JP2008063033A - Article carrying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article carrying device capable of preventing a carrying attitude of an article being mounted and supported from getting into trouble with traveling of a stacker crane although it can carry both of a short article and a long article. <P>SOLUTION: This article carrying device is provided with a storage rack, a stacker crane and a control means controlling operation; a pair of position regulation members 57 and 58 taking and regulating the position of the article in the longitudinal direction of a traveling route are arranged by making them respectively correspond to a plurality of article transfer devices; a position regulation member 58 to be positioned on the lower side of an article presence planned region when a long article C is transferred is composed such that its position can be changed to an action position for position regulation and a retraction position retracting downward; the movable position regulation member 58 is changed over to the action position in a short article carriage processing state; and the movable position regulation member 58 is changed over to the retraction position in a long article carriage processing state. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention provides a storage shelf provided with a plurality of article storage sections arranged vertically and horizontally, and a load that is movable along a traveling path in front of the storage shelf and that transfers articles along the front-rear width direction of the storage shelf. A stacker crane provided with a plurality of stationary conveyance type article transfer devices arranged in a longitudinal direction of the travel path, and a control means for controlling a travel operation of the stacker crane and a transfer operation of the article transfer device. A short article conveyance processing state in which the control means places and supports short articles that are short along the longitudinal direction of the traveling path in each of the plurality of article transfer devices, and the traveling path. The present invention relates to an article transport apparatus configured to be switchable to a long article transport processing state in which a long article that is long along the longitudinal direction is shared and supported by the plurality of article transfer apparatuses.

  The article transporting apparatus includes a pair of article transfer devices arranged on the stacker crane along a longitudinal direction of a travel path of the stacker crane, and transfers the short article in the short article transport processing state. Is placed and supported by one article transfer device of a pair of article transfer devices, and when the long article is transferred in the long article transfer processing state, the pair of article transfer devices share the load. Any one of the short article and the long article having different dimensions along the longitudinal direction of the travel path can be transported by a stacker crane. In the prior art, there are no members on both sides in the longitudinal direction of the travel path of each article transfer device so as not to interfere with the transfer when placing a long article. Had become released state (e.g., see Patent Document 1.).

JP-A-9-272610

  In the above-described conventional configuration, since there are no members on both sides in the longitudinal direction of the traveling path of each of the plurality of article transfer devices, the dimensions along the longitudinal direction of the traveling path are different. Although it is possible to carry either the short article or the long article, there is the following disadvantage and there is room for improvement.

  That is, in the conventional configuration, the stacker crane is moved along the travel path while the article is placed and supported in either the short article transport processing state or the long article transport processing state. In this case, since there are no members on both sides in the longitudinal direction of the travel path of the article that is placed and supported, the stacker crane starts traveling from the stopped state to the steady traveling state. When the speed is increased or when the vehicle is decelerated so as to stop traveling from the steady traveling state, the mounting position may be shifted.

In other words, the stacker crane gradually increases the traveling speed when the stacker crane starts traveling from the stopped state and increases the speed to the steady traveling state. On the other hand, when the traveling is stopped from the steady traveling state, the traveling speed is gradually reduced. As described above, if the acceleration at the time of starting the traveling is increased or the deceleration at the time of stopping the traveling is performed slowly over a long period of time, the processing capacity is lowered. Therefore, it is necessary to increase or decrease the speed in a short time.
As a result, when the stacker crane starts traveling from the stopped state and accelerates to the steady traveling state, the acceleration is performed in a short time, so the article placed on the article transfer device is caused by the static inertia force. As a result, the position may be shifted. Further, when the stacker crane decelerates from the steady running state to stop running, the speed increase is performed in a short time, so that the article placed on the article transfer device is displaced due to the dynamic inertia force. There is a risk that.

  If the article is displaced as described above, there is a possibility that the transfer operation cannot be performed properly when the transfer operation for transferring the article from the stacker crane side to the article storage unit side is executed thereafter. . In particular, recently, there has been a demand for speeding up the conveyance process, and there is a demand for speeding up the stacker crane. However, when the speed of the stacker crane is increased in this way, the articles placed as described above can be obtained. There was a great risk of misalignment.

  It is an object of the present invention to transport a short article that is short along the longitudinal direction of the travel path of the stacker crane and a long article that is long along the longitudinal direction of the travel path. However, the object is to provide an article transporting device that is less likely to cause a positional shift of the article that is placed and supported as the stacker crane travels.

An article transporting apparatus according to the present invention includes a storage shelf provided with a plurality of article storage portions arranged vertically and horizontally, and an article that can travel along a traveling path in front of the storage shelf and along the front-rear width direction of the storage shelf. A stacker crane provided with a plurality of placement-conveying-type article transfer devices arranged along the longitudinal direction of the travel path, and controlling the travel operation of the stacker crane and the transfer operation of the article transfer device A short article conveying process state in which the control means places and supports short articles that are short along the longitudinal direction of the travel path in each of the plurality of article transfer devices. The apparatus is configured to be capable of switching to a long article conveyance processing state in which a long article that is long along the longitudinal direction of the travel route is shared and supported by the plurality of article transfer devices. The first feature structure It is,
Corresponding to each of the plurality of article transfer devices, both sides in the longitudinal direction of the travel path in the article existing planned area when the short article is transferred to the stacker crane side in the short article conveyance processing state A pair of position restricting members that are positioned beside and receive and restrict the position of the short article existing in the article existing planned area in the longitudinal direction of the travel path,
Among the plurality of position regulating members provided in pairs corresponding to each of the plurality of article transfer devices, when the long article is transferred to the stacker crane side in the long article conveyance processing state The position restricting member, which is located below the planned article existence area, is capable of changing the position between the position regulating action position and the retreat position where the position regulating member is retracted below the planned article existence area. Configured as a member,
A position change operation means capable of switching the movable position regulating member between the operating position and the retracted position;
The control means switches the movable position regulating member to the operating position in the short article conveyance processing state, and switches the movable position regulating member to the retracted position in the long article conveyance processing state. The position changing operation means is configured to be controlled.

