JP2005272107A - Article carrying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article carrying device capable of simplifying work for abnormal stopping when abnormally stopping a moving body. <P>SOLUTION: This article carrying device is provided with the moving body having a transfer device for transferring an article, a placing state detecting means for detecting a placing state of the article placed on the transfer device, and a control means for controlling operation of the transfer device and the movement of the moving body; and is constituted so that the control means abnormally stops the moving body when discriminated as abnormal by discriminating whether or not the placing state of the article is abnormal on the basis of detecting information of the placing state detecting means in a moving state of the moving body. The device is constituted so that the control means resumes the movement of the moving body when discriminated as normal by discriminating whether or not the placing state of the article is abnormal on the basis of the detecting information of the placing state detecting means in a state of abnormally stopping the moving body. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention includes a moving body including a transfer device for transferring an article, a placement state detection unit that detects a placement state of an article placed on the transfer device, an operation of the transfer device, and Control means for controlling the movement of the moving body is provided,
When the control means determines in the moving state of the moving body whether or not the placement state of the article is abnormal based on the detection information of the placement state detection means, and determines that it is abnormal The present invention relates to an article conveying apparatus configured to abnormally stop the moving body.

  In the article transport apparatus as described above, the control unit moves the moving body to the transfer position corresponding to the transfer target location, and then operates the transfer device to transfer the article to the transfer target location. It is intended to be placed.

As such an article transport device, it is used in an article storage facility or the like provided with a storage shelf having a plurality of article storage units, and the movable body travels freely along a travel path along a pair of storage shelves. There is a configuration in which a transfer device is provided in a lifting platform that is movable up and down with respect to a traveling cart, and is configured to transfer an article between the article storage unit and itself. For example, see Patent Document 1.)
In the conventional article transport apparatus, for example, as the loading state detection means, a photoelectric detection sensor that detects whether or not an article protrudes outside the moving body is provided, and the control means moves the moving body. In the state, it is determined whether or not the placement state of the article is abnormal based on the detection information of the placement state detection means, and if it is determined to be abnormal, the moving body is abnormally stopped, The occurrence of problems such as dropping of articles while the moving body is moving is prevented, and the moving body is maintained in an abnormally stopped state.

JP 2003-246413 A

In the above-described conventional article transporting apparatus, when the moving body is abnormally stopped, the operator simply goes to the abnormally stopped moving body because the abnormally stopped state is merely maintained. Then, a confirmation operation for confirming the placement state of the article is performed, and if necessary, a correction operation for correcting the placement state of the article to be normal is performed, and then the movement of the moving body is resumed.
Therefore, when the moving body is stopped, unless the confirmation work is performed, the movement of the moving body cannot be resumed, and the work for the abnormal stop is troublesome.

For example, in the moving state of the moving body, for example, when the slip attached to the article protrudes outside the moving body, the control means determines that the mounting state of the article is abnormal and the moving body May be stopped abnormally.
Even in such a case, in order to resume the movement of the moving body, the confirmation work by the operator is performed, and the work for the abnormal stop becomes troublesome.

  The present invention has been made paying attention to such points, and an object of the present invention is to provide an article transport apparatus capable of simplifying the work for the abnormal stop when the moving body is abnormally stopped. It is in.

In order to achieve this object, a first characteristic configuration of an article transporting apparatus according to the present invention includes a moving body including a transfer device for transferring an article, and placement of an article placed on the transfer apparatus. A loading state detection means for detecting a state, and a control means for controlling the operation of the transfer device and the movement of the moving body;
When the control means determines in the moving state of the moving body whether or not the placement state of the article is abnormal based on the detection information of the placement state detection means, and determines that it is abnormal In the article conveying apparatus configured to abnormally stop the moving body,
In a state where the control unit abnormally stops the moving body, it is determined whether the placement state of the article is abnormal based on the detection information of the placement state detection unit, and is normal. If it is determined, the moving body is configured to resume movement.

That is, when the control unit determines that the placement state of the article is normal based on the detection information of the placement state detection unit in a state where the mobile body is abnormally stopped, the movement of the mobile body can be resumed. Therefore, when the moving body is abnormally stopped, the movement of the moving body can be resumed only by the control means determining whether or not the article mounting state is normal.
Therefore, the movement of the moving body can be resumed without the operator having to go to the moving body that has stopped abnormally and confirming the placement state of the article. In such a case, it has become possible to provide an article transport device that can simplify the work for the abnormal stop.

