JP2007182277A - Stacker crane and article storing facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide stacker cranes capable of efficiently performing conveyance work even when two stacker cranes are provided so as to reciprocate along a track, and an article storing facility equipped with the stacker cranes. <P>SOLUTION: The stacker crane 4 comprises a lifting table 11 having a transfer device 12 for taking in/out articles with respect to a plurality of storing parts provided in an article storing shelf, and a traveling truck 10 having a drive lifting/lowering support means 13 for supporting the lifting table 11 so as to be drivingly liftable/lowerable. The lifting table 11 has a pair of connected parts 31 respectively connected to the drive lifting/lowering support means 13 provided in each of the two traveling trucks 10 and arranged in the traveling direction of the traveling trucks 10 so as to enable release of the connection. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a lifting carriage provided with a transfer device for loading and unloading articles to and from a plurality of storage units provided in an article storage shelf, and a traveling carriage provided with driving lifting support means for supporting the lifting platform so as to be driven up and down. And an article storage facility provided with the stacker crane.

Such a stacker crane is configured to reciprocate a traveling carriage along a track installed along an article storage shelf, and to convey articles by moving the elevator platform up and down by a driving elevator.
In such a stacker crane, conventionally, the lifting platform is configured to include a connected portion that is connected to the driving lifting support means provided in the traveling carriage. It was comprised so that it might move up and down while supporting (for example, refer patent document 1).
Further, in the above-described conventional example, by providing two of the stacker cranes in the article storage facility so as to reciprocate along a track installed along the article storage shelf, the conveyance capacity of the article storage facility can be improved. ing.

JP 2002-175117 A

However, in the above-described conventional stacker crane, when two units are provided in the article storage facility so as to reciprocate along the same track, the other stacker crane performs the transfer operation while the other stacker crane performs the transfer operation. It may not be possible.
In other words, when one stacker crane is moved to the target travel position to perform the transfer work, if the other stacker crane is present before the target stop position, the other stacker crane is placed on the other stacker crane. It is necessary to travel toward the opposite side of the position where one stacker crane is located so as to deviate from the travel route from the position to the target travel position. During this retreat, the other stacker crane In this case, it is impossible to carry out the carrying work such that the one stacker crane enters the above-described traveling route, so that the carrying work cannot be performed efficiently.

  The present invention has been made in view of the above circumstances, and the purpose thereof is a stacker crane that can efficiently carry even if two units are provided so as to reciprocate along a track, and The object is to provide an article storage facility including the stacker crane.

In order to achieve this object, a first characteristic configuration according to the present invention includes a lifting platform including a transfer device for loading and unloading articles to and from a plurality of storage units provided in the article storage shelf, and driving the lifting platform. In a stacker crane that is configured to include a traveling carriage provided with a driving lifting support means that supports the lifting and lowering freely,
The lifting platform includes a pair of connected portions that are connected to the driving lifting support means provided in each of the two traveling carts arranged in the traveling direction of the traveling cart so as to be individually disengageable. There is in point.

That is, by connecting one of the pair of connected parts provided in the lifting platform to the driving lifting support means provided in the traveling carriage, the lifting platform can be supported and moved up and down by the driving lifting support means.
Then, the traveling cart of one stacker crane and the traveling cart of the other stacker crane of the two stacker cranes are arranged in the traveling direction of the traveling cart, and a pair of coupled units in the elevator platform coupled to one stacker crane The other of the parts is connected to the drive lifting support means of the other stacker crane, and one of the pair of connected parts connected to the drive lift support means of the one stacker crane in the lifting platform is released Thus, the lifting platform of one stacker crane can be replaced with the other stacker crane, and the traveling cart of one stacker crane and the traveling cart of the other stacker crane are arranged in the traveling direction of the traveling cart, and the other stacker crane is arranged. One of the pair of connected parts in the lifting platform connected to the crane is used as one stacker. By releasing the other connection of the pair of connected parts connected to the driving lifting support means of the crane and connected to the driving lifting support means of the other stacker crane in the lifting platform, the other stacker crane The lifting platform can be replaced with one stacker crane, and the lifting platform can be replaced between two stacker cranes.

Therefore, for example, two stacker cranes are provided in the article storage facility so as to reciprocate along a track installed along an article storage shelf provided with a plurality of storage sections in the vertical and horizontal directions. When traveling the stacker crane to the target travel position, even if the other stacker crane exists before the target stop position, after traveling one stacker crane toward the other stacker crane, One stacker crane can be used to replace the lifting platform supported by the stacker crane with the other stacker crane, and the other stacker crane with the replaced lifting platform can travel to the target travel position of one stacker crane. By changing the connected platform to another stacker crane The operation of conveying one of the stacker cranes can be carried out subsequently at the other of the stacker crane, it is possible to perform the transportation task without retracting the other stacker crane.
Similarly, by changing the lifting platform connected to the other stacker crane to one stacker crane, the other stacker crane can be continuously transported by one stacker crane. The carrying work can be performed without retracting the crane.

