JP2002293409A - Article storage facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article storage facility capable of always locating an article transfer device at a target position by a simple constitution, even if inclination happens in an elevating/lowering frame. SOLUTION: This facility is provided with a first distance measuring equipment 69 detecting an elevating/lowering height of an HP side end part of the elevating/lowering frame 5 and using light and second distance measuring equipment 70 detecting an elevating/lowering height of an OP side end part of the elevating/lowering frame 5 and using light. By the elevating/lowering height of the HP side end part and the elevating/lowering height of the OP side end part of the elevating/lowering frame 5 which are detected by the distance measuring equipment 69 and 70, inclination of the elevating/lowering frame 5 is detected. By detecting the elevating/lowering height by the distance measuring equipment 69 and 70 using light by non-contact in this constitution, a mechanical structure can be eliminated, and thereby parts wear and tear due to wear can be eliminated and quality can be improved by the simple constitution. Even if the elevating/lowering frame 5 is inclined due to an elongation difference of wires 30a and 30b, the article transfer device can be properly located at a target article transfer position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a storage shelf provided with a plurality of article storage sections in a state of being vertically and horizontally arranged in parallel, and transferring articles between the plurality of article storage sections and itself. The article transfer device is supported in the lateral direction of the storage shelf, and an elevating frame suspended and supported by the cords at the plurality of locations in the lateral direction and raised and lowered, and the cords are pulled and driven to raise and lower the elevating frames. The present invention relates to an article storage facility provided with a lifting drive means.

[0002]

2. Description of the Related Art In such an article storage facility, an article transfer device supported by an elevating frame is driven to move in a lateral direction of a storage shelf, and an elevating frame is driven up and down to move the article transferring apparatus to each item on the storage shelf. This is a facility that is located at the article transfer position with respect to the storage unit, and performs entry, storage, and exit of articles.

The lifting and lowering of the lifting frame is performed by pulling and driving the rope supporting and suspending both lateral (longitudinal) ends of the lifting frame by lifting and lowering means. The lift frame may be slightly tilted, for example, due to variations in stretch between the cords.

The inclination of the elevating frame is determined by positioning the article transfer device on the elevating frame at an article transfer position for each of the article storage units {the horizontal movement position and the elevating position (height position) of the article transfer device}. Sometimes, a stop positioning error occurs, and the article transfer device cannot be properly positioned at the target article transfer position, and the article transfer operation cannot be continued. Therefore, conventionally, a pair of detection plates are installed at a set height of each of a pair of lifting guides that guide the lifting frame up and down at both ends in the longitudinal direction, and the detection plates are provided at the both ends in the longitudinal direction. A pair of detection sensors for detecting the height of the lifting frame by detecting the inclination of the lifting frame from the difference in the timing at which each of the pair of detection sensors detects each of the detected plates when the lifting frame is driven up and down. There has been proposed a configuration for correcting the above.

[0005]

However, in the above-mentioned conventional configuration, not only the plate to be detected and the detection sensor for detecting the plate need to be accurately positioned and installed, but also the lifting frame is not driven up and down to the set height. And the inclination of the lifting frame cannot be detected, and there is a problem that the lifting control of the lifting frame is complicated.

Therefore, the present invention has a simple structure, and can always properly position the article transfer device at the target article transfer position even if the lifting frame is inclined, so that the article transfer operation can be continued. It is intended to provide an article storage facility.

[0007]

In order to achieve the above-mentioned object, according to the first aspect of the present invention, there is provided a storage shelf provided with a plurality of article storage portions in a state of being vertically and horizontally arranged in parallel. And an article transfer device for transferring articles between the article storage section and itself, which is movably supported in the storage shelf lateral direction, and which is suspended and supported by the cord-like body at a plurality of the lateral directions to ascend and descend. A lifting frame, and an article storage facility including lifting drive means for pulling and driving the rope-shaped body to raise and lower the lifting frame, wherein the lifting height of one side in the lateral direction of the lifting frame is A first distance measuring device that uses light to detect, and a second distance measuring device that uses light to detect the elevation height of the other side in the lateral direction of the elevating frame; An elevation height of one lateral side of the elevation frame detected by the apparatus; It is characterized in that for detecting the inclination of the elevating frame by a lifting height in the lateral direction other side of the detected lifting frame.

According to the above construction, the elevation height at one lateral side of the lifting frame and the elevation height at the other lateral side of the lifting frame are detected by the distance measuring device using light, respectively. The inclination of the lifting frame is detected based on the difference between the detected lifting heights on both sides. In addition, by detecting the lifting height without contact with a distance measuring device using light, it is possible to eliminate the mechanical structure, thereby eliminating parts wear such as wear, and improve the quality with a simple configuration Can be done. Further, even if the lifting frame is tilted due to the difference in extension between the plurality of cords, the article transfer device can be properly positioned at the target article transfer position.

According to a second aspect of the present invention, in the first aspect of the present invention, each of the distance measuring devices includes a reflector provided with a reflecting surface facing down on a side portion of a lifting frame. And a laser range finder for projecting a beam for distance measurement in a vertically upward direction from below and measuring a distance by reflected light from the reflector.

[0010] According to the above construction, the light beam is projected vertically from below to the reflector provided on the side of the lifting frame with the reflecting surface facing downward from the laser range finder, and reflected from the reflector. The distance is measured by light. Further, by providing the laser range finder below the lifting frame, the optical axis of the light beam can be aligned from below, and the optical axis can be easily adjusted (adjusted).

