork 13 moves back and forth, the load 3 is delivered from the stacker crane 8 to the self-propelled carriage 16 at the delivery stop position A. Thereafter, the right-handed self-propelled vehicle 16 travels at high speed from the delivery stop position A to the entrance / exit stop position B.
Then, using a forklift or the like, the worker transfers the load 3 to be unloaded from the right-handed self-propelled carriage 16 stopped at the loading / unloading stop position B.

When loading / unloading the load 3 using the left-handed self-propelled carriage 16, the left selection button 42a may be pressed. Note that the self-propelled carriage 16 travels at a high speed during automatic driving, but travels at a low speed during manual driving, thereby improving safety during manual driving.

In the above embodiment, a plurality of travel times are input by operating the buttons 37, 38 and 39 of the remote controller 29, but a travel distance may be input instead of the travel time. The running times are 1, 3, 9, and 27 seconds, and the corresponding running distances are 150 mm and 490 m.
m and 1490 mm, these values are merely examples, and are variously set according to the total length of the traveling route 15 of the traveling vehicle 16 and the like.

In the above embodiment, the buttons 37, 38, and 39 are used as the traveling operation means. However, the present invention is not limited to the button type, but may be a switch type or a touch panel type (contact screen type). .

In the above embodiment, the relationship between the running time R (seconds) and the number of operations N (times) of each of the buttons 37, 38, 39 is R = 3 ^{(N-1). (N-1)} X may be an integer of 2 or more, and is not limited to X = 3. For example, X = 2 or X = 4.

In the above embodiment, a plurality of travel times (or travel distances) are input by operating the buttons 37, 38, and 39 of the remote controller 29. The stop position of the carriage 16 may be indicated. In addition, stop positions are set in advance at a plurality of positions along the movement route 15, and the above-described buttons 37,
The self-propelled carriage 16 may be stopped at the stop position by the operations of 38 and 39. Further, as shown in FIG. 8, a display unit 53 (a liquid crystal display panel or the like) may be provided on the remote controller 29, and the stop position of the self-propelled trolley 16 may be displayed on the display unit 53. Further, the remote controller 29 is provided with a slide switch 54 for instructing the stop position of the self-propelled carriage 16, and the operator moves the slide switch 54 to specify the stop position.
The self-propelled carriage 16 may be configured to stop at the stop position specified by the slide switch 54 by transmitting an optical signal from the optical transmitter 47 by pressing the setting button 43.

[0065]

As described above, according to the first aspect of the present invention, the cargo handling means can be manually operated for a predetermined traveling distance or traveling time by remote control of the remote controller, so that the cargo handling means can be loaded. The vehicle can be moved to a position that does not hinder the collapse correction work (or a position where the load collapse correction work is most easily performed), and therefore, the load collapse correction work for the cargo handling means can be accelerated.

According to the second aspect of the present invention, during manual operation using the remote controller, the cargo handling means travels at a low speed.
Safety during manual operation is improved. According to the fifth invention,
An operation (inching operation) of minutely moving the handling means can be easily performed.

According to the sixth aspect of the present invention, it is possible to cause the cargo handling means to travel over the entire moving route at one time in one travel. For this reason, the operation of the remote controller can be reduced in comparison with the case where the cargo handling means is repeatedly run a plurality of times to travel the entire movement route.

According to the seventh aspect of the present invention, it is possible to prevent an operation error such as an operator inputting the traveling distance or traveling time of the cargo handling means by mistake. According to the eighth aspect, the operator can easily confirm the content input by the traveling operation means by visually checking the display means.

According to the ninth aspect of the present invention, the control device creates a travel command based on the travel signal transmitted from the transmission means of the remote controller, and transmits the created travel command to the cargo handling means. Thereby, the cargo handling means travels for a predetermined travel distance or travel time based on the travel command.

[Brief description of the drawings]

FIG. 1 is a perspective view on a home position side of shelf equipment according to an embodiment of the present invention.

FIG. 2 is a plan view of the shelf facility on the home position side.

FIG. 3 is a block diagram of a control system of the shelf facility.

FIG. 4 is a front view of the setting device of the shelf equipment, showing a state where a remote controller is fitted into a concave portion.

FIG. 5 is a front view of the setting device for the shelf equipment, showing a state where a remote controller is removed from a concave portion.

FIG. 6 is a front view of the remote control of the shelf equipment.

FIG. 7 is a flowchart showing the contents of control by the ground-side control device of the shelf facility.

FIG. 8 is a front view of a remote controller for shelf equipment according to another embodiment of the present invention.

FIG. 9 is a perspective view of a conventional shelf facility at a home position side.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Shelf equipment 2 Storage shelf 3 Load 8 Stacker crane (loading means) 15 Movement path 16 Self-propelled trolley (load handling means) 26 Ground side control device 29 Remote control (remote operation device) 31 Display screen (display means) 37 Shift button ( (Running operation means) 38 Entry mode selection button (running operation means) 39 Exit mode selection button (running operation means) 47 Optical transmission device (transmission means) A Delivery stop position (predetermined position)

Claims (9)

[Claims] 1. A shelf facility comprising a shelf for storing a load and a loading / unloading means for loading and unloading the load to and from the shelf, wherein the shelf travels along a movement path to transport and move the load outside the shelf. A loading / unloading means for transferring the load to / from the loading / unloading means at a predetermined position on the route; a travel operating means for inputting a travel distance or a travel time of the loading / unloading means by a predetermined operation; Transmission means for transmitting a travel signal according to the travel distance or travel time obtained, and causing the unloading means to travel according to the travel signal transmitted from the transmission means of the remote control apparatus. Shelf equipment characterized by having a configuration. 2. The shelf facility according to claim 1, wherein the cargo handling means travels at a low speed in response to a travel signal transmitted from a transmission means of the remote controller. 3. The traveling operation means inputs a plurality of traveling distances or traveling times according to a predetermined operation, and the cargo handling means travels and stops at the traveling distance or traveling time inputted by the traveling operation means. The shelf equipment according to claim 1 or 2, wherein: 4. The traveling operation means has a function of inputting a traveling time in accordance with the number of operations within a predetermined time, wherein the traveling time of the cargo handling means is R, and the number of operations of the traveling operation means within a predetermined time is N. And if an integer equal to or greater than 2 is X, R = X ^(N-1).
Shelf equipment according to any of the above. 5. The traveling operation means has a function of inputting a traveling time according to the number of operations within a predetermined time, and the cargo handling means comprises:
The shelf facility according to any one of claims 1 to 4, wherein the traveling device travels a minimum set distance by a single operation within a predetermined time of the traveling operation means. 6. The traveling operation means has a function of inputting a traveling time according to the number of operations within a predetermined time.
The vehicle travels over the entire travel route by a plurality of operations of the travel operation means within a predetermined time.
The shelf facility according to claim 5. 7. The travel operating means is provided in a plurality of remote controllers, and the travel distance or travel time of the cargo handling means is input by operating two travel operating means simultaneously. The shelf facility according to any one of claims 1 to 6. 8. The shelf facility according to claim 1, further comprising display means for displaying the contents inputted by the traveling operation means. 9. A control device for generating a travel command based on the travel signal transmitted from the transmission means of the remote controller and transmitting the generated travel command to the cargo handling means is provided. The shelf facility according to any one of claims 1 to 8.