A second characteristic configuration of the article transporting apparatus according to the present invention is configured such that the transfer device includes a mounting state changing unit capable of changing a mounting state of the article.
When the control unit determines that the placement state of the article is abnormal in a state where the moving body is abnormally stopped, the control unit is configured to correct the placement state of the article to be normal. It is the point which is comprised so that the previous description state change means may be operated based on the detection information of the description position detection means.

That is, if the control means determines that the placement state of the article is abnormal not only in the moving state of the moving body but also in the state where the moving body is abnormally stopped, based on the detection information of the placing state detection means. Since the placement state changing means can be operated to correct the placement state of the article so that it is normal, the movement of the moving body can be resumed when the correction is completed.
Accordingly, the movement of the moving body can be resumed without the operator performing a correction operation to correct the placement state of the article so that the work for the abnormal stop is further simplified. Will be able to.

  A third characteristic configuration of the article transporting apparatus according to the present invention is provided with a traveling carriage capable of traveling on a traveling path along a longitudinal direction of a storage shelf configured by arranging a plurality of article storage sections vertically and horizontally as the moving body, The transfer device is provided in a lifting platform that is movable up and down with respect to the traveling carriage, and is configured to transfer an article between the article storage unit and itself.

That is, since the traveling carriage as a moving body travels on the traveling route, and the lifting platform is moved up and down relative to the traveling carriage, the article can be transferred to the article storage section by the transfer device. A moving body can be adapted to a storage facility or the like.
When the control means determines that the article mounting state is abnormal in the traveling state of the traveling carriage, the controller stops the traveling carriage abnormally, and the article placement state is normal in the abnormally stopped state. Since the traveling of the traveling carriage can be resumed, the operation of the traveling carriage can be simplified while preventing the occurrence of problems such as the article contacting the storage shelf in the traveling state of the traveling carriage. And useful article storage facilities can be provided.

An example in which the article conveying apparatus according to the present invention is applied to an article storage facility will be described with reference to the drawings.
As shown in FIG. 1, this article storage facility includes two storage shelves 1 that are installed at an interval so that the direction of putting in and out the articles is opposed to each other, and a traveling path 2 that is formed between the storage shelves 1. A stacker crane 3 that automatically travels is provided, and each storage shelf 1 is configured by arranging a large number of article storage units 4 vertically and horizontally.

  A travel rail 5 is installed in the travel path 2 along the longitudinal direction of the storage shelf 1. On one end side of the travel path 2, a ground-side controller 7 that inputs a loading / unloading command to the stacker crane 3, and a travel rail A pair of loading platforms 8 are provided with 5 interposed therebetween.

As shown in FIG. 2, the stacker crane 3 transfers an article 9 between a traveling carriage 10 as a movable body that can travel along the traveling rail 5 and between the loading table 8 or the article storage unit 4 and itself. It comprises a lifting platform 12 equipped with a possible transfer device 11.
Then, the stacker crane 3 transfers the article 9 placed on the loading table 8 to the article storage unit 4 by the traveling of the traveling carriage 10, the raising / lowering of the lifting platform 12, and the operation of the transfer device 11. The article 9 stored in the article storage unit 4 is configured to be transferred to the loading table 8.

As shown in FIGS. 3 and 4, the transfer device 11 has a direction perpendicular to the traveling direction of the traveling carriage 10 as a transfer direction, and a roller conveyor 25 that conveys the article 9 in the transfer direction, It is composed of a pair of movable parts 26 and a pair of clamp parts 27 that are distributed on both sides in a direction orthogonal to the transfer direction and that can be approached and separated.
The movable part 26 is configured to move toward and away integrally with the clamp part 27, and the clamp part 27 is configured to be movable in and out of the movable part 26 in the transfer direction.
3 shows a plan view of the transfer device 11, and FIG. 4 shows a side view of the transfer device 11 in the transfer direction view.

If it demonstrates, the conveyor 25 will be comprised from the roller conveyor which drives a some roller to forward / reverse rotation by the forward / reverse drive of the conveyor drive motor 28. FIG.
A pair of moving bases 30 that support the movable part 26 and the clamp part 27 are provided by being distributed on both sides in a direction perpendicular to the transfer direction in the central part of the transfer direction in the lower space of the conveyor 25. Each of the bases 30 is slidably provided on the guide rail 36 along a direction orthogonal to the transfer direction.