It is also possible to provide a laser range finder on the lifting frame and a reflector below to detect the height of the lifting frame. At this time, the data of the lifting height from the lifting frame which repeats lifting and lowering is also available. Must be routed to the means for driving the lifting frame up and down, which is structurally disadvantageous. By providing the reflector on the lifting frame and providing the laser range finder below (on the fixed side) as described above, the signal lines can be easily routed and the cost can be reduced.

According to a third aspect of the present invention, in accordance with the first or second aspect of the present invention, when the inclination of the elevating frame is larger than the first set value, a cord-like body adjustment request signal is output. When the inclination of the elevating frame is larger than a second set value which is larger than the first set value, the drive of the elevating drive unit is locked.

According to the above configuration, when the detected inclination of the lifting frame is larger than the first set value, a cord-like body adjustment request signal is output, and further, the inclination of the lifting frame is larger than the first set value. When the value is larger than the second set value, the drive of the elevation drive means is locked. Thus, it is possible to avoid the risk of collapse or dropping of the article, which may occur due to the inclination of the elevating frame when the elevating frame is raised or lowered (or when the article transfer device is laterally moved).

According to a fourth aspect of the present invention, there is provided the invention as set forth in any one of the first to third aspects, wherein the lifting and lowering frame of the article transfer device is moved from one or the other end in the lateral direction. A horizontal movement position detecting means for detecting a horizontal movement position, a vertical movement height of one side in a lateral direction of the vertical movement frame detected by the first distance measuring device, and a horizontal movement height of the vertical movement frame detected by the second distance measuring device; The vertical position of the article transfer position on the lifting frame is detected based on the vertical height of the other side in the direction and the horizontal position of the article transfer device detected by the horizontal position detecting means. The lifting / lowering drive means is driven so that the raised / lowered position of the article transfer position thus set coincides with the vertical position of the target article transfer apparatus.

According to the above configuration, the article transfer is performed by the lifting position on one side in the horizontal direction of the lifting frame, the lifting position on the other side in the horizontal direction of the lifting frame, and the horizontal movement position of the article transfer device. The vertical position of the apparatus is detected, and control is performed such that the detected position matches the vertical position of the target article transfer apparatus. Therefore, even if the elevating frame is tilted due to the difference in extension of the plurality of cords, the article transfer device can be properly positioned at the target article transfer position, and the article transfer operation can be continued. Thus, the work required for the maintenance of the equipment can be reduced as much as possible while preventing the reduction of the operation efficiency of the equipment as much as possible.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. [First Embodiment] FIG. 1 is a perspective view of an article storage facility according to a first embodiment of the present invention.

In this article storage facility, a container C as an example of an article is stored in one of the article storage sections 1 of the storage shelves 2A and 2B provided as a pair at predetermined intervals in front and rear. The container C can be stored, and the container C stored in the predetermined storage shelves 2A and 2B can be taken out. In the container C, for example, small parts are loaded by type.

The article storage section 1 includes a pair of storage shelves 2A and 2B.
In each case, a plurality of units are provided in a state of being arranged in the vertical and horizontal directions. In addition, a loading / unloading section 4 for the upper and lower two-stage containers C is provided using the article storage section 1 on the lower side of the storage shelf 2A located on the front side, and a pair of storage shelves 2A,
The main part of the transport device TR that transports the container C between each article storage unit 1 and the carry-in / out unit 4 is provided at the front and rear intermediate part of 2B.

Each of the two upper and lower loading / unloading sections 4 is an article loading / unloading section IN for loading / unloading the container C from outside.
, And a function of an article unloading section OT for unloading the container C from the storage shelves 2A and 2B to the outside. For example, the upper section is dedicated to loading the container C, and the lower section is the container C. It is possible to arbitrarily set whether to carry out or carry in an article, for example, by configuring the article carrying section on the upper side and the article carrying section on the lower side as the carry-in / out section 4 exclusively for carrying out the product.

The main part of the transporting device TR provided at the front and rear intermediate portion of the pair of storage shelves 2A and 2B is provided with an article transfer device 6 for transferring and transporting the container C between the respective article storage sections 1. ,
An elevating frame 5 that guides and supports the article transfer device 6 so as to be driven and movable over substantially the entire width of the storage shelves 2A and 2B. The elevating frame 5 is connected to an elevating drive unit UD that forms a part of the transport device TR. Thus, it is possible to freely move up and down over almost the entire vertical height of the storage shelves 2A and 2B.

A pair of storage shelves 2A and 2B are
And a plurality of horizontal frames 9 erected and connected at predetermined intervals in the vertical direction over each of the columns 8, and erected and connected along the front-rear direction at predetermined intervals to support the bottom portions at the left and right ends of the container C. It is composed of a large number of locking members 10 and a horizontal rod 10A that connects the upper ends of the columns 8. The locking member 10 has a substantially L-shaped cross section so as to prevent the lateral movement of the container C.

A roller conveyor R for carrying the container C in and out of the storage shelves 2A and 2B is provided in the carry-in / out section 4.
Although not shown, the roller conveyor RC is provided with a centering device for positioning the container C conveyed on the roller conveyor RC at the center in the conveyance lateral width direction.

