JP2007176626A - Article conveying facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article conveying facility capable of certainly preventing collision of traveling bodies with each other. <P>SOLUTION: On each of two traveling bodies 3 provided in such a state that they are arranged in a longitudinal direction of a traveling rail 6, a pair of front and rear traveling wheels 20 arranged at an interval in the longitudinal direction of the traveling rail 6; a traveling drive means 22 for driving at least one of the pair of traveling wheels 20; and a traveling braking means 21 for braking at least one of the pair of traveling wheels 20 are provided. Each of the two traveling bodies 3 is constituted such that braking force obtained on each of the pair of traveling wheels 20 when they are braked so as to be decelerated is made different in the state in which braking force when it is braked so as to be decelerated in such a state that it travels in an approaching direction of a side approaching to the adjacent traveling body 3 is made larger than braking force when it is braked so as to be decelerated in the state in which it travels in a leaving direction of a side leaving from the adjacent traveling body 3. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  In the present invention, two traveling bodies for transporting articles that can reciprocate along a traveling rail are provided in a state of being aligned in the longitudinal direction of the traveling rail, and each of the two traveling bodies includes a longitudinal section of the traveling rail. A pair of front and rear traveling wheels arranged at intervals in the direction, traveling drive means for driving at least one of the pair of traveling wheels, and traveling braking means for braking at least one of the pair of traveling wheels The present invention relates to an article conveyance facility provided with

The article transport facility as described above is provided with two traveling bodies arranged in the longitudinal direction of the traveling rail, and the two traveling bodies reciprocate along the traveling rail to transport the articles, thereby improving the transportation capability. It is intended.
In such an article transport facility, since it is necessary to prevent collision between traveling bodies, conventionally, a distance sensor and a traveling drive means for detecting the distance from the adjacent traveling body to each of the two traveling bodies. And travel control means for controlling the operation of the travel braking means, and the travel control means controls the operation of the travel brake means so as to brake the travel wheels when the distance detected by the distance sensor is equal to or less than the set distance. (For example, refer to Patent Document 1).

JP 11-59819 A

In the conventional article transport facility, the travel control unit determines whether the distance between the traveling bodies detected by the distance sensor is equal to or less than the set distance, and the distance between the traveling bodies is set. When the distance is less than or equal to the distance, the collision of the traveling bodies is prevented by controlling the operation of the traveling braking means.
However, in the above-described conventional article transport equipment, for each of the two traveling bodies, the braking force when braking to decelerate and the propulsive force when driving to accelerate are not considered, There is still a possibility that the traveling bodies may collide with each other.
For example, when two traveling bodies are traveling in the same direction, when the braking force when braking to decelerate is greater in the preceding traveling body than in the following traveling body, between the traveling bodies Even if braking is performed so that the two traveling bodies are decelerated by the distance being equal to or less than the set distance, the distance between the two traveling bodies may be reduced, and the following traveling body may collide with the preceding traveling body. is there.
In addition, when two traveling bodies are traveling in the same direction, when the driving force when driven to accelerate is larger in the following traveling body than in the preceding traveling body, the two traveling bodies are When driving to accelerate, the distance between the two traveling bodies is reduced, and there is a risk that the following traveling body collides with the preceding traveling body.

  The present invention has been made paying attention to this point, and an object of the present invention is to provide an article transport facility capable of accurately preventing a collision between traveling bodies.

In order to achieve this object, the first characteristic configuration of the article transporting facility according to the present invention is provided with two traveling bodies for transporting articles that are capable of reciprocating along a traveling rail in a state in which they are aligned in the longitudinal direction of the traveling rail. Each of the two traveling bodies includes a pair of front and rear traveling wheels disposed at an interval in the longitudinal direction of the traveling rail, traveling driving means for driving at least one of the pair of traveling wheels, And in the article transport facility provided with traveling braking means for braking at least one of the pair of traveling wheels,
Each of the two traveling bodies is in a separating direction on the side away from the adjacent traveling body when braking is performed so as to decelerate in a state of traveling in the approaching direction on the side closer to the adjacent traveling body. A configuration in which the braking force obtained by each of the pair of traveling wheels is made different when braking is performed so that the braking force is greater than the braking force when the vehicle is decelerated in the traveling state. It is in the point.

That is, each of the two traveling bodies is closer to the adjacent traveling body than when traveling in the direction away from the adjacent traveling body when braking is performed so as to decelerate. It will be larger when traveling.
In this way, when each of the two traveling bodies is braked so as to decelerate, the two traveling bodies are made different by changing the braking force obtained by each of the pair of traveling wheels depending on the traveling direction. When traveling in the same direction and when traveling the two traveling bodies so as to face each other, collision between the traveling bodies can be prevented.

To explain, when two traveling bodies travel in the same direction, of the two traveling bodies, the preceding preceding traveling body travels in the separation direction with respect to the adjacent succeeding traveling body. The subsequent traveling body travels in the approaching direction with respect to the adjacent preceding traveling body. Since the braking force obtained by each of the pair of traveling wheels is greater when traveling in the approaching direction than when traveling in the separating direction with respect to the adjacent traveling body, each of the pair of traveling wheels. The braking force obtained at is greater for the following traveling body traveling in the approaching direction than for the preceding traveling body traveling in the separating direction.
Thus, when two traveling bodies are caused to travel in the same direction, if the two traveling bodies are braked so as to decelerate, the braking force obtained by each of the pair of traveling wheels is the preceding traveling body. The following traveling body becomes larger than the preceding traveling body, and the following traveling body stops at a shorter distance than the preceding traveling body. Therefore, even when two traveling bodies that are likely to collide with each other travel in the same direction with the two traveling bodies approaching, if the two traveling bodies are braked so as to decelerate, the traveling bodies Collisions can be prevented.