The moving table 30 is configured to slide along the guide rail 36 by the forward / reverse drive of the approaching / separating motor 29 to move toward and away from the movable unit 30. It is comprised so that the part 27 may move to approach and separate integrally.
Further, the clamp unit 27 is supported by the movable unit 26 so as to be movable in the transfer direction, and the clamp unit 27 is moved in and out of the movable unit 26 in the transfer direction by forward / reverse driving of the retracting motor 31. It is configured.

Incidentally, although not shown in the figure, the driving configuration of the rollers in the conveyor 25, the moving table 30, and the clamp unit 27 will be described.
The conveyor 25 is provided with a winding transmission section composed of a driving tooth ring driven by a conveyor driving motor 26 and a chain wound around a driven tooth ring corresponding to each roller, and is driven by the driving of the conveyor driving motor 26. The roller is driven to rotate by driving the winding transmission.

  The movable table 30 is connected to a part of the transmission body wound around the driving wheel body and the driven wheel body, and the transmission body is operated to move in the longitudinal direction by driving the approaching / separating motor 29. Thus, the pair of moving bases 30 are configured to be moved closer to and away from each other.

In addition, with respect to the clamp portion 27, a pair of winding transmission portions including a transmission body wound around the driving wheel body and the driven wheel body are provided corresponding to the pair of clamp portions 27.
Then, a transmission shaft is provided for driving the driving wheel bodies in the paired winding transmission portions in a synchronized state, and the pair of winding transmission portions are synchronized by driving the transmission shaft by driving the exit / retreat motor 31. By driving in the state, the clamp part 27 is configured to move out and retract in the transfer direction with respect to the movable part 26.

  The transfer device 11 configured as described above is placed on the article storage unit 4 or the loading table 8 by the withdrawal operation by the clamp unit 27, the clamping operation by the clamp unit 27, and the conveyance operation by the conveyor 25. It is configured by a side clamp type transfer device that picks up the article 9 or unloads the article 9 on which the article 9 is placed on the article storage unit 4 or the loading table 8.

  Further, the transfer device 11 can change the placement state of the article 9 placed on the transfer device 11 by the withdrawal operation by the clamp unit 27, the clamping operation by the clamp unit 27, and the transport operation by the conveyor 25. The placement state changing means M is composed of a conveyor 25, a movable part 26, and a clamp part 27.

In the lifting / lowering table 12, in the transfer direction of the transfer device 11, photoelectric first load sensors 32a and 32b for detecting whether or not the article 9 is present in the center are dispersed in the transfer direction. A pair of photoelectric second stock sensors 33a and 33b for detecting whether or not the article 9 is present at a set position outside the first stock sensors 32a and 32b are dispersed in the transfer direction. A pair is provided.
In addition, the lift table 12 is provided with photoelectric protrusion sensors 34a and 34b for detecting whether or not the article 9 placed on the transfer device 11 protrudes from the lift table 12 at both ends in the transfer direction. The protrusion sensors 34a and 34b are configured to detect the placement state of the article 9 placed on the transfer device 11 and act as a placement state detection means. And the first load sensor 32a, 32b, second stock sensors 33a, 33b, and protrusion sensors 34a, 34b, although not shown, are composed of a light projecting part and a light receiving part, and light from the light projecting part is applied to the article 9. It is configured to detect that the article 9 is present by being blocked and not receiving light by the light receiving unit.

As shown in FIG. 2, a pair of front and rear lifting masts 13 that guide and support the lifting platform 12 so as to be movable up and down are provided, and the lifting platform 12 is provided so as to be movable up and down with respect to the traveling carriage 10.
The upper ends of the pair of front and rear lifting masts 13 are connected by an upper frame 15 that is guided along the guide rail 6.

The lifting platform 12 is suspended and supported by two lifting chains 14 connected to both ends in the longitudinal direction. The lifting chain 14 includes an upper driven pulley 16, a traveling cart side driven pulley 17, It is wound around the elevator platform driven pulley 18 and the drive pulley 19.
The upper side driven pulley 16 is provided at the front end portion and the rear end portion of the upper frame 15, and the traveling carriage side driven driven pulley 17 is provided at one end portion and the central portion of the traveling carriage 10. Reference numeral 18 denotes a central lower surface portion of the lifting platform 12, and a driving pulley 19 is provided to one end portion of the traveling carriage 10.