Next, a description will be given of the lifting drive means UD for driving the lifting frame 5 up and down. As shown in FIG.
Are supported by hanging both ends in the longitudinal direction (lateral direction of the storage shelves 2A, 2B) with connecting wires 30a, 30b as cords. One connecting wire 30a is wound around guide drums 29a and 29b rotatable about the horizontal axis, and then connected to a winding drum 29c installed at the lower end of the storage shelf 2A, and the other connecting wire is connected to the winding drum 29c. Wire 30b
Is wound around a guide drum 29d rotatable about a horizontal axis, a guide drum 29e rotatable about a vertical axis, and further wound on a guide drum 29b, and then wound on a winding drum 29c in the same manner as the connection wire 30a. Are linked. Winding drum 2
9c is rotationally driven by the electric motor M1, and the electric motor M
By the drive of 1, the connecting wires 30a and 30b are pulled and driven, and the lifting frame 5 is raised and lowered. Hereinafter, in the lifting frame 5, the side on which the guide drums 29a and 29b are provided is HP, and this HP
On the other side, the opposite side in the longitudinal direction is referred to as OP.

As shown in FIG. 2, the ascending / descending frame 5 is provided with a guided groove 40a of a guided portion 40 which is mounted on a pair of upper and lower sides on each of the left and right ends thereof, and a guide plate supporting frame 41 shown in FIGS. In addition, as shown in FIG. 1 to FIG. 4, the guide member 41 is engaged and guided by a guide plate 41 a which is mounted so as to protrude toward the lifting frame 5, and its posture is regulated.

Next, a description will be given of a lateral movement operation structure of the article transfer device 6. As shown in FIGS. 3 to 5, the article transfer device 6 mainly includes a frame 48 that covers the front and rear sides and the upper side of the elevating frame 5 having a substantially H-shaped cross section, and is attached to an upper portion of the frame 48. Four running wheels 49 and a frame 48
One side 3 rotatably mounted around the vertical axis on the side of
A total of six guide wheels 50, two guide wheels 51 which are rotatably mounted on the side of the frame 48 around the horizontal axis and contact the lifting frame 5 from below, and which are mounted on the frame 48. And a fork mechanism 52.

The frame 48 is connected to both ends of a drive belt 54 wound around pulleys 53, 53 rotatably supported around the longitudinal axis at respective ends of the lifting frame 5. By rotating one pulley 53 by the electric motor M2, the drive belt 54 is operated to move in the longitudinal direction, and the article transfer device 6 is operated to move laterally between the HP and the OP. . Drive belt 54
Are arranged so as to be accommodated in the side space formed by the substantially H-shaped lifting / lowering frame 5, thereby saving space.

The fork mechanism 52 includes a pair of storage shelves 2A,
2B, two bar-shaped contact sensors 57 are provided on both left and right sides of the fork mechanism 52, respectively. When the container C is mounted on the article transfer device 6 by the fork mechanism 52, the container C
Is located at the standard mounting position where the center position in the lateral direction of the container C (coincides with the lateral direction of the storage shelves 2A and 2B) and the center position in the lateral direction of the fork mechanism 52 substantially coincide with each other.
Although it does not contact with any of the four contact sensors 57, the contact is shifted in the left or right direction from the standard mounting position, and by contacting this contact sensor 57, it is possible to detect that the container C has shifted by more than the setting.

Further, as a lateral movement position detecting means for specifying a lateral movement position (transport position or traveling position) of the article transfer device 6 in the elevating frame 5, it is interlockedly connected to a rotating shaft of an electric motor M2 for moving the drive belt 54. In this state, a rotary encoder 55 is provided, and a transmissive photoelectric sensor 58 partitioned by a shielding plate 56 provided at a horizontal movement origin position (HP position) of the lifting frame 5 is provided in the article transfer device 6. I have.

The lifting frame 5 by the lifting driving means UD
As a vertical position detecting means for specifying the vertical position of the object,
As means for specifying the inclination of the lifting frame 5 due to the difference between the elongations 0a and 30b, the lifting guide guide rail 41 is provided near the guided portion 40 at the end of the lifting frame 5 on the HP side.
A shielding plate 61 is provided at the descent origin position of the elevating frame 5 along a. A transmission-type photoelectric sensor 63 partitioned by the shielding plate 61 is provided at the HP side end of the elevating frame 5. A shield plate 64 is provided near the guided portion 40 at the OP side end of the lift frame 5 at the descent origin position of the lift frame 5 along the lift guide guide rail 41a. A transmission type photoelectric sensor 65 separated by a plate 64 is provided. Further, the ascending / descending height at the end of the ascending / descending frame 5 on the HP side (an example of one lateral side) is detected.
A first distance measuring device 69 using light and a second distance measuring device 70 using light for detecting the elevation height of the OP-side end (an example of the other side in the lateral direction) of the lifting frame 5 are provided. Provided.

The first distance measuring device 69 is installed near the guided portion 40 at the end of the lifting frame 5 on the HP side and at a position lower than the shielding plate 61 provided at the descent origin position. Projecting the beam light BE for distance measurement vertically upward toward
First laser distance meter 71 for measuring the distance by the reflected light
And a first reflector 72 disposed vertically above the optical axis of the beam light BE projected from the laser range finder 71, with the reflection surface facing downward at the end (side) of the lifting frame 5 on the HP side. It is composed of

Further, the second distance measuring device 70
It is installed near the guided part 40 at the side end and at a position lower than the shielding plate 64 provided at the descent origin position, and projects the distance measuring beam light BE vertically upward toward the lifting frame 5, A second laser range finder 73 for measuring the distance based on the reflected light, and a beam BE projected from the laser range finder 73
And a second reflector 74 installed on the OP side end (side portion) of the lifting frame 5 with the reflecting surface facing downward, vertically above the optical axis.