  Therefore, by changing the lifting platform between the two stacker cranes, the transport work of one stacker crane can be continued with the other stacker crane, or the transport work of the other stacker crane can be transferred to one stacker crane. It is possible to carry out the transfer work without retracting one stacker crane or the other stacker crane, and even if two units are provided so as to reciprocate along the track. Can be provided efficiently.

  According to a second characteristic configuration of the present invention, in the first characteristic configuration, the pair of connected portions are provided in a state of being distributed to both end portions in the traveling direction of the traveling carriage in the lifting platform, and the driving elevation The support means is provided so as to be located at an end portion in the traveling direction of the traveling carriage.

  That is, the traveling cart of the other stacker crane in the traveling cart is positioned with the traveling cart of one stacker crane and the traveling cart of the other stacker crane arranged in the traveling direction of the traveling cart. Of the pair of connected parts provided in a state where the driving elevating support means is positioned at the end opposite to the side to be operated and distributed to both ends of the elevating platform in the traveling direction of the traveling carriage. By connecting the connected portion provided at the end on the same side as the side where the lifting support means is located to the driving lifting support means, the drive lifting support means is unlikely to become an obstacle when changing the lifting support. Although it is easy to replace, the elevator can be positioned on the traveling carriage and the elevator can be stably supported by the driving elevator support means. Replacement came to be able to provide a stacker crane which can be supported stably improve the lifting platform at it performs easy and driving the elevating support means.

According to a third characteristic configuration of the present invention, in the first or second characteristic configuration, the driving lift support means includes a connecting rope body for hanging and supporting the lifting platform, and the connecting rope body. A drive lifting device that moves up and down, and a guide post that includes a guide unit for a lift for guiding the lift to move up and down,
The connected portion includes a connecting member for a cord-like body connected to the connecting rope body so as to be disengageable, and a guided body guided to be raised and lowered by the guide portion for the lifting platform of the guide post. It is in the point which is comprised.

  That is, the elevator base is supported by the driving elevator support means by connecting the connecting member for the rope body to the connecting rope body, and the guided body is guided up and down by the guide unit for the elevator base of the guide post. The lifting platform is configured to be guided up and down by driving lifting support means, and is configured to directly support the lifting platform by the connecting member for the striated body and the guided body so as to be freely driven up and down. Compared to a case in which the lifting / lowering base is connected to the lifting / lowering member supported by the guide member for lifting / lowering guide and supported by the guide for lifting base of the guide post, it is necessary to provide a lifting / lowering member separately. Therefore, the structure can be simplified, and a stacker crane capable of simplifying the structure can be provided.

  According to a fourth feature configuration of the present invention, in the first or second feature configuration, the drive lifting support means is suspended and supported by a support cable body that is lifted and lowered by a lifting drive device and is provided on a lifting post. It is comprised with the raising / lowering moving body guided by raising / lowering, and the said to-be-connected part is comprised with the to-be-connected body connected with the said raising / lowering moving body so that a connection release is possible.

  That is, the lifting and lowering moving body is supported by being suspended by the supporting rope body and guided to be lifted and lowered by the lifting and lowering post, and the lifting platform releases the connection of the connected body provided thereto to the lifting and lowering moving body. Since it is only necessary to make the configuration possible, it is easy to connect and disconnect the connected portion to the drive lifting support means, so the lifting platform can be replaced smoothly, and therefore the lifting platform can be replaced smoothly. It came to be able to provide a stacker crane that can.

  According to a fifth feature configuration of the present invention, the two stacker cranes according to any one of the first to fourth feature configurations are arranged along a trajectory installed along an article storage shelf provided with a plurality of article storage sections vertically and horizontally. When the operation control means, which is provided so as to reciprocate and controls the operation of the two stacker cranes, replaces the lifting platform currently connected to each of the two stacker cranes with the other stacker crane, A traveling process for positioning the two stacker cranes so as to have a set positional relationship for replacement, and the drive of the mating stacker crane in the currently unconnected connected part of the pair of connected parts of the lifting platform Connection processing for connecting to the lifting support means, and connection of the currently connected state of the pair of connected parts of the lifting platform from the drive lifting support means is released. In that it is configured to perform the release process.