According to the first characteristic configuration, in the short article conveyance processing state, the short article is located on both sides in the longitudinal direction of the travel path in the article existing planned area when the short article is transferred to the stacker crane side. A pair of position restricting members for receiving and restricting the position of the travel path in the longitudinal direction are provided, and the control means switches the movable position restricting member to the operating position in the short article conveyance processing state. In the case where the stacker crane is driven along the travel route in a state where the short article is positioned and supported in the article existing planned area, it is positioned on both sides in the longitudinal direction of the travel path in the article existing planned area. With the pair of position restricting members, the position of the short article in the longitudinal direction of the travel path is received and restricted.
As a result, when the stacker crane starts running and accelerates, displacement due to the stationary inertia force of the short article is avoided, and when the stacker crane decelerates and stops running, the dynamic inertia of the short article The positional deviation due to the force is avoided, and the positional deviation in the longitudinal direction of the travel path of the short article can be prevented.

  And the said control means is a movable position control member which will be located in the downward side of a goods existing scheduled area | region when a long article is transferred to the stacker crane side in the said long article conveyance processing state. Controls the position changing operation means so as to switch to a retreat position that retreats below the article existing planned area, so that the position regulating member does not get in the way and a long article is transferred to a plurality of article transfer devices. Thus, it is possible to share and support.

  In addition, at this time, the long article placed and supported by the plurality of article transfer devices is a position restriction member other than the movable position restriction member among the plurality of position restriction members, that is, its long length. The position in the longitudinal direction of the travel path is regulated by the position regulating members that are located on both sides of the travel path in the longitudinal direction of the article. As a result, as in the case of short articles, when the stacker crane starts running and accelerates, misalignment due to the stationary inertia force of the long articles is avoided, and the stacker crane decelerates and runs. When stopping, the positional deviation due to the dynamic inertia force of the long article is avoided, and the positional deviation in the longitudinal direction of the traveling path of the long article can be prevented.

  Therefore, according to the first characteristic configuration, the misalignment of the article that is placed and supported as the stacker crane travels can be transported regardless of whether the article is a short article or a long article. It has become possible to provide an article transport device that is less likely to generate odors.

  In addition to the first feature configuration, the second feature configuration of the present invention is a biasing unit in which the position changing operation unit moves and biases the movable position regulating member toward the working position, and the biasing thereof. A receiving body that receives and holds the movable position restricting member that is biased toward the action position by the means at the action position, and an operation of moving the movable position restricting member to the retracted position. And a moving operation means.

  According to the second characteristic configuration, the movable position regulating member is urged to move toward the operating position by the urging means, and is received and held at the operating position by the receiving body. become. Further, by operating the moving operation means, it is possible to switch to the retracted position by moving the movable position restricting member received and held at the operating position.

  That is, when the moving operation means is not being moved, the movable position restricting member can be held in the operating position by the urging force of the urging means and the receiving and holding by the receiving body. It is only necessary to operate the moving operation means only when switching to the position, and the moving operation means can be operated only in one direction and can be handled with a simple configuration.

  Therefore, according to the second characteristic configuration, the position changing operation means for switching the position of the movable position restricting member can be simplified to reduce the cost.

  According to a third characteristic configuration of the present invention, in addition to the second characteristic configuration, the moving operation means is configured by an electromagnetic solenoid that moves the movable position regulating member to the retracted position by energization, In the long article conveyance processing state, the control means energizes the electromagnetic solenoid when the article transfer device is moved, and energizes the electromagnetic solenoid when the transfer operation of the article transfer device is stopped. In order to stop, the operation of the electromagnetic solenoid is controlled.

  According to the third characteristic configuration, the moving operation means is constituted by an electromagnetic solenoid that moves the movable position restricting member to the retracted position when energized, and the control means includes the article transfer device. When the moving operation is performed, the electromagnetic solenoid is energized and the movable position restricting member is moved to the retracted position so that the position restricting member is not obstructed, and the long article is well shared by the plural article transfer devices. Thus, it can be placed and supported.

  The control means stops energization of the electromagnetic solenoid when stopping the transfer operation of the article transfer device. For example, when a long article is transferred to the stacker crane side, the energization of the electromagnetic solenoid is stopped, and the operation force for switching the movable position regulating member to the retraction position is released, and the movable type is released. Even if the position restricting member is urged back to the operating position by the urging force of the urging means, a long article exists at the upper side of the movable position restricting member at that time. The retirement state is maintained by touching.

  On the other hand, when the transfer operation of the article transfer device is stopped, when the long article is not transferred to the stacker crane side, for example, transferred to the storage rack side, the electromagnetic solenoid is energized. Is stopped, there is nothing on the upper side of the movable position restricting member, so that the urging force of the urging means switches to the operating position, but the transfer operation performed thereafter is At this time, since the electromagnetic solenoid is energized and the movable position restricting member is moved to the retracted position, the transfer operation can be performed satisfactorily.

  Therefore, according to the third characteristic configuration, the electromagnetic solenoid is energized only when the article transfer device is moved, and the current is stopped when the transfer operation is stopped. Compared to a configuration in which the electromagnetic solenoid is always energized while is being transferred, wasteful consumption of power can be suppressed.

  According to a fourth feature configuration of the present invention, in addition to any one of the first feature configuration to the third feature configuration, a plurality of the stacker cranes are provided in a state of being arranged along a longitudinal direction of the travel route, and the plurality of stacker cranes are provided. Each of the article transfer devices is provided separately, and the control means causes the plurality of stacker cranes to run separately in the short article conveyance processing state, and in the long article conveyance processing state, The plurality of stacker cranes are configured to control the traveling operation of the plurality of stacker cranes so that the plurality of stacker cranes travel while being arranged at a set distance along the longitudinal direction of the traveling path.

  According to the fourth characteristic configuration, a plurality of stacker cranes are provided in a state of being aligned along the longitudinal direction of the travel path, and an article transfer device is provided for each of the plurality of stacker cranes, In the processing state, multiple stacker cranes will be run separately, so by running these stacker cranes separately, it is possible to transport multiple short articles to different locations. Therefore, it is possible to improve the conveyance efficiency.

  On the other hand, in the long article conveyance processing state, since the plurality of stacker cranes are traveled side by side at a set distance along the longitudinal direction of the traveling path, the traveling operations of the plurality of stacker cranes are controlled. A plurality of stacker cranes can be driven in a state in which the long articles are placed and supported by a plurality of article transfer devices provided in each of the stacker cranes of the stacker crane, and are long along the longitudinal direction of the travel path. Even a long, long article can be placed and supported and transported. Further, when the set distances separated along the longitudinal direction of the traveling path of the plurality of stacker cranes are set to different values, even long articles having different lengths along the longitudinal direction of the traveling path can be placed and transported satisfactorily. There is also an advantage that can be done.