The rotary encoder 55, the first laser range finder 71, the second laser range finder 73, and the photoelectric sensor 5
The detection signals 8, 63 and 65 are input to the controller CO as shown in FIG.
Are connected to the electric motor M1 and the electric motor M2, and the controller CO obtains the elevation position (elevation height position) of the article transfer position 6 where the container C is transferred and the horizontal movement position of the article transfer device 6. The electric motor is moved so that the determined vertical position of the article transfer position 6 and the horizontal movement position of the article transfer apparatus 6 coincide with the target article transfer position (the vertical position and the horizontal movement position of the article transfer apparatus). By driving M1 and the electric motor M2, the vertical position of the article transfer position 6 and the horizontal movement position of the article transfer device 6 are controlled.

Article transfer position 6 by controller CO
The control of the lifting position and the lateral movement position of the article transfer device 6 will be described based on the control block in FIG. In FIG. 6, 81
Is a lateral movement position detecting section (transverse position detecting means) of the article transfer device 6 which is constituted by a counter which counts output pulses of the rotary encoder 55 and is reset by a detection signal of the photoelectric sensor 58; Based on the detection information 58, the horizontal origin position of the article transfer device 6 is recognized, and based on the detection information of the rotary encoder 55, the relative position with respect to the reference horizontal origin position is recognized. The lateral movement position L of the device 6 is specified.

Reference numeral 82 denotes a vertical movement of the end of the lifting frame HP from the lower limit position on the HP side, based on the detection signal of the photoelectric sensor 63 and the distance to the reflector 72 in the vertical direction measured by the first laser range finder 71. An HP-side elevation position detection unit that obtains a height, recognizes the descent origin position of the HP-side elevation frame 5 based on the detection information of the photoelectric sensor 63, and detects the reference HP side based on the detection information of the first laser range finder 71. Recognizing the relative position with respect to the descent origin position, the elevating position Q of the elevating frame 5 at the end on the HP side is specified.

Reference numeral 83 denotes a vertical movement of the end of the lifting frame OP from the OP lower limit position based on the distance between the detection signal of the photoelectric sensor 65 and the vertical reflector 74 measured by the second laser range finder 73. An OP side elevating position detecting unit for obtaining the height, which recognizes the descent origin position of the OP side elevating frame 5 based on the detection information of the photoelectric sensor 65 and the reference OP side based on the detection information of the second laser range finder 73. By recognizing the position relative to the descent origin position, the elevating position R of the elevating frame 5 at the OP side end is specified.

The horizontal movement position L of the specified article transfer device 6, the elevating position Q of the HP-side elevating frame 5, the elevating position R of the OP-side elevating frame 5, and the total length of the article transferring position 6 known in advance. The moving position W is provided with an elevating / lowering position detecting section 84 for detecting the elevating position F of the article transferring position 6 shown in FIGS. 7 and 8.

The elevation position detector 84 calculates a correction value X of the article transfer device 6 from the elevation position Q of the HP-side elevation frame 5 with the elevation position Q of the HP-side elevation frame 5 as the origin (Equation 1). ,
Subsequently, the correction value X is added to the elevating position Q of the HP side elevating frame 5 to obtain the elevating position F of the article transfer position 6 (Equation 2). Note that the vertical position R of the OP-side vertical frame 5 may be set as the origin.

X = (R−Q) × (L / W) (1) F = Q + X (2) The lifting position Q of the HP-side lifting frame 5 and the OP-side lifting frame 5
And the inclination of the lifting frame 5 is determined from the difference between the elevation positions Q and R and the total travel distance W of the article transfer position 6 known in advance, and the inclination of the lifting frame 5 is the first inclination. A first alarm signal (a cord adjustment request signal) when it is equal to or greater than a set value, that is, when the inclination of the elevating frame 5 is equal to or greater than the first set value.
The control lock signal and the second alarm are output when the inclination of the lifting frame 5 is equal to or greater than a second setting value greater than the first setting value, that is, when the inclination of the lifting frame 5 is greater than the second setting value. Slope detector 85 that outputs a signal (abnormal stop signal)
Is provided.

A drive signal output to the electric motor M1 from an elevation control unit 89, which will be described later, is input to the inclination detection unit 85. When the drive signal is not output, that is, when the inclination detection unit 85 When the ascending / descending position Q or the ascending / descending position R changes while the frame 5 is stopped, it is determined that the wires 30a and 30b have suddenly stretched or partially broken, or that the electric motor M1 has an abnormality. A third alarm signal (wire motor abnormal signal) is output. At this time, a large inclination equal to or more than the second set value occurs in the elevating frame 5, and the control lock signal and the second alarm signal (abnormal stop signal) are also output.

Reference numeral 86 denotes a target position for transporting the articles C in the container C to be transferred, ie, the target lateral movement position (target transport position) S of the article transfer device 6 and the articles specified by the lateral movement position detecting section 81. This is a subtractor for calculating a deviation from the lateral movement position L of the transfer device 6, and the deviation e1 calculated by the subtractor 86.
Is input to the lateral movement control unit 87 of the article transfer device 6, where the electric motor M
2 is driven. That is, the electric motor M2 is driven while feeding back the lateral movement position L of the article transfer device 6 to the target position S, thereby controlling the lateral movement position of the article transfer position 6. When a control lock signal is input from the inclination detecting section 85, the lateral movement control is interrupted.