That is, when the lifting process is performed and the two stacker cranes are positioned in the set position relationship for replacement, the connecting process is performed to drive the other connected portion of the lifting platform to the other stacker crane. By connecting to the lift support means, the lift base is connected to both of the drive lift support means in the two stacker cranes, and then the release process is performed so that one connected portion of the lift base is connected to one stacker crane By releasing the connection from the driving lifting support means, the lifting platform can be changed from one stacker crane to the other stacker crane.
Therefore, the lift base to be replaced is supported by one of the drive lift support means of the two stacker cranes, and no separate member for supporting the lift base is required when replacing, so the structure of the stacker crane is simplified. As a result, it is possible to provide an article storage facility that can simplify the configuration of the stacker crane.

  According to a sixth characteristic configuration of the present invention, in the fifth characteristic configuration, when the operation control unit causes one of the two stacker cranes to travel to a target travel position, the other of the two travels before the target travel position. When the stacker crane is present, the traveling process is executed in such a manner that the one stacker crane is caused to travel toward the position where the other stacker crane exists, and then the connection process and the release process are performed. Then, the other stacker crane is configured to travel to the target travel position of the one stacker crane.

That is, as described above, when two of the stacker cranes are provided in the article storage facility so as to reciprocate along a track installed along an article storage shelf provided with a plurality of storage sections in length and width, By changing the lifting platform connected to the other stacker crane to the other stacker crane, the transfer work of one stacker crane can be continued with the other stacker crane, and it is connected to the other stacker crane. When the former lifting platform is replaced with the other stacker crane, the lifting platform connected to the other stacker crane is replaced with one stacker crane, so that the other stacker crane can be transported by the other stacker crane. It can be done subsequently.
Therefore, by changing the lifting platform between one stacker crane and the other stacker crane, the transfer work of one stacker crane can be continued with the other stacker crane, or the transfer work of the other stacker crane can be performed. Since it can be carried out continuously with one stacker crane, the carrying work can be carried out efficiently, thereby providing an article storage facility capable of carrying out the carrying work efficiently.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First embodiment]
As shown in FIG. 1, the article storage facility places an article B between an article storage shelf 2 having a plurality of storage units 1 arranged vertically and horizontally, and the article storage shelf 2 and an article support table 3 for loading and unloading. A stacker crane 4 to be conveyed is provided.

Two article storage shelves 2 are installed at an interval so that the article loading / unloading directions are opposed to each other. As shown in FIG. 2, the article support rack 3 is a shelf of the article storage shelf 2. It is installed on both sides in the width direction. A traveling rail 7 as a track is installed on the floor between the two article storage shelves 2, and the stacker crane 4 is provided so as to reciprocate along the traveling rail 7.
Hereinafter, one side of the stacker crane 4 in the traveling direction (shelf width direction) is referred to as the HP side (upper left side in FIG. 2), and the other side is referred to as the OP side (upper right side in FIG. 2).

  As shown in FIGS. 1 and 2, two stacker cranes 4 are provided so as to reciprocate along the same traveling rail 7, and the HP side stacker crane 4 a located on the HP side The article B is transported between the article support table 3 on the side and the storage unit 1 of the article storage shelf 2, and the OP side article support stand 3 and the article storage shelf 2 are moved by the OP side stacker crane 4 b located on the OP side. The article B is transported to and from the storage unit 1.

As shown in FIG. 3, the stacker crane 4 includes an elevator 11 having a fork-type transfer device 12 for taking in and out an article B with respect to a plurality of storage units 1 provided in the article storage shelf 2, and the elevator And a traveling carriage 10 provided with a drive lifting support means 13 that supports the drive 11 up and down freely.
The lifting platform 11 includes a pair of connected portions 31 that are connected to the drive lifting support means 13 provided in each of the two traveling carts 10 arranged in the traveling direction of the traveling cart 10 so as to be separately disengageable. It is prepared for.
The pair of connected portions 31 is provided in a state of being distributed to both end portions in the traveling direction of the traveling carriage 10 in the lifting platform 11, and the connected portions 31 are arranged on the HP side of the lifting platform 11. It is provided at each of the end and the end on the OP side. The driving elevating support means 13 is provided so as to be located at the end of the traveling carriage 10 in the traveling direction.
Then, as shown in FIG. 4, in a state where the two stacker cranes 4 are positioned so as to be in the set positional relationship for replacement, the elevator 11 is placed between the HP-side stacker crane 4 a and the OP-side stacker crane 4 b. Are configured to be interchangeable with each other.

Next, the stacker crane 4 will be specifically described. Since the HP side stacker crane 4a and the OP side stacker crane 4b are configured in substantially the same manner, the HP side stacker crane 4a will be described, and the OP side stacker crane 4b. Description of is omitted.
As shown in FIG. 3, the traveling carriage 10 is configured to travel on the traveling rail 7 with drive wheels 15 a that are rotationally driven by a traveling electric motor 14 and freely driven wheels 15 b that are freely rotatable. In addition, the traveling carriage 10 is provided with backup rollers that prevent the traveling carriage 10 from being lifted at both ends in the traveling direction.
The driving elevating support means 13 includes a connecting chain 21 as a connecting rope for supporting the lifting platform 11 in a suspended manner, and an elevating electric motor 22 as a driving elevating device that moves the connecting chain 21 up and down. And a guide post 23 provided with a lift guide portion 23a (see FIG. 6) for guiding the lift 11 up and down.