  Therefore, according to the fourth characteristic configuration, while the short article can be efficiently conveyed by a plurality of stacker cranes, it is long along the longitudinal direction of the travel route using the plurality of stacker cranes. An article conveying apparatus capable of satisfactorily placing and supporting a long long article can be provided.

An embodiment in which an article transporting apparatus according to the present invention is applied to an article storage facility will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the article storage facility includes two storage shelves 1 that are installed at an interval so that the front surfaces for putting in and out articles B made of containers or the like face each other, and two storage shelves 1. A stacker crane 3 that reciprocates along a traveling passage 2 formed between them is provided. Each storage shelf 1 has a plurality of a pair of front and rear support columns 1a spaced apart in the width direction of the shelf, and each of the pair of front and rear support columns 1a has a mounting support portion 1b extending in the vertical direction of the shelf. A plurality are arranged with a gap therebetween. A plurality of article storage units 4 in the storage shelf 1 are arranged in the vertical direction and the horizontal width direction of the shelf, and each of the plurality of article storage units 4 places and supports the article B by the placement support part 1b. It is comprised so that the articles | goods B may be accommodated in the form to do.

  As the article B, a long article C that is long along the longitudinal direction of the traveling rail 6 as a traveling path installed on the floor surface of the traveling passage 2 and a short article that is short along the longitudinal direction of the traveling rail 6. There is D. As the article storage section 4, a long storage section 41 that stores a long article C and a short storage section 42 that stores a short article D are provided.

  In the travel path 2, a travel rail 6 is installed on the floor, and a guide rail 7 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 as an example of a control unit is provided at an end of the traveling rail 6 on the load mounting table 5 side. In the storage shelf 1, the long storage portion 41 is provided closer to the loading table 5 than the short storage portion 42.

  The storage shelf 1 so that the loading table 5 as an article support part for loading / unloading the article B entering the storage shelf 1 and the article B delivered from the storage shelf 1 is adjacent to the shelf width direction of the storage shelf 1. It is installed on the side. The loading table 5 is provided with a long loading table 51 as a long article supporting unit that supports the long article C, and a short loading table 52 as a short article supporting unit that supports the short article D. It has been. A pair of the long load mounting table 51 and the short load mounting table 52 are provided across the traveling rail 6, and the long load mounting table 51 is disposed closer to the ground side controller 8 than the short load mounting table 52. ing.

  The ground-side controller 8 manages storage information such as which storage unit 4 stores which item B and which storage unit 4 stores the item B, and which storage unit B stores which item B. It is configured to select whether to store in the section 4 and from which storage section 4 the article B is taken out.

  Two stacker cranes 3 are provided in a state of being aligned in the longitudinal direction of the traveling rail 6. In this embodiment, the two stacker cranes 3 that are positioned on the loading platform 5 side are referred to as a first stacker crane 3a, and the one that is positioned on the storage shelf 1 side is described as a second stacker crane 3b.

  Each of the two stacker cranes 3 has the same configuration. As shown in FIG. 3, a traveling carriage 9 that can reciprocate along the traveling rail 6 and an elevating mast 10 that stands on the traveling carriage 9 are provided. A lifting platform 11 that can be moved up and down along, and an article transfer device 12 as an article transfer means mounted on the lifting table 11 are provided. Accordingly, a plurality of article transfer devices 12 are provided in a state where they are arranged along the longitudinal direction of the traveling rail 6 as a traveling route, and the stacker crane 3 is arranged along the longitudinal direction of the traveling rail 6. A plurality of stacker cranes 3 are provided, and each of the plurality of stacker cranes 3 is provided with an article transfer device 12.

  Further, as shown in FIG. 15, the two stacker cranes 3 can support the short articles D separately, and as shown in FIG. 16, the two adjacent stacker cranes 3 along the longitudinal direction of the traveling rail 6 In a state where they are arranged at a set distance, the long article C is configured to be supported in a cooperative manner. That is, when transporting the long article C, the article transfer device in each of the two stacker cranes 3 is provided by separating the traveling carriage 9 of the stacker crane 3 adjacent along the longitudinal direction of the traveling rail 6 by a set distance R. 12, both ends of the long article C are supported. That is, the two stacker cranes 3 are provided in a state where the respective article transfer devices 12 are arranged to face each other.

  Then, the ground-side controller 8 places the short article D on the two article transfer apparatuses 12 and supports the short article conveyance process, and the long article C transfers the two articles transfer apparatus 12. It is configured to be switchable to a long article conveyance processing state in which it is shared and placed and supported. The ground-side controller 8 is configured to control the traveling operation of the two stacker cranes 3 and the transfer operation of the two article transfer devices 12 provided in each stacker crane 3.

Hereinafter, the configuration of the stacker crane 3 will be described.
As shown in FIG. 3, each stacker crane 3 is provided with a single lifting mast 10, and this single lifting mast 10 is separated from the stacker crane 3 adjacent in the longitudinal direction of the traveling rail 6. It is erected at the end portion of the side traveling carriage 9. An upper frame 13 is provided at the upper end of the lifting mast 10 so as to be guided by the guide rail 7.

The elevating platform 11 is supported and supported by an elevating mast 10 erected on the traveling carriage 9 so as to be movable up and down, and supported by being suspended by elevating wires 14. 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 to rotate forward and backward by an elevating electric motor 18 so that the elevating platform 11 is moved up and down by a feeding operation or a winding operation of the elevating wire 14.

  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 not shown, the rotary shaft of the lifting rotary encoder 19 is provided with a sprocket that meshes with a chain provided along the longitudinal direction of the lifting mast 10, and detects the lifting position of the lifting platform 11 in the vertical direction. It can be done.

  The traveling carriage 9 is provided with a pair of front and rear traveling wheels 20 spaced apart in the longitudinal direction of the traveling rail 6, and each of the pair of front and rear traveling wheels 20 is in contact with the traveling rail 6 from below. Accordingly, a backup roller 29 is provided that contacts the traveling rail 6 so as to be restricted from moving upward and restricts the flying of the traveling wheel 20 from the traveling rail 6.