  Further, when the two traveling bodies are caused to travel so as to face each other, both of the two traveling bodies travel in the approaching direction with respect to the adjacent traveling bodies. And since it becomes larger when traveling in the approaching direction than when traveling in the separating direction with respect to the adjacent traveling body, the braking force obtained by each of the pair of traveling wheels for both of the traveling bodies Becomes larger. Therefore, when traveling the two traveling bodies so as to face each other, the two traveling bodies can be stopped at a short distance by braking the two traveling bodies so as to decelerate them. It will be possible to prevent collisions between bodies.

And about making the braking force obtained by each of a pair of driving | running | working wheels differ with a driving | running | working direction, the difference of the wheel load in a pair of driving | running | working wheels when making it brake so that it may decelerate can be utilized.
To explain, when braking is performed so that the traveling body is decelerated, the traveling body is inclined forward by inertial force, so that it is more than the wheel weight of the traveling wheels located on the rear side in the traveling direction of the pair of traveling wheels. The wheel load of the traveling wheel located on the front side in the traveling direction becomes larger. A traveling wheel whose wheel load increases when braking is performed so as to decelerate is a traveling wheel that is located on the side away from the adjacent traveling body and is adjacent to the adjacent traveling body when traveling in the separation direction. When traveling in the approaching direction with respect to the traveling body, the traveling wheel is located on the side closer to the adjacent traveling body.
Then, when the traveling body is braked so as to decelerate, the braking force is obtained from each of the pair of traveling wheels, but the traveling wheel having a larger wheel load is more likely to obtain the braking force. Therefore, by increasing the braking force obtained from the traveling wheel located on the side closer to the adjacent traveling body than the braking force obtained from the traveling wheel located on the side away from the adjacent traveling body, each of the pair of traveling wheels. Thus, the braking force obtained in step 1 can be made larger when traveling in the approaching direction than when traveling in the direction away from the adjacent traveling body.

  Therefore, using the difference in wheel load between the pair of traveling wheels when the vehicle is braked to decelerate, each of the two traveling bodies is applied to each of the pair of traveling wheels when the vehicle is braked to decelerate. As a result, the braking force obtained in this way can be increased when traveling in the approaching direction than when traveling in the separating direction, and an article conveying facility that can accurately prevent collision between traveling bodies can be provided.

According to a second characteristic configuration of the article transporting facility according to the present invention, two traveling bodies for transporting an article that can reciprocate along a traveling rail are provided in a state in which the traveling rails are arranged in the longitudinal direction of the traveling rail, and the two traveling bodies are provided. Each of these includes a pair of front and rear traveling wheels disposed at intervals in the longitudinal direction of the traveling rail, traveling drive means for driving at least one of the pair of traveling wheels, and a pair of traveling wheels. In the article transport facility provided with traveling braking means for braking at least one of them,
Each of the two traveling bodies is in an approaching direction that is closer to an adjacent traveling body when propelling force is driven to accelerate in a state of traveling in a separating direction that is away from the adjacent traveling body. A configuration in which the propulsive force obtained by each of the pair of traveling wheels is made different when driven to accelerate in a form that is larger than the propulsive force that is driven to accelerate in the traveling state. It is in the point.

That is, each of the two traveling bodies is separated from the driving force obtained by each of the pair of traveling wheels when driven so as to be accelerated than when traveling in the approaching direction with respect to the adjacent traveling bodies. It will be larger when traveling.
In this way, when each of the two traveling bodies is driven to accelerate, the two traveling bodies are made different by changing the propulsive force obtained by each of the pair of traveling wheels depending on the traveling direction. When traveling in the same direction, collision between traveling bodies can be prevented.

To explain, when two traveling bodies travel in the same direction, of the two traveling bodies, the preceding preceding traveling body travels in the separation direction with respect to the adjacent succeeding traveling body. The subsequent traveling body travels in the approaching direction with respect to the adjacent preceding traveling body. Since the propulsive force obtained by each of the pair of traveling wheels is greater when traveling in the separation direction than when traveling in the approaching direction with respect to the adjacent traveling body, each of the pair of traveling wheels. The propulsive force obtained from is greater in the preceding traveling body traveling in the separation direction than in the subsequent traveling body traveling in the approaching direction.
Therefore, when the two traveling bodies are caused to travel in the same direction, the traveling bodies may collide with each other. However, when the two traveling bodies are driven to accelerate, The driving force obtained by each of the traveling wheels of the preceding traveling body is greater than that of the following traveling body, the distance between the two traveling bodies will be widened, and collision between the traveling bodies can be prevented become.

And about making the propulsive force obtained by each of a pair of driving | running | working wheels differ with a driving | running | working direction, the difference of the wheel load in a pair of driving | running | working wheel when making it drive to accelerate can be utilized.
In other words, when the traveling body is driven to accelerate, the traveling body is in a backward tilted state due to inertial force, so that it is more than the wheel weight of the traveling wheel located on the front side in the traveling direction among the pair of traveling wheels. The wheel load of the traveling wheel located on the rear side in the traveling direction becomes larger. A traveling wheel whose wheel load increases when driven to accelerate is a traveling wheel that is located closer to the adjacent traveling body and is adjacent to the adjacent traveling body when traveling in a direction away from the adjacent traveling body. When traveling in the approaching direction with respect to the traveling body, the traveling wheel is located on the side away from the adjacent traveling body.
When the traveling body is driven to accelerate, a propulsive force is obtained from each of the pair of traveling wheels, but a traveling wheel having a large wheel load is more likely to obtain a propulsive force. Accordingly, by increasing the propulsive force obtained from the traveling wheel located on the side closer to the adjacent traveling body than the propulsive force obtained from the traveling wheel located on the side away from the adjacent traveling body, each of the pair of traveling wheels is provided. Thus, the propulsive force obtained in the above can be made larger when traveling in the separation direction than when traveling in the approaching direction with respect to the adjacent traveling body.

  Therefore, by utilizing the difference in wheel load between the pair of traveling wheels when driven to accelerate, each of the two traveling bodies is moved to each of the pair of traveling wheels when driven to accelerate. As a result, the propulsive force obtained can be increased when traveling in the separating direction than when traveling in the approaching direction, and an article conveying facility capable of accurately preventing collision between traveling bodies can be provided.