As shown in FIG. 3, the guide post 23 is configured by a cylindrical frame, one standing on the HP side end of the traveling carriage 10, and the upper frame guided at the upper end by the guide rail 8. The upper frame 17 is configured to be connected to the end portion of the HP 17 and support the upper frame 17. Further, as shown in FIGS. 6 and 7, the OP-side portion of the guide post 23 is configured as a lifting platform guide 23a, and a slit 29 is provided in the shelf front-rear direction intermediate portion of the lifting platform guide 23a. Is formed.
As shown in FIG. 3, the connecting chain 21 includes an upper guide sprocket 25 provided on the upper frame 17, an intermediate guide sprocket 26 provided on the upper and lower intermediate portions of the guide post 23, and the traveling carriage 10. It is wound around a driving sprocket 27 provided at an end portion on the HP side and a lower guide sprocket 28 provided at the lower portion of the guide post 23, and both end portions thereof are connected to each other to form an endless shape. Has been. Then, by driving and rotating the driving sprocket 27 in the forward and reverse directions by the lifting electric motor 22, the portion of the connecting chain 21 that supports the lifting platform 11 is moved up and down to move the lifting platform 11 up and down. It is configured.

As shown in FIG. 5 to FIG. 7, the connected portion 31 in the lifting platform 11 includes a cord-like connecting member 32 that is connected to the connecting chain 21 so as to be disengaged, and the lifting and lowering of the guide post 23. An inner guide roller 33 as a guided body that is guided up and down by the table guide portion 23a is provided.
The connecting member 32 for the striated body is erected on the upper end portion of the lifting platform 11 toward the guide post 23 side, and is inserted in the space surrounded by the link plate and the roller in the connecting chain 21 in the horizontal direction of the shelf. It is composed of a bar-shaped member with possible thinness. As shown in FIGS. 8 and 9, the connecting member 32 for the striated body is inserted into and removed from the connecting chain 21 as the elevating base 11 moves in the horizontal direction of the shelf relative to the guide post 23. Is configured to do.
In the state in which the connecting member 32 for the striated body is inserted through and engaged with the connecting chain 21, the elevating electric motor 22 performs the engagement of the connecting member 32 for the striated member with the connecting chain 21. The lifting platform 11 is configured to move up and down by moving the connecting chain 21 up and down.

As shown in FIGS. 5 and 6, the base end portions of the pair of support shafts 35 are arranged on the same straight line at the front end portion of the rotating shaft 34 provided on the upper part of the lifting platform 11 toward the guide post 23 side. Each of them is fixed, and an inner guide roller 33 capable of rolling on the inner surface of the guide unit 23a for the elevator platform on the guide post 23 is rotatably supported at the tip of the support shaft 35.
6 and 8, the rotation shaft 34 is configured to be rotated around the axis along the shelf width direction by the rotation operation mechanism 36, and as shown in FIG. By rotating the rotary shaft 34 with the rotation drive mechanism 36 so that the shaft 35 is in a horizontal posture, the inner guide roller 33 overlaps with the elevator guide unit 23a in the guide post 23 in the horizontal direction of the shelf. By moving to a position where it can come into contact with the inner surface of the guide portion 23a and rotating the rotary shaft 34 with the rotary drive mechanism 36 so that the support shaft 35 is in a vertical posture as shown in FIGS. The inner guide roller 33 is configured to move to a position where it can pass through the slit 29 without overlapping the elevator platform guide portion 23a in the guide post 23 in the shelf width direction.

As shown in FIGS. 5 to 7, a total of four swing shafts 37 are provided on both sides in the longitudinal direction of the shelf in the upper and lower portions of the lifting platform 11, and the tip of the swing shaft 37 is provided. A lateral guide roller 38 is rotatably provided.
The swing shaft 37 is configured to be swung in the horizontal direction by a swing operation mechanism 39, and as shown in FIG. 8, the swing shaft 37 is in a posture substantially along the shelf width direction. By swinging the swing shaft 37 with the swing drive mechanism 37 as described above, the lateral guide roller 38 is moved to a position where it can contact the lateral outer surface of the guide post 23 facing the shelf front and rear direction. As shown in FIG. 9, by swinging the swing shaft 37 with the swing drive mechanism 37 so that the swing shaft 37 is inclined with respect to the lateral width direction of the shelf, the lateral guide roller 38 is guided by the guide post. It is configured to move to a position retracted in the front-rear direction of the shelf so as to be separated from 23.