  Of the pair of front and rear traveling wheels 20, a traveling electric motor 21 that drives the traveling wheels 20 a located on the side away from the stacker crane 3 adjacent in the longitudinal direction of the traveling rail 6 is provided, and the traveling wheels 20 a are used for propulsion. It is configured as a running wheel. Of the pair of traveling wheels 20, the traveling wheels 20 b located on the side close to the stacker crane 3 adjacent in the longitudinal direction of the traveling rail 6 are configured as freely driven wheels.

  As shown in FIGS. 1 and 3, one traveling laser range finder 22 for projecting ranging beam light in the longitudinal direction of the traveling rail 6 is provided at both ends in the longitudinal direction of the traveling rail 6. Is provided. The traveling laser range finder 22 detects the traveling position of the traveling carriage 9 by projecting toward the reflector 23 installed on the traveling carriage 9 and detecting the distance to the traveling carriage 9. It is configured. Among them, the first traveling laser range finder 22a disposed at the end on the loading platform 5 side detects the traveling position of the traveling carriage 9 in the first stacker crane 3a, and the end on the storage shelf 1 side. The second traveling laser range finder 22b is configured to detect the traveling position of the traveling carriage 9 in the second stacker crane 3b.

Next, the configuration of the article transfer device 12 will be described.
The article transfer device 12 is configured as a loading / conveying type article transfer device that transfers an article B along the front-rear width direction of the storage shelf 1. That is, as shown in FIGS. 5 to 8, the article transfer device 12 is slidable within the set range along the front-rear width direction of the storage shelf 1, that is, the article transfer direction, on the upper part of the plate-like fixed frame 30. The placement / conveyance unit 31 is supported by a pair of left and right belt conveyors 32 for placing and conveying the article B. Each belt conveyor 32 includes a pair of endless rotating belts 32a and 32b arranged in series in the article transfer direction, and is used for conveying the pair of left and right belt conveyors 32 to rotate integrally. An electric motor 33 is provided. As shown in FIG. 9, the fixed frame 30 is supported by the elevator 11 in a fixed state.

  As shown in FIG. 7, the endless rotating belts 32a and 32b in each belt conveyor 32 are respectively provided with driving wheels 34a and 34b located on the center side in the article transfer direction and tension wheels 35a and 35b located on the end side. As shown in FIG. 5, a pair of drive shafts 37a, 37b are driven by the electric motor 33 for conveyance through the gear interlocking mechanism 36 as shown in FIG. Are driven in synchronism with each other.

  Further, as shown in FIG. 9, each belt conveyor 32 receives the load of the article B between the drive wheels 34a and 34b and the tension wheels 35a and 35b, and the endless rotating belts 32a and 32b. A plurality of guide wheel bodies 38a, 38b are provided to prevent the bending of the drive wheel 34a, 34b, the tension wheels 35a, 35b, and the plurality of guide wheel bodies 38a, 38b, respectively, as shown in FIG. However, it is configured to be pivotally supported by support frames 39a and 39b extending along the article transfer direction.

  As described above, the loading / conveying unit 31 including the belt conveyor 32 includes the conveyance drive motor 33, the belt conveyor 32, and the like, and a plate-like movable frame 43 that integrally supports these devices is provided. Is provided. The movable frame 43 is supported by the fixed frame 30 so as to be slidable within a set range with respect to the front-rear width direction of the storage shelf 1, that is, the article transfer direction.

  That is, as shown in FIGS. 5, 6, and 8, the fixed frame 30 is provided with a pair of left and right guide support bodies 44 having a substantially U-shaped cross section that extend long along the article transfer direction. A pair of front and rear guide rollers 46 supported by support brackets 45 fixedly extending from both front and rear end portions of the movable frame 43 in the article transfer direction are engaged with each of the support bodies 44, thereby It is configured to be engaged and guided in a state in which displacement is restricted and in a state in which sliding movement in the article transfer direction is allowed. In other words, the movable frame 43 is configured to be slidably supported on the fixed frame 30 in a state where it is stably supported by the guide rollers 46 provided in total on the front and rear sides of the left and right sides. ing.

  An operation mechanism for sliding the belt conveyor 32 within the set range along the article transfer direction is provided. In other words, as shown in FIG. 7, a sliding electric motor 47 is provided in a state of being located below the fixed frame 30, and a drive pulley 47 </ b> A that is rotated by the sliding electric motor 47 has a longitudinal direction. Both end portions in the direction are fixed to the movable frame 43 via the coupling tool 48 and a drive belt 50 wound around a plurality of guide wheels 49 is wound around and moved by driving the slide electric motor 47. The frame 43 is configured to be slid in the article transfer direction. Further, a slide position detecting rotary encoder 53 (see FIG. 17) for detecting the slide position of the movable frame 43 is provided, and the mounting is performed based on the detection result of the slide position detecting rotary encoder 53 as described later. The operation of the sliding electric motor 47 is controlled so that the transport unit 31 slides within the set range.

  The connecting device 48 that fixes the drive belt 50 to the movable frame 43 is screwed and fixed through a long hole so that the attachment position with respect to the movable frame 43 can be changed and adjusted along the longitudinal direction of the drive belt 50. The tension of the drive belt 50 can be changed and adjusted.

  The setting range in which the conveyor device 32 slides is a position at which the article B can be delivered between the article storage section 4 and the loading table 5 in the storage shelf 1 on one side of the pair of storage shelves 1 (see FIG. 9 (b)) and a position where the article B can be transferred between the article storage section 4 and the loading platform 5 in the other storage shelf 1 (not shown, but the position shown in FIG. 9 (a)). The stacker crane 3 is caused to travel in a state in which the placement conveyance unit 31 is located at the standby position located at the center of the set range. FIG. 9B shows the standby position located at the center of the slide range.

  The support frames 39a and 39b for pivotally supporting the drive wheels 34a and 34b, the tension wheels 35a and 35b, and the plurality of guide wheel bodies 38a and 38b are respectively connected to the drive shafts 37a and 37b. It is the structure supported so that rocking | fluctuating up and down is possible around the axial center of this. As shown in FIGS. 6 and 9, a guide roller 54B is provided on a support arm 54A extending downward from an intermediate position in the longitudinal direction, and the guide roller 54B is provided on the upper surface of the fixed frame 30 and the fixed frame 30. The state is engaged and guided by the lift prevention body 55 provided, the lift prevention body 55 prevents the lift and the load of the article B is received and supported on the upper surface of the fixed frame 30 via the guide roller 54B. The sliding movement of the loading / conveying unit 31 is allowed. In this manner, the support frames 39a and 39b are allowed to swing up and down while the belt conveyor 32 is maintained in a substantially horizontal posture.