Reference numeral 88 denotes an article transfer position of the container C to be transferred, ie, a target vertical position V of the article transfer device 6 and a vertical position F of the article transfer position 6 obtained by the above-mentioned vertical position detector 84. The deviation e2 calculated by the subtractor 88 is input to the lifting control unit 89 of the article transfer device 6, and the lifting control unit 89 controls the electric motor M1 by the deviation e2. (Elevation drive means) is driven. That is, by raising and lowering the lifting frame 5 by driving the electric motor M1 while feeding back the lifting position F of the article transfer position 6 to the lifting target position V, the lifting position of the article transfer position 6 is controlled. ing. The detection signals of the photoelectric sensors 63 and 65 are input to the elevating control unit 89. When at least one of the detection signals is input, the lowering of the elevating frame 5 is locked, and the tilt detecting unit 85 controls the elevating control unit 89. When the lock signal is input, the lifting control is interrupted.

The operation of loading and unloading the container C into and from the article storage device with the above configuration will be described. These operations are controlled by the controller CO. When the container C is loaded into the upper or lower loading / unloading section 4, the electric motors M1 and M2 are controlled and driven to provide the lifting frame 5 and the article transfer device 6 to the article transfer device 6. The center position of the fork mechanism 52 in the width direction of the storage shelf substantially matches the center position of the carry-in / out section 4 in the width direction of the storage shelf, and the upper surface of the fork mechanism 52 is slightly lower than the lower surface of the container C of the carry-in / out section 4. Move to the side position. That is, the horizontal movement target position S is set at the center position of the loading / unloading section 4 in the width direction of the storage shelf, and the elevation target position V is set at the height of the lower surface of the container C of the loading / unloading section 4. This position is a set article transfer position when the container C of the carry-in / out section 4 is transferred to the article transfer device 6. The same applies when the container C of the article storage unit 1 is transferred to the article transfer device 6.

Next, the fork mechanism 52 is protruded to a position below the container C of the loading / unloading section 4, and then the elevating frame 5 is raised by the electric motor M1 by increasing the elevating target position V. The container C is placed on the upper surface of the container 52. When the fork mechanism 52 with the container C mounted thereon is retracted toward the article transfer device 6, the container C is mounted on the article transfer device 6. The same operation as described above is performed when the container C is transferred from the article storage unit 1 to the article transfer device 6.

With the container C mounted on the fork mechanism 52, the lifting frame 5 and the article transfer device 6 are moved to the empty article storage unit 1. At this time, the center position of the fork mechanism 52 provided in the article transfer device 6 in the width direction of the storage shelf substantially coincides with the center position of the article storage unit 1 in the width direction of the storage shelf, and the top surface of the fork mechanism 52 is The height is set to be slightly higher than the upper surface of the locking member 10 of the storage section 1. That is, the lateral movement target position S is set to
Is set at the center position in the width direction of the storage shelf, and the elevation target position V is set at a height slightly higher than the upper surface of the locking member 10 of the article storage unit 1. This position is a set article transfer position when the container C of the article transfer device 6 is transferred to the article storage unit 1, and the container C of the article transfer apparatus 6 is transferred to the loading / unloading unit 4.
The same applies to the case where the contents are transferred.

In this state, the container C is locked by projecting the fork mechanism 52 toward the article storage unit 1 to position the container C above the locking member 10 and further reducing the vertical movement target position V. After lowering the elevating frame 5 until it is placed on the member 10, the fork mechanism 52
Is retracted to the article transfer device 6 side.

When the container C stored in the storage shelves 2A, 2B is carried out of the carry-in / out section 4, the operation substantially reverse to the above-described carrying-in operation is performed. First, the elevating frame 5 and the article storage section 6 are moved to the article storage section 1 storing the container C instructed to be unloaded, and the container C is mounted on the article transfer device 6 in the same manner as described above. . Then, the loaded container C is transported to the loading / unloading section 4, and is transported from the loading / unloading section 4 to the outside by the roller conveyor RC.

As described above, according to the operation procedure,
By setting the target lateral movement position S and the target vertical movement position V, it is possible to carry in and out and store (scoop and wholesale) the container C.

As described above, by controlling the vertical position of the article transfer device 6 by obtaining the vertical position F of the article transfer device 6 in consideration of the inclination of the lifting member 5, the vertical movement due to the difference in extension of the wires 30a and 30b. Even if the frame 5 is tilted, the article transfer device 6 can be properly positioned at the target article transfer position, and the work of scooping and unloading the container C by the fork mechanism 52 can be performed accurately at all times. It is possible to eliminate the possibility that the equipment cannot be operated due to the poor scooping and unloading of the container C, and it is possible to reduce the work required for the maintenance of the equipment as much as possible while preventing a decrease in the operation efficiency of the equipment as much as possible.

Further, since the inclination of the elevating body 5 is actually detected, it is not necessary to previously learn the lateral movement position of the article transfer device 5 and the elongation of the wires 30a and 30b which change depending on the load of the container C. The period from installation on site to actual operation can be shortened, and the wires 30a, 3
Even if there is a difference in the extension of 0b, there is no problem, and the elevation position of the article transfer device 6 can be accurately controlled.

Further, since the elevation height is detected in a non-contact manner by the distance measuring devices 69 and 70 using light, a mechanical structure can be eliminated, and thus wear of parts such as wear can be eliminated. The quality can be improved with a simple configuration.