As shown in FIG. 5 to FIG. 7, outer guide rollers 43 that can roll on the outer surface of the guide unit 23 a for the elevator post on the guide post 23 are rotatably supported on the upper part and the lower part of the elevator table 11, respectively. Yes.
In addition, on the inner surface of the guide post 23, a power supply line 40 for supplying power to the lifting platform 11 is provided along the vertical direction, and a power receiving coil 41 is provided at the lower portion of the lifting platform 11. A magnetic field is generated in the power supply line 40 by energization, and necessary power on the article transport vehicle 3 side is generated in the power receiving coil 41 by this magnetic field, so that power is supplied to the elevator 11 in a non-contact state. The width of the power reception coil 41 in the front-rear direction of the shelf is formed to be smaller than the width of the slit 29 in the front-rear direction of the shelf, and the power reception coil 41 is configured to pass through the slit 29.

As shown in FIG. 3, the traveling carriage 10 is provided with a traveling laser range finder 44 that projects beam light for ranging in the width direction of the shelf, and a traveling laser is disposed at the end of the traveling rail 7. A travel reflector 45 that reflects the beam light from the distance meter 21 is provided.
Then, the traveling laser rangefinder 44 projects toward the traveling reflector 45 installed on the ground side, and detects the distance of the traveling carriage 10 from the end of the traveling rail 7. The traveling position of the traveling carriage 10 on the traveling route is detected.
The travel reflector 45 includes a travel reflector 45 provided at the end of the HP side of the travel rail 7 corresponding to the travel laser rangefinder 44 of the HP stacker crane 4a, and an OP side stacker crane. Corresponding to the traveling laser distance meter 44 of 4b, a traveling reflector 45 provided at the OP side end of the traveling rail 7 is provided.

The traveling carriage 10 has a lifting laser range finder 46 that projects a beam light for distance measurement in the width direction of the shelf, and a path of the beam light projected by the laser range finder 46 for lifting vertically And a mirror 48 for irradiating the reflector 47 for raising and lowering installed on the lower surface of the elevator 11.
Then, the lifting laser range finder 21 detects the distance between the reference position and the lifting platform 11 with the arrangement position of the mirror 48 provided in the traveling carriage 10 as the reference position in the lifting direction of the lifting platform 11. By this, it is comprised so that the raising / lowering position of the raising / lowering stand 11 on an raising / lowering path | route may be detected.
Incidentally, the traveling reflector 45 is provided on one elevator platform 11, and on the elevator-side reflector plate 47 provided on the lower surface of the elevator 11 corresponding to the elevator laser range finder 21 of the HP stacker crane 4 a. And a lifting reflector 47 provided on the lower surface of the OP side of the lifting platform 11 corresponding to the lifting laser range finder 46 of the OP side stacker crane 4b.

As shown in FIG. 2, an HP side controller 9a for controlling the operation of the HP side stacker crane 4a is provided on the HP side of the traveling rail 7, and the operation of the OP side stacker crane 4b is performed on the OP side of the traveling rail 7. An OP-side controller 9 is provided for controlling the operation of the two stacker cranes 4 by two ground controllers, the HP-side controller 9a and the OP-side controller 9b. It is configured.
Then, the HP-side controller 9a and the OP-side controller 9b receive a delivery instruction for unloading the article B stored in the storage unit 1 to the article support base 3 and a storage instruction for allowing the article on the article support base 3 to enter the storage part 1. The operation control means 9 is configured to be able to input a warehousing command and a warehousing command when the warehousing command or the warehousing command is input to the HP-side controller 9a or the OP-side controller 9b. Based on this, the operation of the stacker crane 4 is controlled so that the article B carried into the article support base 3 is stored in the storage section 1 or the article B stored in the storage section 1 is carried out to the article support base 3. Is configured to do.

  As shown in FIG. 10, various information can be communicated between the HP-side controller 9a and the crane controller 42 in the HP-side stacker crane 4a, and the HP-side controller 9a can communicate with the crane controller 42 in the HP-side stacker crane 4a. Various commands are given to. Various information can be communicated between the OP-side controller 9b and the crane controller 42 in the OP-side stacker crane 4b. The OP-side controller 9b communicates with the crane controller 42 in the OP-side stacker crane 4b. Make a command. Various types of information can be communicated between the HP-side controller 9a and the OP-side controller, and various types of information are shared.