  Further, as shown in FIG. 9, the guide roller 54B rides on the end portion side of the slide movement range of the guide roller 54B on the upper surface of the fixed frame 30, and the support frames 39a and 39b are connected to the shafts of the drive shafts 37a and 37b. A guide step 56 is formed for upward rocking around the core. With this configuration, when the loading / conveying unit 31 slides toward the article storage unit 4 or the loading table 5, the tip side rises, so that the article placed and supported by the article storage unit 4 or the loading table 5. The belt conveyor 32 is appropriately acted on the bottom of B.

  The article transfer device 12 is positioned on both sides in the longitudinal direction of the traveling rail 6 in the article existing planned area when the short article D is transferred to the stacker crane 3 side in the short article conveyance processing state. A pair of position restricting members 57 and 58 for receiving and restricting the position in the longitudinal direction of the traveling rail 6 of the short article D existing in the article existence scheduled area are provided. And among a pair of position control members 57 and 58, in the said long article conveyance processing state, it is located in the downward side of the goods existing scheduled area | region when the long article C is transferred to the stacker crane 3 side. The position restricting member 58 is configured as a movable position restricting member whose position is freely changeable between a position restricting working position and a retreat position where the position restricting member 58 is retracted downward from the article existing planned region.

  Further, a position changing operation means IS is provided which can be operated to switch the movable position restricting member 58 between the operating position and the retracted position. The position changing operation means IS is an urging means for urging and moving the movable position restricting member 58 toward the operating position, and the movable that is urged to move toward the operating position by the urging means. A receiving body for receiving and holding the position control member 58 of the type at the operating position, and a moving operation means for moving the movable position control member 58 to the retracted position. The moving operation means is composed of an electromagnetic solenoid 59 that moves the movable position restricting member 58 to the retracted position when energized.

  Then, the ground-side controller 8 switches the movable position restricting member 58 to the operating position in the short article transport processing state, and moves the movable position restricting member 58 to the retracted position in the long article transport processing state. The position changing operation means IS is controlled so as to switch to That is, in the long article conveyance processing state, when the article transfer device 12 is moved, the electromagnetic solenoid 59 is energized, and when the article transfer device 12 is stopped, the electromagnetic solenoid 59 is turned off. In order to stop energization, the operation of the electromagnetic solenoid 59 is controlled.

  In other words, among the pair of position restricting members 57 and 58, the position restricting member 57 located on the proximal end side of the elevator 11, that is, on the side where the electric motor 33 for conveyance is disposed is as shown in FIGS. 4 and 6. The support member 60 is fixed to the outer surface of the guide support body 44 and extended upward, and is supported in a fixed position. On the other hand, the position restricting member 58 located on the opposite side, that is, on the free end side of the lifting platform 11 is located at the position restricting operating position and the retracted position where the retracting position is retracted downward from the placement conveying surface of the article transfer device 12. It is configured as a movable position control member that can be changed.

Hereinafter, specific configurations of the movable position restricting member 58 and the position changing operation means IS will be described.
As shown in FIG. 10, the movable position restricting member 58 is supported by a fulcrum bracket 62 so as to be rotatable around an axis along the longitudinal direction by support portions 61 provided on both sides in the longitudinal direction. It becomes the composition which is done. The fulcrum bracket 62 is fixed to the guide support 44. That is, a fulcrum pin 63 provided on each of the support portions 59 is rotatably fitted to the fulcrum bracket 62, and the movable position restricting member 58 is rotatably supported around the axis X of the fulcrum pin 63. It becomes the composition which is done.

  As shown in FIG. 12, a helical spring 64 is provided as the urging means in a state of being externally fitted to each fulcrum pin 63. One end of the helical spring 64 is in contact with the lower surface side of the movable position restricting member 58, and the other end is fixed in position by a fixing portion 65. The movable position restricting member 58 is The helical spring 64 is configured to be rotationally biased toward the operating position by the rotational biasing force around the axis of the helical spring 64. Then, the base end side portion of the movable position restricting member 58 is in contact with the upper side protruding portion 62 </ b> A formed so as to protrude above the rotation axis X of the support pin 61 in the fulcrum bracket 62. Then, it is received and held, and further swinging is prevented. This position is a position corresponding to the action position. That is, the fulcrum bracket 62 constitutes the receiving body.

  Then, as shown in FIG. 13, at the intermediate position in the longitudinal direction of the movable position restricting member 58, at a position slightly closer to the belt conveyor 32 side than the axis X of the support pin 61, the movable position The operation piece 59a of the electromagnetic solenoid 59 is pivotally connected to the restricting member 58 via a bracket 58A fixed, and the main body side of the electromagnetic solenoid 59 is pivotally connected to a bracket 67 fixed to the outer surface of the guide support 44. It becomes the composition which is done. Also, the electromagnetic solenoid 59 is configured to switch the movable position regulating member 58 to the retracted position by energizing so that the operation piece 59a is retracted to the main body side, that is, the lower side (see FIG. 13 (B). )reference). In this retracted position, as shown in FIG. 11 (b), the support portion 61 is received and locked by a locking tool 68 fixed to the fulcrum bracket 62, and further swinging is prevented. The position at this time is a position corresponding to the retirement position. When the energization of the electromagnetic solenoid 59 is stopped, the operation piece 59a is extended, and the movable position restricting member 58 is switched to the operating position by the urging force of the helical spring 64. Accordingly, the helical spring 64, the upper projecting portion 62A of the fulcrum bracket 62, the electromagnetic solenoid 59, and the like constitute a position changing operation means IS.

  As shown in FIGS. 10 and 14, a pair of transmission type optical sensors S <b> 1 and S <b> 2 are provided for detecting whether or not the movable position regulating member 58 is switched to the operating position and the retracted position. . One of the optical sensors S1 is configured such that light is blocked by the shield 69 when in the operating position as shown in FIG. 14 (a), and the movable position regulating member 58 is in the operating position. The other optical sensor S2 functions as an optical sensor for detecting an action position for detecting whether or not, and the light is blocked by the shield 70 when in the retracted position as shown in FIG. It is a structure and functions as a retraction position detection optical sensor for detecting whether or not the movable position regulating member 58 is at a retraction position.