According to a third characteristic configuration of the article transport facility according to the present invention, two traveling bodies for transporting an article that are capable of reciprocating along a traveling rail are provided in a state of being aligned in the longitudinal direction of the traveling rail, and the two traveling bodies are provided. Each of these includes a pair of front and rear traveling wheels disposed at intervals in the longitudinal direction of the traveling rail, traveling drive means for driving at least one of the pair of traveling wheels, and a pair of traveling wheels. In the article transport facility provided with traveling braking means for braking at least one of them,
Each of the two traveling bodies is in a separating direction on the side away from the adjacent traveling body when braking is performed so as to decelerate in the approaching direction on the side approaching the adjacent traveling body. A configuration in which the braking force obtained by each of the pair of traveling wheels is made different when braking is performed so that the braking force is greater than the braking force when the vehicle is decelerated in the traveling state. In addition, the propulsive force when driven to accelerate in the state of traveling in the separating direction on the side away from the adjacent traveling body is accelerated in the state of traveling in the approaching direction on the side closer to the adjacent traveling body. The propulsive force obtained by each of the pair of traveling wheels is made different when driven to accelerate in a form that is larger than the propulsive force when driven in such a manner. In that it is configured to.

  That is, each of the two traveling bodies is closer to the adjacent traveling body than when traveling in the direction away from the adjacent traveling body when braking is performed so as to decelerate. When traveling in the approaching direction with respect to the adjacent traveling body, the driving force obtained by each of the pair of traveling wheels when driven to accelerate is increased. Therefore, the distance when traveling in the separation direction is made larger.

As described in the first characteristic configuration, the braking force obtained by each of the pair of traveling wheels when braking is performed closer to that of the pair of traveling wheels than when traveling in the separation direction with respect to the adjacent traveling body. By increasing the direction when traveling in the direction, it is possible to prevent collision between the traveling bodies when the two traveling bodies are braked so as to decelerate.
In addition, as described in the second characteristic configuration, the propulsive force obtained by each of the pair of traveling wheels when driven to accelerate is separated from that when traveling in the approaching direction with respect to the adjacent traveling body. By increasing the direction when traveling in the direction, it is possible to prevent the traveling bodies from colliding with each other when the two traveling bodies are driven to accelerate.
Therefore, it has become possible to provide an article transport facility that can accurately prevent a collision between traveling bodies.

  According to a fourth characteristic configuration of the article conveying facility according to the present invention, the friction coefficient of the traveling wheel located on the side closer to the adjacent traveling body is separated from the adjacent traveling body among the pair of traveling wheels provided in the traveling body. It exists in the point comprised so that it may become larger than the friction coefficient of the running wheel located in the side.

That is, out of a pair of traveling wheels provided in the traveling body, a traveling wheel located on the side closer to the adjacent traveling body is a traveling wheel having a small friction coefficient, and a traveling wheel located on the side away from the adjacent traveling body is a friction coefficient. It will be a large traveling wheel.
And even if the braking force that brakes the pair of traveling wheels is the same, by changing the friction coefficient of the pair of traveling wheels, the wheel load of the pair of traveling wheels when the traveling body is braked to decelerate is reduced. By using the difference, the braking force obtained by each of the pair of traveling wheels can be made larger when traveling in the approaching direction than when traveling in the separation direction with respect to the adjacent traveling body, and the traveling body When traveling in the approaching direction with respect to the adjacent traveling body, the propulsive force obtained by each of the pair of traveling wheels is utilized using the difference in wheel load between the pair of traveling wheels when the vehicle is driven to accelerate the vehicle. It is possible to increase the distance when traveling in the separation direction.
In this way, by simply using traveling wheels having different friction coefficients, the braking force obtained by each of the pair of traveling wheels travels in the direction away from the adjacent traveling body while simplifying the configuration. When traveling in the approaching direction than when traveling, the propulsive force obtained by each of the pair of traveling wheels can travel in the separation direction compared to when traveling in the approaching direction with respect to the adjacent traveling body. You can make the time bigger.

  According to a fifth characteristic configuration of the article conveying facility according to the present invention, the traveling body includes a carriage unit including the pair of traveling wheels, a lifting platform that can freely move up and down along a mast erected from the carriage unit, and The stacker crane includes an article transfer device mounted on the lift.

That is, by moving the carriage part back and forth along the traveling rail and raising and lowering the lifting platform along the mast, the article transfer device can be used for a plurality of article transfer locations at different positions in the vertical and horizontal directions. Thus, the article can be transferred, and for example, the article can be conveyed to an article storage shelf including a plurality of storage units arranged in the vertical direction and the horizontal direction.
And since the stacker crane, which is a traveling body, has a mast for raising and lowering the lifting platform on the carriage unit, it has a high height. It tends to be tilted and tends to be tilted backward when driven to accelerate.
Therefore, while making the best use of the wheel load difference between the pair of traveling wheels when braked to decelerate and the wheel load difference between the pair of running wheels driven to accelerate, the pair The braking force obtained by each of the traveling wheels and the propulsive force obtained by each of the pair of traveling wheels can be made different depending on the traveling direction, so that the collision between the stacker cranes can be accurately prevented.

An embodiment in which an article transporting facility according to the present invention is applied to an automatic warehouse will be described with reference to the drawings.
As shown in FIG. 1, this automatic warehouse is formed between two article storage shelves 1 that are installed at an interval so that the front surfaces for taking in and out the articles B are opposed to each other, and the two article storage shelves 1. A stacker crane 3 is provided as a traveling body that automatically travels in the traveling path 2.

Each article storage shelf 1 is provided with a plurality of front and rear support columns 1a spaced apart in the horizontal direction of the shelf (horizontal direction), and each of the pair of front and rear support columns 1a has a mounting support portion 1b extending in the horizontal direction of the shelf. Are arranged at intervals in the vertical direction.
The storage section 4 in the article storage shelf 1 is configured to store the article B in a form in which the article B is placed and supported by the placement support section 1b, and the storage section 4 extends in the vertical direction and the width direction of the shelf. A plurality are arranged.