  Further, an elevating electric motor 20 that is an inverter type motor that drives and rotates the driving pulley 19 is provided, and the elevating chain motor 14 is moved forward and backward by driving the driving pulley 19 in the forward and reverse directions. The elevator 12 is configured to move up and down by moving in the longitudinal direction.

As shown in FIG. 2, a lifting platform side rotary encoder 21 that detects the lifting distance of the lifting platform 12 from a reference position set at the lower end of the lifting path is provided on the lifting platform 12.
Although not shown in the figure, the elevator base-side rotary encoder 21 is provided with a sprocket that is engaged with a chain laid in the vertical direction of the elevator mast 13 on the rotary shaft of the elevator base-side rotary encoder 21. The sprocket is rotated by raising and lowering, and the raising and lowering position is detected by detecting the raising and lowering distance of the raising and lowering base 12 from the reference position.

  The traveling carriage 10 is provided with two front and rear traveling wheels 23 that can travel on the traveling rail 5, and one of the two traveling wheels 23 on one end side in the longitudinal direction of the vehicle body is an inverter type motor. It is configured as a propulsion driving traveling wheel 23a driven by a certain traveling electric motor 24, and a wheel on the other end side in the longitudinal direction of the vehicle body is configured as a freely traveling driven traveling wheel 23b.

As shown in FIG. 2, the traveling vehicle 10 is provided with a vehicle body side rotary encoder 22 that detects a moving distance of the traveling vehicle 10 from a reference position set at one end of the traveling route 2.
Although not shown in the drawings, the vehicle-body-side rotary encoder 22 has a sprocket that is engaged with a chain laid along the traveling rail 5 attached to the rotating shaft of the vehicle-body-side rotary encoder 22. And the travel position is detected by detecting the travel distance of the travel carriage 10 from the reference position.

  As shown in FIG. 5, a crane control device 35 is provided as a control means for controlling the operation of the stacker crane 3 in response to a loading / unloading command from the ground-side controller 7. Detection information of the side rotary encoder 21, the vehicle body side rotary encoder 22, the first load sensors 32a and 32b, the second load sensors 33a and 33b, and the protrusion sensors 34a and 34b is input.

  Then, when an entry / exit command is commanded from the ground-side controller 7, the crane control device 35 lifts and lowers the lifting platform 12 to the commanded lifting target stop position based on the detection information of the lifting platform-side rotary encoder 21. A lift control unit 35a for performing control, a travel control unit 35b for performing travel control for causing the travel cart 10 to travel to the commanded target stop position based on detection information of the vehicle body side rotary encoder 22, a first load sensor 32a, The transfer control unit 35c is configured to perform transfer control for transferring the article 9 by operating the transfer device 11 based on the detection information of the 32b and the second stock sensors 33a and 33b.

When the lift control is described, the lift control unit 35a moves the lift base 12 up and down while managing the lift position of the lift base 12 based on the detection information of the lift base-side rotary encoder 21, and When the lift position reaches the lift target stop position, the lift base 12 is stopped to stop the lift base 12 at the lift target stop position.
When the travel control is described, the travel control unit 35b manages the travel position of the travel cart 10 based on the detection information of the vehicle-body-side rotary encoder 22 and moves the travel cart 10 in the same manner as the elevation control. When the traveling position of the traveling carriage 10 reaches the traveling target stop position, the traveling carriage 10 is stopped to stop the traveling carriage 10 at the traveling target stop position.

  When the transfer control is described further, the transfer control unit 35c is configured such that the clamp unit 27 is in a state where the lifting platform 12 is stopped at the lifting target stop position and the traveling carriage 10 is stopped at the traveling target stop position. The scooping operation of picking up the article 9 placed on the article storage unit 4 or the loading table 8 or the self is placed by the moving operation by the clamping unit 27, the holding operation by the clamp unit 27, and the conveying operation by the conveyor 25. The article 9 is configured to perform a wholesale operation of the article 9 to the article storage unit 4 or the loading table 8.