By providing the laser rangefinders 71 and 73 below the elevator frame 5 (on the floor side), an operator can perform optical axis alignment of the beam light BE from below during maintenance. Adjustment can be easily performed in a short time. In addition, the laser range finder 71, 73 is provided in the lifting frame 5,
It is also possible to detect the height of the lifting frame 5 by providing reflectors 72 and 74 below, but at this time, a signal for sending detection information (data) of the lifting height from the lifting frame 5 that repeats raising and lowering to the controller CO. The line has to be routed from the lifting frame 5, which is structurally disadvantageous. By providing the reflectors 72 and 74 on the elevating frame 5 and the laser rangefinders 71 and 73 below (on the fixed side) as described above, the signal lines can be easily routed and cost can be reduced. Can be.

When the detected inclination of the lifting frame 5 is equal to or greater than the first set value, the cord-like body adjustment request signal is output as an alarm signal, so that the worker can use the wires 30a and 30b.
Can be adjusted to eliminate the inclination of the lifting frame 5.

When the detected inclination of the elevating frame 5 is equal to or greater than the second set value, the driving of the lateral movement control unit 87 and the elevating control unit 89 is locked, so that the elevating frame 5 is moved up or down or articles are transferred. It is possible to avoid the possibility that the container C collapses or falls, which may occur due to the inclination of the elevating frame 5 when the device 6 moves sideways.

Further, when the lifting frame 5 is stopped, the wire 3 is changed due to the change of the lifting position Q or the lifting position R.
It is determined that a sudden extension or partial disconnection has occurred in the motors 0a and 30b, or that an abnormality has occurred in the electric motor M1, and a third alarm signal is output. Inspection of the motor M1 can be performed, and occurrence of an abnormality such as dropping of the lifting frame 5 can be prevented. [Second Embodiment] FIG. 9 is a perspective view of an article storage facility according to a second embodiment of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 9, the article storage facility FS is provided with a stacker crane (an example of a moving body) SC that automatically travels along a work passage B formed between the storage shelves 2A and 2B.

A traveling rail 11 is installed in the work passage B along the lateral direction (longitudinal direction) of the storage shelves 2A, 2B. A controller E1 for inputting a command to the stacker crane SC and a pair of loading tables E2 are provided with the travel rail 11 interposed therebetween. The stacker crane SC travels along the travel rail 11 based on the loading / unloading command,
It is configured as a loading / unloading carrier for loading and unloading containers C between the loading table E2 and the article storage unit 1.

As shown in FIG. 10, the stacker crane SC comprises a pair of front and rear lifting and lowering frames 5 and a pair of front and rear lifting and lowering guides which support the lifting and lowering frames 5 on a traveling vehicle body 12 traveling along a traveling rail 11. A mast 14 and an upper frame 17 for connecting the pair of elevating masts 14 are provided. The elevating frame 5 has a plurality of (two in the figure) fork mechanisms for transferring articles in the lateral direction of the storage shelves 2A and 2B. 52a, 52b
Are fixed (the lateral movement position is fixed). A pair of left and right upper position regulating rollers (not shown) sandwiching the guide rail 16 from the left and right in the upper frame 17 and rolling around the vertical axis along the side surface thereof as the stacker crane SC travels. Are provided at the front and rear ends in the traveling direction.

The traveling rail 1 is mounted on the traveling vehicle body 12.
1, two front and rear wheels 18 that can run on the
1 and a pair of lower position regulating rotors 19 provided at a pair of right and left sides which are engaged with the traveling rail 1 so as to regulate a position in the vehicle width direction with respect to the vehicle 1 and a traveling electric motor which is a so-called inverter type motor. A traveling drive device 20 including M3 is provided.

One of the two wheels 18 at one end in the vehicle longitudinal direction is configured as a propulsion drive wheel 18a driven by the traveling drive device 20 (electric motor M3), and is disposed in the vehicle longitudinal direction. The other wheel is configured as a free-wheeling driven wheel 18b, and the stacker crane SC is driven by the driving drive device 20 while being prevented from falling down by the upper position regulating roller provided on the upper frame 17. It is configured to be able to run along the rail 11 by itself.

The wires 30a and 30b for suspending and supporting the elevating frame 5 are similar to those of the first embodiment.
Is connected to a take-up drum 29c provided at one end of the wire 30.
The lifting frame 5 is configured to be driven up and down by the feeding and winding operations of a and 30b.

As in the first embodiment, the photoelectric sensor 63 and the photoelectric sensor 63 are attached to both ends (both sides) of the lift frame 5 as in the first embodiment.
65 and reflectors 72 and 74 are provided.
Above, the laser range finder 71, facing the reflection plates 72, 74,
73 is provided and input to the controller CO of the lifting frame 5.

With the above configuration, the stacker crane SC
The lifting frame 5 may slightly tilt due to the load of the container C loaded on the two fork mechanisms 52a and 52b. Two fork positions 52 by controller CO
The control of the elevating position of a and 52b will be described based on the control block of FIG.

An HP-side elevating position detecting unit 82 of the elevating frame 5,
An OP-side vertical position detecting unit 83 of the vertical frame 5 is provided.
The fork position 52a, 52b shown in FIG. 12, the lifting position Fa, of the fork position 52a, 52b, based on the lifting position Q of the side lifting frame 5, the lifting position R of the OP-side lifting frame 5, and the total lateral length W of the lifting frame 5 known in advance. Elevating position detectors 84a, 84 for detecting Fb
4b is provided.