The loading table 5 for loading and unloading the article B entering the article storage shelf 1 and the article B delivered from the article storage shelf 1 is adjacent to the article storage shelf 1 in the horizontal direction. It is set aside.
Between the two article storage shelves 1, the entire horizontal range of the article storage shelves 1 and the traveling rail 6 that extends across the loading platform 5 for loading and unloading are installed on the floor surface. And the guide rail 7 over the loading platform 5 for loading / unloading is installed on the upper side. The stacker crane 3 is provided so as to move horizontally on the traveling rail 6 while being guided by the guide rail 7.
A ground-side controller 8 that manages the operation of the stacker crane 3 is provided at an end of the traveling rail 6 on the loading platform 5 side for loading and unloading. The storage information such as which articles B are stored in 4 is managed.

Two stacker cranes 3 are provided in a state of being aligned in the longitudinal direction of the traveling rail 6. As shown in FIG. 2, each of the two stacker cranes 3 includes a traveling carriage 9 as a carriage section that can travel along the traveling rail 6, and a lifting mast 10 as a mast erected on the traveling carriage 9. A lift 11 that can be moved up and down along with the article transfer device 12 (for example, a fork-type article transfer device) mounted on the lift 11.
Each of the two stacker cranes 3 is placed and supported on the loading platform 5 for loading and unloading by horizontal movement of the traveling carriage 9, lifting and lowering operation of the lifting platform 11 and transfer operation of the article transfer device 12. Warehousing the stored article B in the storage section 4 of the article storage shelf 1 or unloading the article B stored in the storage section 4 of the article storage shelf 1 to the loading / unloading table 5 for loading / unloading. It is configured.

  As shown in FIG. 1, two loading platforms 5 for loading / unloading are provided in a state of being aligned in the horizontal movement direction of the stacker crane 4. Then, the loading / unloading table 5 for loading / unloading places the two stacker cranes 3 side by side in the horizontal movement direction so that the article B can be transferred by the article transfer device 12 provided for each. It is configured.

In this embodiment, of the two stutter cranes 4, the one located on the loading / unloading loading platform 5 side is the first stacker crane 3 a and the one located on the article storage shelf 1 side is the second stacker crane 3 b. explain.
Of the two loading platforms 5 adjacent to the stacker crane 3 in the horizontal movement direction, the one located on the side away from the article storage shelf 1 is the first loading table 5a, and the one located on the side near the article storage shelf 1 is the first. Two loading platforms 5b are provided.
And the 1st stacker crane 3a performs article conveyance between the 1st loading platform 5a and the article storage shelf 1, and the 2nd stacker crane 3b is between the 2nd loading platform 5b and the article storage shelf 1. The goods are transported.

  In each of the two stacker cranes 3, a pair of elevating masts 10 is provided at the front and rear ends of the traveling carriage 9, one front and one rear. An upper frame 13 is provided at the upper end of the lifting mast 10 to connect the upper ends of the pair of front and rear lifting masts 10. The upper frame 13 is provided so as to be guided by the guide rail 7.

The elevator 11 is supported and supported by a pair of front and rear elevating masts 10 erected on the traveling carriage 9 so as to be movable up and down, and is supported by being suspended by elevating wires 14 connected to the left and right sides thereof. ing.
The elevating wire 14 is wound around a guide pulley 15 provided on the upper frame 13 and a guide pulley 16 provided on one elevating mast 10, and is connected to a take-up drum 17 provided at one end of the traveling carriage 9. ing.
The take-up drum 17 is driven and rotated in the forward and reverse directions by an elevating electric motor 18 that is an inverter type motor, and the elevating platform 11 is moved up and down by a feeding operation and a winding operation of the elevating wire 14. Yes.

The lifting platform 11 is provided with a lifting rotary encoder 19 that detects the lifting position of the lifting platform 11 in the vertical direction. Although illustration is omitted, a sprocket that meshes with a chain provided along the longitudinal direction of the lifting mast 10 is provided on the rotary shaft of the lifting rotary encoder 19.
The lifting rotary encoder 19 detects the lifting position of the lifting platform 11 in the vertical direction from the lifting distance of the lifting platform 11.

In each of the two stacker cranes 3, a pair of front and rear traveling wheels 20 are arranged on the traveling carriage 9 with an interval in the longitudinal direction of the traveling rail 6. Each of the pair of front and rear traveling wheels 20 is provided with a brake 21 as traveling braking means for braking the traveling wheel 20.
Although the detailed illustration of the brake 21 is omitted, a brake pad that can be pressed against the traveling wheel 20, a biasing means that biases the brake pad against the traveling wheel 20, and a brake by supplying power There is provided switching means for maintaining the pad in a separated state in which the pad is separated from the traveling wheel 20 and switching to a state in which the separated state is released by stopping the power supply. The brake 21 is configured by a negative brake that brakes the traveling wheel 20 by stopping power supply.
In addition, each of the pair of front and rear traveling wheels 20 comes into contact with the traveling rail 6 from the lower side so that the upward movement of the traveling rail 20 is restricted. A backup roller (not shown in the figure) that restricts the flying from the traveling rail 6 is provided.

  In each of the two stacker cranes 3, a traveling electric motor 22 serving as a traveling drive means for driving the first traveling wheel 20 a located on the side closer to the adjacent stacker crane 3 among the pair of traveling wheels 20 is provided. The first traveling wheel 20a is provided as a drive wheel. Of the pair of traveling wheels 20, the second traveling wheel 20 b located on the side away from the adjacent stacker crane 3 is configured as a freely driven driven wheel.

The traveling carriage 9 is provided with a traveling rotary encoder 23 for detecting the traveling position of the traveling carriage 6 in the horizontal direction. Although not shown, a sprocket that meshes with a chain provided along the longitudinal direction of the traveling rail 6 is provided on the rotating shaft of the traveling rotary encoder 23.
The travel rotary encoder 23 detects the travel position of the travel cart 9 in the horizontal direction from the travel distance of the travel cart 9.