When the scooping operation is described based on FIG. 6, the transfer control unit 35 c is configured so that the movable unit 26 and the clamp unit 27 are separated from each other as shown in FIGS. The article 9 is configured to be clamped by the clamp part 27 by moving the movable part 26 and the clamp part 27 close to each other after the 27 is protruded in the transfer direction with respect to the movable part 27.
Then, as shown in FIGS. 6D and 6E, the transfer control unit 35c moves the clamp unit 27 while holding the article 9 with the clamp unit 27 while the conveyor 25 is operated. When the set time elapses after the leading end of the article 9 is detected by the first in-stock sensor 32a closer to the side to which the article 9 is transferred, the movable part 26 moves back and forth in the transfer direction with respect to the section 27. And the clamp part 27 is comprised so that it may move apart.
Further, as shown in FIG. 6F, the transfer control unit 35c detects the tip of the article 9 by the second load sensor 33b farther from the side where the article 9 is transferred. When the time has elapsed, the operation of the conveyor 25 is stopped.

  Then, the transfer control unit 35c performs a wholesale operation by performing an operation opposite to the scooping operation with respect to the withdrawal operation by the clamp unit 27, the clamping operation by the clamp unit 27, and the conveyance operation by the conveyor 25. It is configured.

  Further, the transfer control unit 35c determines whether or not the placement state of the article 9 is abnormal based on the detection information of the protrusion sensors 34a and 34b in the traveling state of the traveling carriage 10 and is abnormal. In such a case, an abnormal stop signal is output to the traveling control unit 35b, and the traveling carriage 10 is abnormally stopped.

In addition, when the transfer control unit 35c detects that the article 9 is protruding by the protrusion sensors 34a and 34b, the transfer control unit 35c determines that the loading state of the article 9 is abnormal and causes the traveling control unit 35b to malfunction. A stop signal is output.
Then, when the abnormal control signal is input from the transfer control unit 35c, the traveling control unit 35b is configured to stop the operation of the electric motor 24 for traveling and apply the brake to abnormally stop the traveling cart 10. .

The transfer control unit 35c determines whether or not the loading state of the article 9 is abnormal based on the detection information of the protrusion sensors 34a and 34b in the state where the traveling carriage 10 is abnormally stopped. When it is determined that there is a vehicle, a travel resumption signal is output to the travel control unit 35b so that the travel of the travel vehicle 10 is resumed.
That is, when the transfer control unit 35c detects that the article 9 is not protruding by the protrusion sensors 34a and 34b in the state where the traveling carriage 10 is abnormally stopped, the transfer control unit 35c determines that the loading state of the article 9 is normal. Thus, the traveling control unit 35b is configured to output a traveling resumption signal to resume traveling of the traveling carriage 10.

  Further, when the transfer control unit 35c determines that the placement state of the article 9 is abnormal when the traveling carriage 10 is abnormally stopped, the transfer control unit 35c corrects the placement state of the article 9 to be normal. Accordingly, the mounting state changing means M is operated based on the detection information of the protrusion sensors 34a and 34b.

When the explanation is added, for example, as shown in FIG. 8A, in the state where the traveling carriage 10 is abnormally stopped, when the article 9 protrudes outward from the lifting platform 12, the transfer control unit 35c It is determined that the placement state of the article 9 is abnormal.
If the transfer control unit 35c determines that the loading state of the article 9 is abnormal, the transfer control unit 35c operates the conveyor drive motor 28 in the transfer device 11, and the conveyor 25, the movable unit 26, and the clamp. The mounting state changing means M comprising the unit 27 is configured to perform a correcting operation.

When the correction operation is described, for example, in the case shown in FIG. 8A, the transfer control unit 35c first takes the article 9 protruding from the elevator 12 as the correction operation. The conveyor 25 is operated by the conveyor drive motor 38 so as to be conveyed inward.
Then, the transfer control unit 35c does not detect that the article 9 protrudes from the lifting platform 12 by the protrusion sensors 34a and 34b, and the second load sensor 33a on the side where the article 9 protrudes. When the set time elapses after the tip of the article 9 is detected, the conveyor drive motor 28 is stopped and the conveyor 25 is stopped. As shown in FIG. It is comprised so that it may correct.