  Further, as shown in FIGS. 4 and 6, the article transfer device 12 includes two article presence / absence sensors S3 for detecting the presence / absence of an article in a state of being arranged at an appropriate interval along the article transfer direction. , S4 are provided. The article presence / absence sensors S3 and S4 receive light from the projector 72 that projects light in a direction orthogonal to the article transfer direction and obliquely upward from the lower side of the article passage position, and the light from the projector 72, respectively. The support member 73 and the support member 74 extend from the movable frame 43 so as to slide along the article transfer direction integrally with the movable frame 43. Are each supported.

  Each of the two stacker cranes 3 is placed and supported on the loading platform 5 for loading and unloading by the traveling operation of the traveling carriage 9, the lifting operation of the lifting platform 11, and the transfer operation of the article transfer device 12. Warehousing process for transporting the article B being stored so as to be stored in the storage section 4 of the storage shelf 1, or taking out the article B stored in the storage section 4 of the storage shelf 1 to the loading platform 5 for loading and unloading The long article C is conveyed by the first stacker crane 3a and the second stacker crane 3b between the long loading platform 51 and the long storage unit 41. Is configured to do. Further, the short article D is configured to be transported between the short loading platform 52 and the short storage section 42 by the first stacker crane 3a or the second stacker crane 3b.

  As shown in FIG. 17, each of the two stacker cranes 3 is based on the control information from the ground-side controller 8 and via the crane control unit 75 provided on the stacker crane 3 side, the traveling electric motor 21. To control the traveling operation of the traveling carriage 9 and the operation of the lifting electric motor 18 to control the lifting operation of the lifting platform 11 and the transfer operation of the article transfer device 12. Configured to control. Further, the first optical transmission device 27 for transferring information between the ground-side controller 8 and the first stacker crane 3a, and the information transfer between the ground-side controller 8 and the second stacker crane 3b. A second optical transmission device 28 is provided.

  The first optical transmission device 27 and the second optical transmission device 28 exchange information by optical transmission between the optical transmission devices 27a and 28a on the ground side and the optical transmission devices 27b and 28b on the stacker crane 3 side. It is configured. As shown in FIG. 1, the ground-side optical transmission devices 27a and 28a are disposed at the end of the traveling rail 6, and the ground-side optical transmission device 27a in the first optical transmission device 27 is the first traveling device. The ground-side optical transmission device 28a in the second optical transmission device 28 is disposed beside the second traveling laser range finder 22b.

  And the communication network comprised by the communication controller with which the ground side controller 8 was equipped, the communication controller with which the stacker crane side was equipped, the 1st optical transmission apparatus 27, and the 2nd optical transmission apparatus 28, The said ground side controller 8 is The traveling position of the traveling carriage 9 in each of the stacker cranes 3a and 3b is managed based on the detection information of the first traveling laser range finder 22a and the second traveling laser range finder 22b, and each of the lift rotary encoders The lift position of each lift platform 11 of each stacker crane 3a, 3b is managed by 19 detection information.

  The ground-side controller 8 is configured to manage the slide position of the loading / conveying unit 31 in the article transfer device 12 based on the detection information of the slide position detection rotary encoder 53, and each of the article presence / absence sensors S3. , S4 is configured to manage the conveying posture of the article B by the detection information.

  And the ground side controller 8 controls the operation | movement of the two stacker cranes 3 by giving various command information to the 1st stacker crane 3a and the 2nd stacker crane 3b via the above-mentioned communication network. It is configured.

  As the process for conveying the article B, the ground-side controller 8 controls the movement of the single stacker crane 3 that performs the conveyance operation of the two stacker cranes 3 so as to convey the short article. In order to convey the long articles C, the two stacker cranes 3 that are operated to move are moved along the longitudinal direction of the traveling rail 6 in a state where they are arranged at a set distance apart from each other. Thus, it is configured to execute an integrated conveyance process as a long article conveyance process controlled as described above.

First, each separate conveyance process will be described.
In each separate transport process, first, each separate travel control for traveling the traveling carriage 9 to move the article transfer device 12 in the single stacker crane 3 that is transported to the short article receiving position of the article receiving location. In addition, while performing the lifting control for each lifting and lowering the lifting platform 11, the respective transfer control for moving the article transfer device 12 is performed so as to receive the short article from the article receiving location. Next, in order to move the article transfer device 12 in the stacker crane 3 to the short article unloading position, each separate traveling control for traveling the traveling carriage 9 and each separate lifting control for raising and lowering the lifting platform 11 are performed. In order to unload a short article at an article unloading location, it is configured to perform transfer control for each of which the article transfer device 12 is transferred.

The separate travel control will be described.
In each separate travel control, the travel operation of the travel carriage 9 in the single stacker crane 3 that is transported is controlled, and the travel carriage 9 is brought to the target travel position at the short article receiving position or the target travel position at the short article unloading position. In order to drive the vehicle, the operation of the electric motor 21 for traveling is controlled.

  Specifically, the ground-side controller 8 commands a traveling command including the target traveling speed to the crane control unit 75, and the crane control unit 75 is configured to travel so that the traveling speed of the traveling carriage 10 becomes the commanded target traveling speed. The current value applied to the electric motor 21 is adjusted. When the travel position of the travel carriage 9 reaches the target travel position, a travel stop command is issued, the travel electric motor 21 is deactivated, the brake is applied, and the travel carriage 9 is stopped at the target travel position.

The separate transfer control will be described.
In this separate transfer control, the transfer operation of the article transfer device 12 of the single stacker crane 3 that is transported is controlled to receive the short article from the article receiving position or to drop the short article to the article unloading position. Process. That is, in the state where the travel carriage 9 is stopped at the target travel position and the lift base 11 is stopped at the target lift position, the article transfer device 12 is operated to perform the transfer operation.