Each of the two stacker cranes 3 is separated on the side away from the adjacent stacker crane 3 when the braking force is applied so as to decelerate in the state of traveling in the approaching direction on the side approaching the adjacent stacker crane 3. The braking force obtained by each of the pair of traveling wheels 20 is made different when braking is performed in such a manner that it is larger than the braking force when braking is performed so as to decelerate in the state of traveling in the direction. It is configured.
Further, each of the two stacker cranes 3 has a side closer to the adjacent stacker crane 3 when propelling force is driven so as to accelerate in a state of traveling in a separating direction which is a side away from the adjacent stacker crane 3. The propulsive force obtained by each of the pair of traveling wheels 20 is different when driven to accelerate in a form that is larger than the propulsive force that is driven to accelerate in the state of traveling in the approaching direction. It is configured to let you.

If it demonstrates, the friction coefficient of the 1st driving | running | working wheel 20a located in the side close | similar to the adjacent stacker crane 3 among a pair of driving | running | working wheels 20 with which each of the two stacker cranes 3 is equipped will be separated from the adjacent stacker crane 3. It is comprised so that it may become larger than the friction coefficient of the 2nd traveling wheel 20b located in.
That is, in the first stacker crane 3a, of the pair of traveling wheels 20, the first traveling wheel 20a located on the side closer to the second stacker crane 3b is formed of a material having a large friction coefficient (for example, urethane). And the 2nd traveling wheel 20b located in the side away from the 2nd stacker crane 3b is formed with the material (for example, MC nylon) with a small friction coefficient. And also in the 2nd stacker crane 3b, the 1st running wheel 20a located in the side near the 1st stacker crane 3a among a pair of running wheels 20 is formed with material (for example, urethane) with a large friction coefficient, And the 2nd traveling wheel 20b located in the side away from the 1st stacker crane 3a is formed with material (for example, MC nylon) with a small friction coefficient.

  Then, by increasing the friction coefficient of the first traveling wheel 20a located on the side close to the adjacent stacker crane 3 and decreasing the friction coefficient of the second traveling wheel 20b located on the side away from the adjacent stacker crane 3. The braking force and the propulsive force obtained by each of the pair of traveling wheels 20 are made different depending on the traveling direction by utilizing the difference in wheel weight between the pair of front and rear traveling wheels 20 generated during acceleration / deceleration.

  When the stacker crane 3 is braked so as to decelerate, the stacker crane 3 is tilted forward by the inertial force, and therefore, from the wheel weight of the traveling wheel 20 located on the rear side in the traveling direction of the pair of traveling wheels 20. Also, the wheel load of the traveling wheel 20 located on the front side in the traveling direction becomes larger. When the stacker crane 3 is braked so as to decelerate, the braking force is obtained from each of the pair of traveling wheels 20, but the traveling wheel 20 having a larger wheel load is easier to obtain the braking force. Therefore, by reducing the friction coefficient of the second traveling wheel 20b located on the side away from the adjacent stacker crane 3, and increasing the friction coefficient of the first traveling wheel 20a located on the side closer to the adjacent stacker crane 3. The braking force obtained by each of the pair of traveling wheels 20 can be made larger when traveling in the approaching direction than when traveling in the separating direction.

  When the stacker crane 3 is driven to accelerate, the stacker crane 3 is tilted backward due to the inertial force. Therefore, the wheel load of the traveling wheels 20 located on the front side in the traveling direction of the pair of traveling wheels 20 is determined. Also, the wheel load of the traveling wheel 20 located on the rear side in the traveling direction becomes larger. When the stacker crane 3 is driven to accelerate, propulsive force is obtained from each of the pair of traveling wheels 20, but the traveling wheel 20 having a larger wheel load is more likely to obtain propulsive force. Therefore, by reducing the friction coefficient of the second traveling wheel 20b located on the side away from the adjacent stacker crane 3, and increasing the friction coefficient of the first traveling wheel 20a located on the side closer to the adjacent stacker crane 3. The propulsive force obtained by each of the pair of traveling wheels 20 can be made larger when traveling in the separation direction than when traveling in the approaching direction.

  A description will be added based on FIGS. FIG. 3 shows a state where the two stacker cranes 3 are braked so as to decelerate when the two stacker cranes 3 travel in the same direction (upper side in the figure). FIG. 4 shows a state where the two stacker cranes 3 are driven to accelerate when the two stacker cranes 3 are run in the same direction (upper side in the figure). FIG. 5 shows a state in which when the two stacker cranes 3 are run so as to face each other, the stacker crane 3 is braked so as to decelerate.

As shown in FIG. 3, when the stacker crane 3 is braked so as to decelerate, the stacker crane 3 is tilted forward by the inertial force, so that the wheel load is increased in the preceding second stacker crane 3 b. The traveling wheel 20 positioned on the front side in the traveling direction becomes the second traveling wheel 20b having a small friction coefficient. In the subsequent first stacker crane 3a, the traveling wheel 20 positioned on the front side in the traveling direction in which the wheel load increases is provided. The first traveling wheel 20a having a large friction coefficient is obtained.
Therefore, in the second stacker crane 3b traveling in the separating direction, the braking force is mainly obtained from the second traveling wheel 20b having a small friction coefficient, and in the first stacker crane 3a traveling in the approaching direction, the second friction coefficient is large. Since the braking force is mainly obtained from one traveling wheel 20a, the braking force obtained from each of the pair of traveling wheels 20 can be larger in the first stacker crane 3a than in the second stacker crane 3b. As described above, when the two stacker cranes 3 are caused to travel in the same direction, if the two stacker cranes 3 are braked so as to decelerate, the braking force obtained by each of the pair of traveling wheels 20 is preceded. The subsequent stacker crane 3 can be made larger than the stacker crane 3 and the collision between the stacker cranes 3 can be prevented.