Incidentally, the transfer control unit 35c is configured so that, in the traveling state of the traveling carriage 10, the placement position of the article 9 is determined based on the detection information of the first loading sensors 32a and 32b and the second loading sensors 33a and 33b. It is comprised so that it may discriminate | determine whether it has remove | deviated from the center position.
When the transfer control unit 35c determines that the placement position of the article 9 is out of the center position of the lifting platform 12, the transfer control section 35c should correct the placement position of the article 9 to the center position of the lifting platform 12. After the loading state changing means M is operated based on the detection information of the first loading sensors 32a and 32b and the second loading sensors 33a and 33b, the operation of the transfer device 11 is controlled so as to perform a wholesale operation. Is configured to do.

The operation of the crane control device 35 and the subsequent operation of the crane control device 35 when the traveling carriage 10 is abnormally stopped will be described with reference to the flowchart of FIG.
The crane control device 35 determines whether or not the loading state of the article 9 is abnormal based on the detection information of the protrusion sensors 34a and 34b in the traveling state of the traveling carriage 10 (step 1). , 2).
Then, if the placement state is abnormal, the crane control device 35 abnormally stops the traveling carriage 10 and then whether the placement state of the article 9 is abnormal based on the detection information of the protrusion sensors 34a and 34b. Whether or not is determined (steps 3 and 4).
As a result, when it is determined that the placement state is normal, the crane control device 35 resumes traveling of the traveling carriage 10 (step 5), and when it is determined that the placement state is abnormal, the crane control device 35 performs a correction operation. (Step 6).

[Another embodiment]
(1) In the above embodiment, the side clamp type transfer device is exemplified as the transfer device 11, but various other transfer devices such as a side belt type transfer device can be applied. is there.

  The side belt type transfer device will be described. As shown in FIG. 9, the transfer device is provided with a pair of conveying belts 37 that are movable toward and away from each other and sandwich the side surface of the article 9. The article 9 is transferred by the moving movement of the conveyor belt 37, the holding operation of the conveyor belt 37 with respect to the article 9, and the conveyance drive of the conveyor belt 37.

In other words, the transfer device includes a pair of mounting plates 38 for mounting and supporting the article 9 and a conveyance belt 37 that conveys the article 9 while sandwiching the side surface thereof, and guides along the transfer direction. A slide table 40 guided and moved by a rail 39 is provided, and a pair of base frames 41 that support the conveyor belt 37 are provided on the slide table 40 so as to be movable toward and away from each other.
The slide table 40 is configured to be driven in and out in the transfer direction by driving the retracting drive motor, and the base frame 41 is configured to be moved closer and separated by driving the clamping drive motor 42. The conveying belt 37 is configured to be fed and driven in the transfer direction by driving the conveying and moving motor 43.

In such a side belt type transfer device, the transport belt 37 is configured as a mounting state changing means, and the transfer control unit 35c places the article 9 in a state where the traveling carriage 10 is abnormally stopped. When it is determined that the state is abnormal, a correction operation for operating the conveyor belt 37 is performed based on the detection information of the protrusion sensors 34a and 34b in order to correct the placement state of the article 9 to be normal. It is configured as follows.
In addition, in the correction operation, the transfer control unit 35c operates the conveyor belt 37 by driving the conveyor motor 43 so as to convey the article 9 protruding from the elevator 12 to the inside of the elevator 12. I try to let them.
Then, the transfer control unit 35c does not detect that the article 9 protrudes outward from the lifting platform 12 by the protrusion sensors 34a and 34b, and the second load sensor 33a on the side where the article 9 protrudes. When a set time elapses after the front end of the article 9 is detected, the conveying motor 43 is stopped and the conveying belt 37 conveyor 25 is stopped.

(2) In the above embodiment, the side part of the article 9 is not clamped by the clamp part 27 in the traveling state of the traveling carriage 10, but the crane control device 35 is clamped in the traveling state of the traveling carriage 10. The operation of the transfer device 11 may be controlled so that the side portion of the article 9 is sandwiched by the portion 27.

In this case, the crane control device 35 cancels the clamping of the side surface portion of the article 9 by the clamp portion 27 in the correction operation, and then changes the placement state to correct the placement state of the article 9 to be normal. After the means M is operated, the operation of the transfer device 11 is controlled so as to clamp the side surface portion of the article 9 by the clamp portion 27.
In addition, the crane control device 35 sets the position of the article 9 on the lifting platform 12 based on the detection information of the first loading sensors 32a and 32b and the second loading sensors 33a and 33b in the traveling state of the traveling carriage 10. If it is determined that the article 9 is out of the center position, after the clamping of the side surface portion of the article 9 by the clamp portion 27 is released, the placement state change is performed to correct the placement position of the article 9 to the center position of the lifting platform 12 After the means M is operated, the operation of the transfer device 11 is controlled so as to perform the wholesale operation.