Based on the flowchart of FIG. 18, the specific operation of each transfer control will be described.
In each separate transfer control, the electromagnetic solenoid 59 is always in a non-operating state, that is, a non-energized state, and the movable position regulating member 58 is held in the operating position by the biasing force of the helical spring 64. Whether or not the movable position restricting member 58 is in the operating position is confirmed by the detection information of the operating position detecting optical sensor S1. If the electromagnetic sensor 59 is not activated but cannot be confirmed by the optical sensor S1, the notification operation is performed (steps 1 and 2).

  In the state where the article transfer device 12 in the stacker crane 3 that is transported is positioned at the short article receiving position, the electric motor for sliding is used to slide the placement conveying section 31 of the article transfer device 12 toward the article receiving position. 47 is operated, and when it is detected that the slide target position (the end position of the setting range) has been reached based on the detection information of the slide position detection rotary encoder 53, the operation of the slide electric motor 47 is stopped (step S40). 3, 4, 5). At this time, as described above, the front end side of the loading / conveying unit 31 rises so that the belt conveyor 32 appropriately acts on the bottom of the short article D supported by the short storage unit 42 or the short loading table 52. Become.

  Then, the conveying electric motor 33 is operated to rotate the belt conveyor 32 to place and convey the short article D, and based on the detection information of the conveying rotary encoder 80, it is detected that the conveying target position has been reached. Then, the operation of the electric motor 33 for conveyance is stopped and the rotation operation of the belt conveyor 32 is stopped (steps 6, 7, and 8). At this time, the short article D is transferred between the storage support position supported by the short storage section 42 and the transport support position on the stacker crane 3 side.

  After the short article D is transferred by the belt conveyor 32, the operation of the electric motor 47 for sliding is started, and the loading and conveying unit 31 is located in the center of the sliding direction based on the detection information of the rotary encoder 53 for detecting the sliding position. When sliding to the standby position, the operation of the sliding electric motor 47 is stopped (steps 9, 10, and 11).

  As described above, the article transfer device 12 transfers the short article between the short storage section 42 or the short loading stage 52 by the slide operation of the placement conveyance section 31 and the placement conveyance operation of the belt conveyor 32. Is configured to do. And when performing this each transfer control, as shown to FIG. 21 (a), the short article D is a position control member on the both sides of the longitudinal direction of a traveling rail, ie, the moving direction of the stacker crane 3. As shown in FIG. Since 57 and 58 are present, there is little risk of displacement when the stacker crane 3 travels.

Next, the integrated conveyance process will be described.
In this integrated transport process, the ground controller 8 sets one article receiving object selected from the plurality of long storage units 41 or the long loading platform 51 as an article receiving location, and a plurality of long storage units 41. Alternatively, the article transfer device 12 in each of the two stacker cranes 3 that are transported is moved to the article receiving position by using one article unloading target selected from the long loading table 51 as the article unloading position, and the long article C And the moving operation of the traveling carriage 9, the lifting operation of the lifting platform 11, and the transferring operation of the article transfer device 12 are controlled so that the long article C is lowered by moving it to the item unloading position. It is configured.

  Then, the ground side controller 8 moves the traveling speed of the traveling carriage 9 that operates in the integrated conveyance processing to be lower than the traveling speed of the traveling carriage 9 that operates in the separate conveyance processing and moves up and down in the integrated conveyance processing. The traveling operation of the traveling carriage 9 and the lifting operation of the lifting platform 11 are controlled so that the lifting speed of the platform 11 is lower than the lifting speed of the lifting platform 11 that performs the lifting operation in each separate conveyance process.

The operation of the integrated transport process will be described. First, the ground controller 8 moves the article transfer device 12 in each of the two stacker cranes 3 that are transported to the long article receiving position of the article receiving position. The integrated traveling control for traveling the traveling carriage 9 and the integrated lifting control for lifting the lifting platform 11 are performed, and the article transfer device 12 is moved to receive the long article C from the article receiving location. The long article C is received from the article receiving position by performing the transfer control for integral.
Next, the ground controller 8 causes the traveling carriage 9 to travel so as to move the article transfer device 12 in each of the two stacker cranes 3 that are transported to the long article unloading position of the article unloading position. By carrying out the integral transfer control for performing the transfer operation of the article transfer device 12 so as to lower the long article C to the article unloading location, while performing the control and the integral lift control for raising and lowering the control and the elevator 11 Then, the long article C is unloaded at the article unloading position.

The integrated travel control will be described.
In this integrated travel control, the travel of the travel cart 9 in each of the two stacker cranes 3 is performed so that the travel cart 9 in each of the two stacker cranes 3 travels in a state of being separated by a set distance in the longitudinal direction of the travel rail 6. By controlling the operation, the traveling carriage 9 in each of the two stacker cranes 3 is caused to travel to the target traveling position at the long article receiving position or the target traveling position at the long article unloading position.

  When traveling with respect to the target traveling position at the article receiving position, the traveling carriage 9 in each of the two stacker cranes 3 is individually operated to move the traveling carriage 9 in each of the two stacker cranes 3 at the article receiving position. By stopping at the target traveling position, the traveling carriage 9 in each of the two stacker cranes 3 is set in a state of being separated by a set distance in the longitudinal direction of the traveling rail 6.

  The operation at this time will be described. The ground-side controller 8 causes the crane control unit 75 in each of the two stacker cranes 3 to travel to the same target travel position in order to travel the travel carriage 9 to the target travel position. Command for driving the vehicle. Each crane control unit 75 of the two stacker cranes 3 controls the operation of the electric motor 21 for traveling on the basis of the traveling command information, so that the traveling carriage 9 in each of the two stacker cranes 3 is moved to the traveling rail 6. It is possible to travel to the target travel position with a set distance in the longitudinal direction.

  In the integrated traveling control, if the distance separating the traveling carriage 9 in each of the two stacker cranes 3 in the longitudinal direction of the traveling rail 6 is out of the allowable range, the traveling carriages in each of the two stacker cranes 3 will be described. 9 is stopped so that the long article C is prevented from falling.

The integral lifting control will be described.
In this integrated lifting control, the lifting platform 11 in each of the two stacker cranes 3 is lifted and lowered so that the lifting platform 11 in each of the two stacker cranes 3 is integrally lifted while being positioned at the same lifting position. By controlling the operation, the elevator 11 in each of the two stacker cranes 3 is moved up and down to the target lift position at the article receiving position or the target lift position at the article unloading position. Since the operation of the lifting platform of each of the two stacker cranes at this time is the same as that of the separate lifting control, the description thereof is omitted. In addition, when raising / lowering with respect to the target raising / lowering position at the article receiving position and when raising / lowering with respect to the target raising / lowering position at the article lowering position, the raising / lowering base 11 in each of the two stacker cranes 3 is moved up and down in the same manner. It is raised and lowered integrally in a state where it is positioned.