Each of the ascending / descending position detectors 84a and 84b sets the correction value X of the article transfer device 6 from the ascending / descending position Q of the HP side ascending / descending frame 5 with the ascending / descending position Q of the HP side ascending / descending frame 5 as an origin.
a, Xb are obtained (Equation 3), and then the correction values Xa, Xb
Is added to the ascending / descending position Q of the HP-side ascending / descending frame 5 to obtain the ascending / descending positions Fa and Fb of the fork positions 52a and 52b (Equation 4). In Equation 3, La and Lb are HP-side lifting frames 5
Each fork mechanism 52a, 52 with the vertical position Q of the
This is the center position (fixed) of b. Note that the vertical position R of the OP-side vertical frame 5 may be set as the origin.

Xa = (RQ) × (La / W) Xb = (RQ) × (Lb / W) (3) Fa = Q + Xa Fb = Q + Xb (4) Each of these elevation position detecting sections 84a , 84b, the lifting and lowering positions Fa, F of the respective fork mechanisms 52a, 52b.
b is a target fork mechanism for transferring the container C,
In the case of the fork mechanism 52a, the elevating position Fa is selected, and in the case of the fork mechanism 52b, the elevating position Fb is selected and input to the subtractor 88.

Further, an inclination detecting section 85 and an elevating control section 89 are provided. The elevation control unit 89 includes the photoelectric sensor 6
When the detection signals of 3, 65 are input, the lowering of the elevating frame 5 is locked when the detection signals are input, and the control is interrupted when the control lock signal is input from the inclination detector 85.

The operation of the stacker crane SC for raising and lowering control will be described. Fork mechanisms 52a, 52b
Is selected, the selected fork mechanism 52 is selected.
The traveling drive unit 20 drives the stacker crane SC to reach the transfer position of the container C so that the center of (52a or 52b) is located at the center of the article storage unit 1 or the receiving table E2 where the container C is transferred. Then, lifting control of the lifting frame 5 is executed. The “scooping operation” elevating target position V is set to the height of the lower surface of the container C to be transferred, and is controlled to this height. This position is the set article transfer position when the container C on the article storage unit 1 or the receiving table E2 is transferred to the fork mechanism 52.

When the fork mechanism 52 is positioned at the height of the lower surface of the container C, the fork mechanism 52 is protruded to a position below the container C, and then the lifting target position V is increased, so that the lifting frame is moved by the electric motor M1. 5 is raised to a state where the container C is placed on the upper surface of the fork mechanism 52. When the fork mechanism 52 with the container C mounted thereon is retracted toward the lifting frame 5, the container C is mounted on the lifting frame 5. "Whole-sales work" The elevation target position V is set to a height slightly higher than the locking member 10 of the article storage unit 1 or the upper surface of the loading table E2, and the height is controlled to this height. This position is the set article transfer position when the container C is transferred to the article storage unit 1 or the receiving table E2.

When the fork mechanism 52 is located at a height slightly higher than the upper surface of the locking member 10 or the loading tray E2, in this state, the fork mechanism 52 is protruded toward the article storage unit 1 or the loading tray E2, and The container C is positioned above the locking member 10 or the loading tray E2, and the lifting target position V is further reduced, so that the elevating frame moves until the container C is placed on the locking member 10 or the loading tray E2. 5
Is lowered, the fork mechanism 52 is retracted to the article transfer device 6 side.

As described above, according to the operation procedure,
By driving the traveling drive device 20 and moving the traveling drive device 20 to the article storage unit 1 or the receiving table E2 of the transfer destination and setting the elevating target position V, the scooping operation and the unloading operation of the container C can be performed.

As described above, the ascending and descending positions Fa and Fb of the fork mechanisms 52a and 52b (fixed on the ascending and descending frame 5) in consideration of the inclination of the elevating body 5 are obtained, and the ascending and descending positions of the fork mechanisms 52a and 52b are controlled. , Wires 30a, 30b
Of the fork mechanism 52 even when the lift frame 5 is tilted due to
a and 52b can be appropriately positioned at the target article transfer position, and the scooping and unloading operations of the container C by the fork mechanisms 52a and 52b can always be accurately performed. Accordingly, the risk that the equipment cannot be operated can be eliminated, and the work required for the maintenance of the equipment can be reduced as much as possible while preventing the reduction in the operating efficiency of the equipment as much as possible.

Further, by detecting the elevation height in a non-contact manner by the distance measuring devices 69 and 70 using light, it is possible to eliminate a mechanical structure, thereby eliminating wear of parts and the like, and simplifying the operation. The quality can be improved with a simple configuration.

Further, the laser rangefinders 71 and 73 are connected to the traveling vehicle body 1.
2 above {below the lifting frame 5 (floor side)}
At the time of maintenance, the operator can adjust the optical axis of the beam light BE from below, and this optical axis alignment (adjustment) can be performed.
Can be easily performed in a short time.

In the first and second embodiments, the lifting frame 5
When the inclination becomes large, an alarm signal is output. However, an alarm lamp functioning as a signal output unit may be turned on to request the operator to perform an operation for adjusting the wires 30a and 30b.