As shown in FIG. 4, when the stacker crane 3 is driven to accelerate, the stacker crane 3 is tilted backward by the inertial force, so that the wheel load increases in the preceding second stacker crane 3 b. The traveling wheel 20 located on the rear side in the traveling direction becomes the first traveling wheel 20a having a large friction coefficient, and in the subsequent first stacker crane 3a, the traveling wheel 20 located on the rear side in the traveling direction in which the wheel load increases. The second traveling wheel 20b has a small friction coefficient.
Therefore, in the second stacker crane 3b traveling in the separating direction, a propulsive force is mainly obtained from the first traveling wheel 20a having a large friction coefficient, and in the first stacker crane 3a traveling in the approaching direction, a second friction coefficient is small. Since the propulsive force is mainly obtained from the two traveling wheels 20b, the propulsive force obtained from each of the pair of traveling wheels 20 can be larger in the second stacker crane 3b than in the first stacker crane 3a. As described above, when the two stacker cranes 3 are caused to travel in the same direction, when the two stacker cranes 3 are driven to accelerate, the propulsive force obtained by each of the pair of traveling wheels 20 follows. Therefore, the preceding stacker crane 3 can be made larger than the stacker crane 3 and the collision between the stacker cranes 3 can be prevented.

As shown in FIG. 5, when the two stacker cranes 3 are caused to travel to face each other, the stacker crane 3 is tilted forward due to inertial force, so the first stacker crane 3 a and the second stacker crane In both cases, the traveling wheel 20 having a large wheel weight becomes the first traveling wheel 20a having a large friction coefficient.
Accordingly, the first stacker crane 3a and the second stacker crane 3b both obtain the braking force mainly from the first traveling wheel 20a having a large friction coefficient, and can obtain a large braking force from each of the pair of traveling wheels 20. become. As described above, when the two stacker cranes 3 are caused to travel so as to face each other, when the two stacker cranes 3 are braked so as to decelerate, a large braking force is obtained from each of the pair of traveling wheels 20. Thus, the collision between the stacker cranes 3 can be prevented.

  In each of the two stacker cranes 3, of the pair of front and rear traveling wheels 20, the first traveling wheel 20 a having a large friction coefficient is rotationally driven by the traveling electric motor 22. Therefore, the driving force by the traveling electric motor 22 can be accurately obtained as the propulsion force in the stacker crane 3, and the traveling electric motor 22 can be driven to appropriately accelerate the stacker crane 3.

  As shown in FIG. 6, each of the two stacker cranes 3 is provided with a crane control device 24 that controls the operation of the stacker crane 3. The crane control device 24 detects the lifting rotary encoder 19. Information and detection information of the rotary encoder 23 for traveling are input.

The first crane control device 24A in the first stacker crane 3a and the second crane control device 24B in the second stacker crane 3b have the same configuration.
The crane control device 24 then moves the article transfer device 12 to the shelf-side article transfer position corresponding to each of the plurality of storage units 4 and to the loading / unloading-side article transfer position corresponding to the loading / unloading table 5. The horizontal movement of the traveling carriage 9 and the raising / lowering operation of the elevator 11 are controlled, and the article transfer device 12 is placed in the storage unit 4 at the article transfer position on the shelf side and the article transfer position on the entry / exit side. In addition, the transfer operation of the article transfer device 12 is controlled so as to transfer the article to the loading / unloading table 5 for loading and unloading.

  When the explanation is added, each of the article transfer position on the shelf side and the article transfer position on the loading / unloading side is a position determined from the lift target stop position and the travel target stop position. The article transfer position on the loading / unloading side is determined for each of the plurality of loading platforms 5, and the lifting target stop position and the traveling target stop position are set for each of the plurality of loading platforms 5. The shelf-side article transfer position is determined for each of the plurality of storage units 4, and the lifting target stop position and the travel target stop position are set for each of the plurality of storage units 4.

  Then, the crane control device 24 controls the operation of the traveling electric motor 22 so as to cause the traveling carriage 9 to travel to the commanded traveling target stop position based on the detection information of the traveling rotary encoder 23. Based on the detection information of the lift rotary encoder 19, the lift controller 24b for controlling the operation of the lift electric motor 18 to move the lift 11 to the commanded lift target stop position, the storage section 4 and the loading / unloading The transfer control unit 24c controls the transfer operation of the article transfer device 12 so as to transfer the article to and from the loading table 5.

The travel control unit 24a starts operating the travel electric motor 22 to start the horizontal movement of the travel cart 9, and the travel target for which the travel position of the travel cart 9 detected by the travel rotary encoder 23 is commanded. When the stop position is reached, the operation of the traveling electric motor 22 is controlled so as to stop the operation of the traveling electric motor 22 and brake the traveling wheel 20 with the brake 21 to stop the traveling carriage 9 at the traveling target stop position. To do.
The lifting control unit 24b starts the lifting electric motor 18 to start the lifting operation of the lifting platform 11, and the lifting target for which the lifting position of the lifting platform 11 detected by the lifting rotary encoder 19 is commanded. When the stop position is reached, the operation of the elevating electric motor 18 is controlled so that the operation of the elevating electric motor 18 is stopped and the elevator 11 is stopped at the elevating target stop position by applying a brake.
The transfer control unit 24c operates the fork-type article transfer device 12 so that the fork protrudes and picks up the article B or wholesales the article B, and then retreats the fork. Control loading operation.

Various information can be freely communicated between the crane control devices 24 and the ground-side controller 8 in the two stacker cranes 4, and the ground-side controller 8 is connected to the first crane control device 24A and the second crane control device 24B. Various commands are given to the two crane control devices 24.
The crane control device 24 stores the article B, which is placed and supported on the loading platform 5 for loading / unloading, in the storage unit 4 of the article storage shelf 2 based on a command from the ground-side controller 8, And it is comprised so that the unloading operation | movement which takes out the articles | goods B accommodated in the storage part 4 of the articles | goods storage shelf 1 to the loading platform 5 for loading / unloading.