That is, the HP controller 9a in the operation control means 9 is based on the loading / unloading command input to the HP controller 9a, various information from the crane controller 42 of the HP stacker crane 4a, and various information from the OP controller 9b. While managing the traveling position of the traveling carriage 10 of the HP-side stacker crane 4a and the raising / lowering position of the elevator platform 11, and the traveling position of the traveling carriage 10 of the OP-side stacker crane 4b and the raising / lowering position of the elevator platform 11, The traveling carriage 10 of the stacker crane 4a is caused to travel to the target traveling position, and the lifting platform 11 supported by the HP-side stacker crane 4a is moved up and down to the target lifting position.
Similarly to the HP controller 9a, the OP controller 9b in the operation control means 9 causes the traveling carriage 10 of the OP stacker crane 4b to travel to the target travel position and is supported by the OP stacker crane 4b. 11 is moved up and down to the target lift position.

Then, as shown in FIG. 11, when the loading / unloading command is input, the operation control means 9 scoops up the article B carried into the article support base 3 or the article B stored in the storage shelf 1. Then, an assignment process for determining which one of the HP side stacker crane 4a and the OP side stacker crane 4b is to be performed is performed.
Thereafter, the assigned stacker crane 4 determines whether or not the picked-up article B is to be transported to the storage unit 1 or the article support base 3 of the transport destination, that is, assigns the lifting platform 11 of the assigned stacker crane 4. It is determined whether or not it is necessary to replace the stacker crane 4 that has not been received, and when it is determined that the elevator platform 11 does not need to be replaced, the conveyance processing is performed by the assigned stacker crane 4 and the elevator platform 11 is replaced. If it is determined that it is necessary, the elevator supported by the assigned stacker crane 4 is replaced with the unassigned stacker crane 4 and then transported by the unassigned stacker crane 4.

  In the allocation process, when the article B carried into the HP-side article support 3 is stored in the storage unit 1, the HP-side stacker crane 4a is allocated, and the article B carried into the OP-side article support 3 is stored in the storage unit. In the case of storing in 1, the OP side stacker crane 4b is assigned. Further, when the article B stored in the storage unit 1 is carried out to the article support base 3, for example, the article B stored in the storage part 1 at the HP side end of the article storage shelf 2 is stored in the article support base 3. The HP-side stacker crane 4a is assigned when being unloaded, and the OP-side stacker crane 4b is assigned when unloading the article B stored in the storage section 1 at the OP-side end of the article storage shelf 2 to the article support base 3. As described above, a suitable one of the two stacker cranes 4 is assigned.

When the operation control means 9 replaces the elevator 11 currently connected to each of the two stacker cranes 4 with the other stacker crane 4, the operation control means 9 has the set positional relationship for replacement of the two stacker cranes 4. The connecting process of connecting the connected part 31 in the currently unconnected state of the pair of connected parts 31 of the lifting platform 11 to the drive lifting support means 13 of the mating stacker crane 4. And the cancellation | release process which carries out the connection cancellation | release of the to-be-connected part 31 of the present connection state of the pair of to-be-connected parts 31 of the said lifting stand 11 from the said drive raising / lowering support means 13 is performed.
The operation control means 9 moves the one stacker crane 4 when the other stacker crane 4 is present before the target travel position when one of the two stacker cranes 4 travels to the target travel position. The traveling process is performed in a form in which the crane 4 is traveled toward the position where the other stacker crane 4 is present, and then the connection process and the release process are performed, and then the other stacker crane 4 is moved. The one stacker crane 4 is configured to travel to the target travel position.

That is, the case where the HP-side stacker crane 4a of the two stacker cranes 4 is driven to the target travel position will be described as an example. If the OP-side stacker crane 4b exists before the target travel position, the replacement is performed. As shown in FIG. 8, ascending / descending supported by the HP-side stacker crane 4 a is performed so that the HP-side stacker crane 4 a travels toward the current position of the OP-side stacker crane. The connecting member 32 for the striate body in the connected portion 31 on the OP side of the base 11 is inserted into the connecting chain 21, the inner guide roller 33 is positioned in the guide post 23, and the lateral guide roller 38 is set to the guide post 23. The outer guide roller 43 is positioned outside the guide for the elevator platform in the guide post 23 so as to overlap the shelf in the longitudinal direction of the shelf. To be brought into contact with.
Next, the rotating shaft 34 in the connected portion 31 on the OP side of the lifting platform 11 supported by the HP side stacker crane 4a is rotated so that the inner guide roller 33 contacts the inner surface of the lifting platform guide portion 23a. A connecting process is performed in which the swing shaft 37 is swung to bring the lateral guide roller 38 into contact with the side surface of the guide post 23.
Further next, the rotating shaft 34 in the connected portion 31 on the HP side of the lifting platform 11 supported by the HP stacker crane 4a is rotated so that the inner guide roller 33 has a shelf width with respect to the lifting platform guide portion 23a. A release process is performed in which the horizontal guide roller 38 is separated from the side surface of the guide post 23 by swinging the swing shaft 37 so as not to overlap in the direction.
Thereafter, the OP side stacker crane 4b is caused to travel to the target travel position of the HP side stacker crane 4a.
By the way, although detailed explanation is omitted, the elevator 11 supported by the HP-side stacker crane 4a and the elevator 11 supported by the OP-side stacker crane 4b are in contact with each other in parallel or preceding this traveling process. In order to avoid this, the elevator 11 supported by one stacker crane 4 is moved up and down to the higher position for changing, and the elevator 11 supported by the other stacker crane 4 is moved to the lower position. A lifting process for moving up and down to the side lifting position is performed. In addition, as the lifting platform 11 supported by the HP-side stacker crane 4a is replaced with the OP-side stacker crane 4b, the lifting platform 11 supported by the OP-side stacker crane 4b is replaced with the HP-side stacker crane 4a.