In the first and second embodiments, the two distance measuring devices 69 and 70 provided at both ends of the elevating body 5 are used in actual operation, but are interlocked with the rotating shaft of the winding drum 29c. A rotary encoder is provided in a connected state, and the lowering origin position of the lifting frame 5 is recognized based on the detection information of the photoelectric sensor 65, and the relative position with respect to the reference lowering origin position is recognized based on the detection information of the rotary encoder. Then, the vertical position of the vertical frame 5 is specified, and the horizontal movement position of the article transfer device 5 and the load of the container C are changed for each vertical position of the vertical frame 5 during the testing of the equipment. Distance measuring device 6
The inclination of the elevating body 5 is determined and learned by using 9, 70, and in actual operation, the elevating position is controlled by detection information of a rotary encoder in a state of being linked to the rotating shaft of the winding drum 29c. It is also possible.

In the first and second embodiments, the take-up drum 29c is driven to rotate by the electric motor M1.
Although the wires 30a and 30b for suspending and supporting the elevating frame 5 are driven by pulling, the wires 30a and 30b may be driven by separate electric motors.

In the first and second embodiments, the lifting frame 5 is suspended and supported by the wires 30a and 30b as a cord. However, the lifting frame 5 is suspended and supported by a belt. The configuration of the cord can be variously changed.
Further, the lifting frame 5 is suspended and supported by the two wires 30a and 30b, but may be configured to be suspended and supported by three or more wires.

In the first and second embodiments, the distance measuring device using light is used as the elevating position detecting means. However, the respective elevating positions at both ends of the elevating frame 5 can be detected in a non-contact manner. Any detection means can be used instead. For example, an ultrasonic sensor can be used.

[0079]

As described above, according to the present invention, it is possible to eliminate a mechanical structure by detecting a lifting height in a non-contact manner by a distance measuring device using light, thereby eliminating parts such as wear. Wear can be eliminated, and the quality can be improved with a simple configuration.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of an article storage facility according to Embodiment 1 of the present invention.

FIG. 2 is a perspective view showing a support structure of a lifting frame of the article storage facility.

FIG. 3 is a front view of a lifting frame of the article storage facility.

FIG. 4 is a plan view of a lifting frame of the article storage facility.

FIG. 5 is a side view of the article transfer device of the article storage facility.

FIG. 6 is a block diagram of main parts of a controller of the article storage facility.

FIG. 7 is an operation explanatory view of the article storage facility.

FIG. 8 is an operation explanatory view of the article storage facility.

FIG. 9 is an overall perspective view of an article storage facility according to Embodiment 2 of the present invention.

FIG. 10 is a side view of a main part of a stacker crane of the article storage facility.

FIG. 11 is a block diagram of a main part of a controller of the article storage facility.

FIG. 12 is an operation explanatory view of the article storage facility.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Article storage part 2A, 2B storage shelf 4 Carry-in / out part 5 Elevating frame 6 Article transfer apparatus 30a, 30b Wire (cord-like body) 52, 52a, 52b Fork mechanism 55 Rotary encoder (lateral movement position detection means) 69, 70 measurement Distance measuring device 71, 73 Laser distance meter 72, 74 Reflector 58, 63, 65 Photoelectric sensor 81, 82, 83 Detector 84 Elevation position detector 85 Inclination detector M1 Electric motor (elevation drive unit) M2 Electric motor (horizontal) Dynamic driving means) CO controller (control means) TR transport device UD lifting / lowering driving means

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F022 EE09 FF01 JJ09 JJ11 JJ19 KK01 LL33 MM70 NN05 QQ01 QQ03 QQ12 QQ13 3F333 AA04 AB08 FD03 FD07 FE03 FE05 FE09

Claims (4)

[Claims] A storage shelf provided with a plurality of article storage sections arranged in a vertical and horizontal direction, and an article transfer apparatus for transferring articles between the article storage section and the storage section. An elevating frame that is movably supported in the lateral direction, is suspended and supported by the cord-like body at the plurality of locations in the lateral direction, and is lifted and lowered, and an elevating drive unit that pulls the cord-like body and moves the elevating frame up and down. An article storage facility, comprising: a first distance measuring device using light, which detects an elevation height of one side in the lateral direction of the elevating frame, and the other side in the lateral direction of the elevating frame. A second distance measuring device using light, which detects the height of the vertical movement of the frame, the vertical height of one side in the lateral direction of the lifting frame detected by the first distance measuring device, and the second distance measuring device The inclination of the lifting frame is detected based on the lifting height of the other side in the horizontal direction of the lifting frame detected at The article storage facility which is characterized the door. 2. A distance measuring device, comprising: a reflector disposed on a side portion of a lifting frame with a reflecting surface facing downward; and projecting a light beam for distance measurement from below vertically upward, and 2. The article storage facility according to claim 1, further comprising a laser range finder for measuring a distance based on light reflected from the article. 3. When the inclination of the elevating frame is larger than the first set value, a cord-like body adjustment request signal is output. When the inclination of the elevating frame is larger than a second set value larger than the first set value, The article storage facility according to claim 1 or 2, wherein the drive of the lifting drive means is locked. 4. A horizontal movement position detecting means for detecting a horizontal movement position from one end or the other end in a horizontal direction of the lifting frame of the article transfer device, wherein the horizontal distance of the lifting frame detected by the first distance measuring device is provided. The height of one side in the direction, the height of the other side in the horizontal direction of the lifting frame detected by the second distance measuring device, and the horizontal movement of the article transfer device detected by the horizontal position detecting means. Lifting / lowering drive means for detecting a vertical position of the article transfer position on the vertical frame based on the position, and matching the detected vertical position of the article transfer position with a vertical position of the target article transfer apparatus; The article storage facility according to any one of claims 1 to 3, wherein the article storage facility is driven.