In this automatic warehouse, as the warehousing process for storing the article B placed and supported on the loading platform 5 for warehousing / receiving in the storage section 4 of the article storage shelf 2, the simultaneous warehousing process, the first single warehousing process, and the second It is possible to execute three types of warehousing processes including single warehousing process.
Moreover, as a delivery process which takes out the articles | goods B accommodated in the storage part 4 of the article | item storage shelf 1 to the loading platform 5 for storage / exit, it is a simultaneous delivery process, a 1st single delivery process, and a 2nd single delivery process. Three types of shipping process can be executed.

The simultaneous warehousing process involves warehousing with two stacker cranes 3 including a first stacker crane 3a and a second stacker crane 3b.
At this time, the ground-side controller 8 stores the article B in the storage unit 4 in which the article B is stored with respect to both the first crane control device 24A in the first stacker crane 3a and the second crane control device 24B in the second stacker crane 3b. A warehousing command for instructing a lifting target stop position and a traveling target stop position for the corresponding shelf-side article transfer position is instructed.
Then, the first crane control device 24A and the second crane control device 24B are instructed to store the article B placed and supported on the loading platform 5 for loading and unloading based on the loading command from the ground controller 8. The warehousing operation stored in the section 4 is performed.

The first single warehousing process involves warehousing only the first stacker crane 3a out of the two stacker cranes 3.
At this time, the ground-side controller 8 raises and lowers the shelf-side article transfer position corresponding to the storage unit 4 in which the article B is to be stored with respect to only the first crane control device 24A in the first stacker crane 3a. A warehousing command for commanding the stop position and the target stop position for travel is commanded.
Then, the first crane control device 24A stores the article B placed and supported on the loading platform 5 for loading / unloading in the commanded storage unit 4 based on the loading command from the ground-side controller 8. I do.

  The second single warehousing process is to perform warehousing only by the second stacker crane 3b out of the two stacker cranes 3, and only the stacker crane 3 for warehousing is different from the first single warehousing process. The same operation is performed.

The simultaneous shipping process is performed by two stacker cranes 3 including a first stacker crane 3a and a second stacker crane 3b.
At this time, the ground-side controller 8 corresponds to the storage unit 4 from which the article B should be taken out with respect to both the first crane control device 24A in the first stacker crane 3a and the second crane control device 24B in the second stacker crane 3b. An unloading command for instructing a lifting target stop position and a traveling target stop position for the shelf-side article transfer position to be performed is instructed.
Then, the first crane control device 24A and the second crane control device 24B make the article B stored in the storage unit 4 to be taken out into the loading platform 5 for loading / unloading based on the warehouse command from the ground controller 8. Carry out the unloading operation.

In the first single delivery process, only the first stacker crane 3a out of the two stacker cranes 3 is used for entry.
At this time, the ground-side controller 8 performs only the first crane control device 24 </ b> A in the first stacker crane 3 a with the target stop for lifting at the shelf-side article transfer position corresponding to the storage unit 4 from which the article B is to be taken out. A delivery command is issued to command the position and the target stop position for travel.
Then, the first crane control device 24 </ b> A performs an unloading operation of extracting the article B stored in the storage unit 4 to be extracted to the loading / unloading table 5 based on the storage instruction from the ground-side controller 8.

  The second single delivery process is performed by only the second stacker crane 3b out of the two stacker cranes 3, and the first single entry process is different from the stacker crane 3 that performs the delivery. The same operation is performed.

The ground-side controller 8 includes the travel position of the travel carriage 9 from the first crane control device 24A to the first stacker crane 3a, and the travel position of the travel carriage 9 from the second crane control device 24B to the second stacker crane 3b. It is communicating. The ground-side controller 8 is configured to manage the traveling positions of the two stacker cranes 3 and control the operation of the two stacker cranes 3 so that the two stacker cranes 3 do not collide with each other. ing.
For example, when the distance between the two stacker cranes 3 is equal to or smaller than the set distance, the ground controller 8 gives a stop command to the crane control device 24 to stop the two stacker cranes 3. When the stop command is issued from the ground controller 8, the crane control device 24 stops the operation of the traveling electric motor 22 and brakes the traveling wheel 20 with the brake 21 to stop the traveling carriage 9. Then, the operation of the lifting electric motor 18 is stopped and the lifting platform 11 is stopped by applying a brake.

  In addition, the ground controller 8 stops the power supply to the two stacker cranes 3 when any abnormality occurs, such as being unable to acquire the traveling position of the traveling carriage 9, so that the two stacker cranes are stopped. 3 is configured to make an emergency stop.

When the two stacker cranes 3 are stopped when the distance between the two stacker cranes 3 is equal to or less than the set distance, and when the two stacker cranes 3 are emergency stopped, FIG. As described with reference to FIG. 5, collision of the stacker cranes 3 can be prevented by causing each of the two stacker cranes 3 to vary the braking force obtained from each of the pair of traveling wheels 20 depending on the traveling direction.
That is, each of the two stacker cranes 3 is braked so as to be decelerated by the brake 21, but as shown in FIG. 3, when the two stacker cranes 3 are traveling in the same direction, The succeeding first stacker crane 3a can increase the braking force obtained from each of the pair of traveling wheels 20 rather than the preceding second stacker crane 3b. Therefore, collision between the stacker cranes 3 can be prevented. Further, as shown in FIG. 5, when the two stacker cranes 3 are caused to travel so as to face each other, the two stacker cranes 3 both increase the braking force obtained from each of the pair of traveling wheels 20. As a result, collision between the stacker cranes 3 can be prevented.

[Another embodiment]
(1) In the above-described embodiment, one traveling electric motor 22 that rotationally drives the first traveling wheel 20a among the pair of front and rear traveling wheels is provided, the first traveling wheel 20a is configured as a driving wheel, and the second traveling is performed. Although the wheel 20b is configured as a driven wheel, a traveling electric motor that rotationally drives the first traveling wheel 20a and a traveling electric motor that rotationally drives the second traveling wheel 20b are provided. It is also possible to implement both the two traveling wheels 20b as drive wheels.