Further, for example, when one of the two stacker cranes 4 is traveled to the target travel position, when the other stacker crane 4 does not exist before the target travel position, the one stacker crane 4 is moved to the target travel position. Drive to position.
However, even when the other stacker crane 4 does not exist before the target travel position of one stacker crane 4, another scooping work is assigned to the other stacker crane 4, and the target travel position of the other stacker crane 4 is When the stacker crane 4 is located on the side where the stacker crane 4 is present and the platform 11 needs to be replaced, as shown in FIG. 13, both stacker cranes 4 are connected to the other stacker crane 4. 4 is moved toward the position of 4 and the elevator 11 is replaced.
In FIG. 13, the lifting platform 11a supported by the HP-side stacker crane 4a and the lifting platform supported by the OP-side stacker crane 4b are denoted by 11b.

[Second Embodiment]
Next, although the article storage equipment of the second embodiment will be described, this second embodiment is another embodiment of the drive lifting support means and the connected portion of the stacker crane in the first embodiment. . Hereinafter, the drive elevating / lowering support means and the connected portion will be described, and the other configurations are the same as those in the first embodiment, and the description thereof will be omitted.

As shown in FIG. 14, the drive elevating support means 13 is suspended and supported by a support chain 52 as a support striated body that is moved up and down by a drive elevating electric motor 51 as an elevating drive device. The up-and-down moving body 54 guided up and down by the up-and-down post 53 is configured, and the connected portion 31 is configured to include a connected body 55 that is connected to the up-and-down moving body 54 so as to be disengaged. .
A pair of elevating and lowering moving bodies 54 are provided in the vertical direction so as to move up and down along the same path. In order to move the pair of elevating moving bodies 54 up and down separately, a drive elevating electric motor 51 and a support chain 52 are provided. A pair is also provided.

Then, by driving and rotating the pair of drive sprockets 27 in the forward and reverse directions by the pair of drive lifting and lowering electric motors 51, the portion connected to the lifting and lowering moving body 45 in the support chain 52 moves up and down to move up and down. The moving body 54 is moved up and down separately, and the lifting platform 11 connected to the lifting and moving body 54 is moved up and down.
Incidentally, the engaging member 32 provided at the upper end portion of the up-and-down moving body 54 located on the upper side is engaged with one side of the pair of supporting chains 52, and the up-and-down position located on the lower side is engaged with the other side. The locking member 32 provided at the upper end of the moving body 54 is engaged.

As shown in FIG. 14, the base ends of the pair of support shafts 35 are aligned on the same horizontal straight line at the distal end portion of the fixed shaft 58 erected on the lift moving body 11 toward the lift post 53 side. Each part is fixed, and an inner guide roller 33 capable of rolling on the inner surface of the elevator guide part 23a in the elevator post 53 is rotatably supported at the tip of the support shaft 35.
Further, as shown in FIGS. 15 and 16, a total of four fixed shafts 59 erected toward the lifting posts are provided on both sides of the upper and lower sides of the lifting and lowering moving body 11 in the longitudinal direction of the shelf. A lateral guide roller 38 that rolls on the front-rear direction of the elevating post 53 in the front-rear direction of the shelf is rotatably provided at the tip of the fixed shaft 59.
Then, the connected body 55 is connected to the lifting / lowering body 54 by a claw member (not shown) provided in the lifting / lowering body 54 in a state where the connected body 55 is fitted in the recess of the lifting / lowering body 54. The engagement of the claw member and the disengagement operation are performed by a claw operation mechanism (not shown).

[Another embodiment]
(1) In the above embodiment, the pair of connected portions 31 are provided in a state of being distributed to both ends in the traveling direction of the traveling carriage 10 in the lifting platform 11, but for example, in the traveling direction in the lifting platform 11. It is not necessary to provide the pair of connected portions 31 in a state in which the pair of connected portions 31 are distributed to both end portions in the traveling direction of the traveling carriage 10 in the lifting platform 11, such as being arranged side by side in the traveling direction.