(3) In the above embodiment, the elevating electric motor 20 is operated to drive the drive pulley 19 in the forward and reverse directions so that the elevating chain 14 is moved in the longitudinal direction. The chain 14 is wound around a plurality of guide sprockets, connected to a take-up drum provided at one end of the traveling carriage 10, and the take-up drum is driven to rotate forward and backward by the elevating motor 20 to move up and down the chain. It is also possible to configure and implement 14 to move in the longitudinal direction.

(4) In the above embodiment, the lifting position of the lifting platform 12 is detected by the lifting platform-side rotary encoder 21, and the traveling position of the traveling carriage 10 is detected by the vehicle-body-side rotary encoder 22 as a moving distance detection means. However, it is also possible to configure and implement such that the lift position of the lift platform 12 and the travel position of the traveling carriage 10 are detected using another distance meter or the like.

For example, the traveling carriage 10 is provided with a horizontal laser rangefinder that projects a beam light for distance measurement in the horizontal movement direction, and the horizontal laser rangefinder is installed at a reference position in the traveling path 2. The traveling position of the traveling carriage 10 can also be detected by projecting toward the reflecting plate and detecting the distance between the reference position and the traveling carriage 10.
Although not described in detail, it is also possible to detect the ascending / descending position of the ascending / descending platform 12 using a laser range finder that projects light beams for ranging.

(5) In the above embodiment, the traveling carriage 10 is illustrated as the moving body, but the object of the moving body can be changed as appropriate, and for example, the lifting platform 12 can be implemented as the moving body.
In other words, when the crane control device 35 determines that the loading state of the article 9 is abnormal in the lifted state of the lift 12, the lift 12 is abnormally stopped.
And the crane control apparatus 35 discriminate | determines whether the mounting state of the articles | goods 9 is abnormal in the state which stopped the lifting platform 12 abnormally, and when it determines with it being normal, the lifting platform 12 It is comprised so that the raising / lowering of can be restarted.

(6) In the above embodiment, the clamp unit 27 is configured to move in one stage with respect to the movable part 26. It can be a step type, and the type of the clamp part 27 in the transfer device 11 can be changed as appropriate.

Schematic diagram of goods storage facility Side view of stacker crane Plan view of transfer equipment Side view of transfer device Control block diagram for goods storage equipment Plan view showing the operation of the transfer device Flow chart showing operation of crane control device The top view which shows operation | movement of the transfer apparatus in correction operation | movement The perspective view which shows the transfer apparatus in another embodiment

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Storage shelf 4 Article storage part 10 Traveling carriage 11 Transfer apparatus 12 Lifting stand 34 Mounting state detection means 35 Control means

Claims (3)

A movable body provided with a transfer device for transferring an article, a placement state detecting means for detecting a placement state of an article placed on the transfer device, the operation of the transfer device, and the moving body Control means for controlling the movement,
When the control means determines in the moving state of the moving body whether or not the placement state of the article is abnormal based on the detection information of the placement state detection means, and determines that it is abnormal Is an article conveying apparatus configured to abnormally stop the moving body,
In a state where the control unit abnormally stops the moving body, it is determined whether the placement state of the article is abnormal based on the detection information of the placement state detection unit, and is normal. An article transport apparatus configured to resume the movement of the moving body when determined. The transfer device is configured to include a mounting state changing unit capable of changing the mounting state of the article,
When the control unit determines that the placement state of the article is abnormal in a state where the moving body is abnormally stopped, the control unit is configured to correct the placement state of the article to be normal. 2. The article conveying apparatus according to claim 1, wherein the article conveying device is configured to actuate the previously described placing state changing unit based on detection information of the placing state detecting unit. As the moving body, provided is a traveling carriage that can travel along a traveling path along the longitudinal direction of a storage shelf configured by arranging a plurality of article storage portions vertically and horizontally,
3. The transfer device according to claim 1, wherein the transfer device is provided on a lifting platform that is movable up and down with respect to the traveling carriage, and is configured to transfer an article between the article storage unit and itself. Article conveying device.

Images