(2) In the above embodiment, the brake 21 for braking the traveling wheel 20 is provided for each of the pair of front and rear traveling wheels 20, but the first traveling wheel 20a as the driving wheel is the first traveling wheel. It is also possible to provide the brake 21 that brakes 20a, and the second traveling wheel 20b as a driven wheel without the brake 21.

(3) In the above embodiment, the travel rotary encoder 23 for detecting the travel position of the travel cart 9 is provided. For example, the measurement light is projected to the reflector installed at the end of the travel rail 6. A laser rangefinder that detects the distance from the end of the traveling rail 6 to the traveling carriage 9 by illuminating is provided in the traveling carriage 9, and the traveling position of the traveling carriage 9 is detected by the laser rangefinder. You can also.
Further, with respect to the raising / lowering position of the lifting / lowering base 11, a laser range finder as described above can be provided instead of the raising / lowering rotary encoder 19.

(4) In the above embodiment, in order to vary the braking force and propulsive force obtained from each of the pair of traveling wheels 20 depending on the traveling direction, the pair of traveling wheels 20 are positioned on the side closer to the adjacent stacker crane 3. The friction coefficient of the first traveling wheel 20a is set to be larger than the friction coefficient of the second traveling wheel 20b located on the side away from the adjacent stacker crane 3. For example, the wheel weight of the first traveling wheel 20a is increased. It can also be implemented by making it larger than the wheel weight of the second traveling wheel 20b, and is not limited to making the friction coefficient of the pair of traveling wheels 20 different.

(5) In the above-described embodiment, the traveling body can be moved up and down along the traveling carriage 9 as a carriage section that can travel along the traveling rail 6 and the lifting mast 10 as a mast standing on the traveling carriage 9 as the traveling body. The stacker crane 3 provided with the elevator 11 and the article transfer device 12 mounted on the elevator 11 is illustrated as an example. However, as a traveling body, for example, a carriage unit that can travel along a traveling rail, and the carriage unit is equipped. It is also possible to adapt the article transport vehicle provided with the article transfer device, and various traveling bodies that can travel back and forth on the traveling rail can be applied as the traveling body.

Schematic perspective view of automated warehouse Side view of stacker crane Side view showing operation of two stacker cranes Side view showing operation of two stacker cranes Side view showing operation of two stacker cranes Automatic warehouse control block diagram

Explanation of symbols

3 traveling body (stacker crane)
6 traveling rail 9 bogie part 10 mast 11 lifting platform 12 article transfer device 20 traveling wheel 21 traveling braking means 22 traveling drive means

Claims (5)

Two traveling bodies for transporting articles that can travel back and forth on the traveling rail are provided in a state of being aligned in the longitudinal direction of the traveling rail,
Each of the two traveling bodies includes a pair of front and rear traveling wheels disposed at an interval in the longitudinal direction of the traveling rail, traveling drive means for driving at least one of the pair of traveling wheels, and An article conveying facility provided with traveling braking means for braking at least one of the pair of traveling wheels,
Each of the two traveling bodies is in a separating direction on the side away from the adjacent traveling body when braking is performed so as to decelerate in a state of traveling in the approaching direction on the side closer to the adjacent traveling body. A configuration in which the braking force obtained by each of the pair of traveling wheels is made different when braking is performed so that the braking force is greater than the braking force when the vehicle is decelerated in the traveling state. Goods transportation equipment. Two traveling bodies for transporting articles that can travel back and forth on the traveling rail are provided in a state of being aligned in the longitudinal direction of the traveling rail,
Each of the two traveling bodies includes a pair of front and rear traveling wheels disposed at an interval in the longitudinal direction of the traveling rail, traveling drive means for driving at least one of the pair of traveling wheels, and An article conveying facility provided with traveling braking means for braking at least one of the pair of traveling wheels,
Each of the two traveling bodies is in an approaching direction that is closer to an adjacent traveling body when propelling force is driven to accelerate in a state of traveling in a separating direction that is away from the adjacent traveling body. A configuration in which the propulsive force obtained by each of the pair of traveling wheels is made different when driven to accelerate in a form that is larger than the propulsive force that is driven to accelerate in the traveling state. Goods transportation equipment. Two traveling bodies for transporting articles that can travel back and forth on the traveling rail are provided in a state of being aligned in the longitudinal direction of the traveling rail,
Each of the two traveling bodies includes a pair of front and rear traveling wheels disposed at an interval in the longitudinal direction of the traveling rail, traveling drive means for driving at least one of the pair of traveling wheels, and An article conveying facility provided with traveling braking means for braking at least one of the pair of traveling wheels,
Each of the two traveling bodies is in a separating direction on the side away from the adjacent traveling body when braking is performed so as to decelerate in a state of traveling in the approaching direction on the side closer to the adjacent traveling body. A configuration in which the braking force obtained by each of the pair of traveling wheels is made different when braking is performed so that the braking force is greater than the braking force when the vehicle is decelerated in the traveling state. In addition, the propulsive force when driven to accelerate in the state of traveling in the separation direction on the side away from the adjacent traveling body is accelerated in the state of traveling in the approaching direction on the side closer to the adjacent traveling body. The propulsive force obtained by each of the pair of traveling wheels is made different when driven to accelerate in a form that is larger than the propulsive force when driven in such a manner. Article transport facility that is configured to.   Of the pair of traveling wheels provided in the traveling body, the friction coefficient of the traveling wheel located on the side closer to the adjacent traveling body is made larger than the friction coefficient of the traveling wheel located on the side away from the adjacent traveling body. The article conveyance facility according to any one of claims 1 to 3, wherein   The traveling body includes a carriage unit including the pair of traveling wheels, a lifting platform that can be raised and lowered along a mast erected from the carriage unit, and an article transfer device mounted on the lifting platform. It is a stacker crane, The article conveyance equipment according to any one of claims 1 to 4.

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