(2) In the above embodiment, the drive lifting support means 13 is provided so as to be positioned at the end of the traveling carriage 10 in the traveling direction, but is disposed in the intermediate portion of the traveling carriage 10 in the traveling direction. It may be provided. Although the drive elevating support means 13 is configured with a single post, it may be configured with a plurality of posts.

(3) In the above embodiment, the lifting platform 11 is automatically replaced by the operation control means 9 that controls the operation of the two stacker cranes 4. It is also possible to provide an operating means for artificially operating one or both of 31 and 31 so as to replace the elevator 11 by manual operation of the operator.

(4) Although the two stacker cranes 4 are configured to travel toward the current position of the remaining one stacker crane 4 when replacing the lifting platform 11 in the above embodiment, one stacker crane 4 is provided. The other stacker crane 4 may be configured to travel toward the current position of the one stacker crane 4.

Perspective view of goods storage equipment Front view of goods storage shelf Side view of stacker crane Side view of stacker crane Side view showing connected parts Cross-sectional view showing the upper part of the connected part Cross-sectional view showing the lower part of the connected part Diagram showing movement of connected parts The figure which shows a drive raising / lowering support means and to-be-connected part Control block diagram flowchart Diagram showing replacement of lifting platform Diagram showing replacement of lifting platform Side view of the stacker crane in the second embodiment Cross-sectional view showing the upper part of the connected portion in the second embodiment Cross-sectional view showing the lower part of the connected portion in the second embodiment

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Storage part 2 Goods storage shelf 4 Stacker crane 7 Track 9 Operation control means 10 Traveling carriage 11 Lifting stand 12 Transfer device 13 Drive raising / lowering support means 21 Connecting cable body 22 Drive lifting device 23 Guide post 23a Lifting stand guide part DESCRIPTION OF SYMBOLS 31 Linked part 32 Connecting member for rope body 33 Guided body 51 Lifting drive device 52 Supporting rope body 53 Lifting post 54 Lifting moving body 55 Connected body B article

Claims (6)

A lifting platform provided with a transfer device for loading and unloading articles to and from a plurality of storage units provided in the article storage shelf, and a traveling carriage provided with drive lifting support means for supporting the lifting platform so as to be driven up and down. A stacker crane configured,
The lifting platform includes a pair of connected portions that are connected to the driving lifting support means provided in each of the two traveling carts arranged in the traveling direction of the traveling cart so as to be individually disengageable. Stacker crane. The pair of connected portions are provided in a state of being distributed to both end portions in the traveling direction of the traveling carriage in the lifting platform,
The stacker crane according to claim 1, wherein the driving elevating support means is provided at an end portion of the traveling carriage in the traveling direction. The drive elevating support means for suspending and supporting the elevating platform, a drive elevating device for moving the elevating platform up and down, and the elevating platform for elevating and lowering the elevating platform And a guide post provided with a guide for use,
The connected portion includes a connecting member for a cord-like body connected to the connecting rope body so as to be disengageable, and a guided body guided to be raised and lowered by the guide portion for the lifting platform of the guide post. The stacker crane according to claim 1 or 2, wherein the stacker crane is configured. The drive elevating support means is configured to include an elevating moving body that is suspended and supported by a supporting rope body that is moved up and down by an elevating drive device and that is guided up and down by an elevating post,
The stacker crane according to claim 1, wherein the connected portion includes a connected body that is connected to the elevating moving body so that the connection can be released. Two of the stacker cranes according to any one of claims 1 to 4 are provided so as to reciprocate along a track installed along the article storage shelf provided with a plurality of storage units vertically and horizontally. ,
When the operation control means for controlling the operation of the two stacker cranes replaces the lifting platform currently connected to each of the two stacker cranes with the other stacker crane, the two stacker cranes are replaced. Travel processing for positioning so as to be in a set positional relationship, and connection processing for connecting the currently unconnected connected portion of the pair of connected portions of the lifting platform to the drive lifting support means of the other stacker crane And the article | item storage equipment comprised so that the cancellation | release process which cancels | releases connection of the to-be-connected part of the present connection state from the said drive raising / lowering support means among a pair of to-be-connected parts of the said lifting platform may be performed. The operation control means is
When one of the two stacker cranes travels to the target travel position and the other stacker crane is present before the target travel position, the one stacker crane is directed to the position where the other stacker crane is present. The travel process is executed in the form of running, and then the connection process and the release process are executed, and then the other stacker crane is caused to travel to the target travel position of the one stacker crane. The article storage facility according to claim 5, which is configured as follows.

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