  In this integrated lift control, if the height difference of the lift position of the lift platform 11 in each of the two stacker cranes 3 is out of the allowable range, the lift stop command information is commanded and each of the two stacker cranes 3 is controlled. The elevating platform 11 is stopped and lifted to prevent the long article C from falling.

Next, the integral transfer control will be described.
In this integrated transfer control, the ground-side controller 8 supports the long article C by the article storage unit 4 or the like while sharing and supporting the long article C by the pair of article transfer devices 12. The transfer operation of the pair of article transfer devices 12 is controlled so as to transfer between the storage support position and the transport support position on the stacker crane 3 side. In other words, the transfer operation of the article transfer device 12 in each of the two stacker cranes 3 that are transported is controlled, and the articles corresponding to the article storage unit 4 in the two article transfer devices 12. The long article C is received from the receiving part, or the long article C is lowered to the article dropping part corresponding to the article storage unit 4. That is, in a state where the traveling carriage 9 in each of the two stacker cranes 3 is stopped at the target traveling position and the lifting platform 11 in each of the two stacker cranes 3 is stopped at the target lifting position, the two stacker cranes are stopped. The same transfer command information is commanded to the crane control unit 75 in each of the three. And the crane control part 75 in each of the two stacker cranes 3 carries out transfer operation | movement of each article transfer apparatus 12 based on transfer command information.

Based on the flowcharts of FIGS. 19 and 20, the specific operation of the transfer control for integration will be described.
In this integrated transfer control, basically the same operation is commanded for each of the article transfer devices 12 of each of the two stacker cranes 3, but different operations are performed when correcting the inclination of the article. I will order.
First, when the transfer operation is executed, the electromagnetic solenoid 59 is energized to control the movable position regulating member 58 to be switched to the retracted position (step 21). Whether or not the movable position restricting member 58 has been switched to the retracted position is confirmed by the detection information of the retracted position detecting optical sensor S2. At this time, when the retraction position detection optical sensor S2 cannot confirm the retraction position, a notification operation is executed (steps 22, 23).

  Therefore, in this integrated transfer control, as shown in FIG. 21 (b), the position where the long article C is located below the planned article existence area when the long article C is transferred to the stacker crane 3 side. Since the restricting member 58 is repositioned to a retreat position where it is retreated below the planned article presence region, the long article C can be transferred with the two article transfer devices 12 properly placed.

  Next, the transfer operation of the article transfer device 12 in each of the two stacker cranes 3 is executed. In other words, the sliding electric motor 47 is operated to slide the placing and conveying unit 31 toward the article receiving place or the article unloading place, and based on the detection information of the slide position detecting rotary encoder 53, the slide target position (of the set range) is set. When it is detected that the end portion has been reached, the operation of the sliding electric motor 47 is stopped (steps 24-26).

  Then, the conveyor electric motor 33 is operated to rotate the belt conveyor 32 (step 27), and the long article C is transferred while being shared and supported by the two article transfer apparatuses 12. At this time, the long article C is transferred between the storage support position supported by the long storage section 41 or the long load mounting table 51 as the article receiving location and the transport support position on the stacker crane 3 side. (See FIG. 22).

  In the middle of executing the transfer operation, when it is detected that the posture of the long article C is inclined with respect to the appropriate attitude based on the detection information of the article presence / absence sensors S3, S3 on the one end side, Posture correction processing during transfer operation that corrects the posture of the long article C so as to be an appropriate posture is executed. For example, as shown in FIG. 23 (a), one of the article presence / absence sensors S3 on one end side in each of the two article transfer devices 12 detects the presence of the long article C. If the other article presence / absence sensor S3 does not detect the presence of the long article C, then the long article C to be transferred has the one end side portion in the longitudinal direction of the travel path at the other end side portion. It is judged that the posture is inclined so as to be more advanced than the other, and the side of the two article transfer devices 12 that is transported in advance, that is, the article in which the presence of the long article C is detected. The placement conveyance in the article transfer device 12 on the side where the presence sensor S3 is provided is stopped, and the conveyance by the other article transfer device is continued (steps 28 and 29). For the posture correction processing during the transfer operation, the article inclination state detecting means is configured by the article presence / absence sensor S3 on one end side of each of the two article transfer apparatuses 12.

  Thereafter, for example, as shown in FIG. 23 (b), it is confirmed that the article presence / absence sensors S3 and S3 on one end side detect the existence of the long article C and the inclination of the long article C is corrected. Then, the conveyance of the one article transfer device 12 that has stopped conveyance is resumed, and the transfer operation by the pair of article transfer devices 12 is continued (step 33). However, after stopping the carrying in the one article transfer device 12, the notification operation is executed if the inclination is not corrected even after the set time has elapsed (steps 31 and 32).

  After the inclination posture is corrected, the sheet is placed and conveyed, and when it is detected that the conveyance target position has been reached based on the detection information of the conveyance rotary encoder 80, the operation of the conveyance electric motor 33 is stopped and the belt is stopped. The rotation operation of the conveyor 32 is stopped (steps 34 and 35).

  Thereafter, the operation of the sliding electric motor 47 is started, and when the mounting and conveying unit 31 slides to the standby position on the center side in the sliding direction based on the detection information of the slide position detecting rotary encoder 53, the operation of the sliding electric motor 47 is performed. And the transfer operation ends (steps 36 to 38). When the transfer operation is thus completed, the energization to the electromagnetic solenoid 59 is stopped (step 39).

Then, after the transfer operation is completed in this way, the inclined posture inclined in the front-rear width direction of the storage shelf 1 in a state where the long article C is transferred to the transport support position on the stacker crane 3 side. Is detected based on the detection information of the respective article presence / absence sensors S3 and S4, the post-transfer posture correction process is executed. For example, as shown in FIG. 24 (a), when any of the four article presence / absence sensors S3 and S4 detects the absence of the long article C, the long article C is placed before and after the storage shelf 1. One of the article transfer apparatuses 12 or the article transfer apparatuses 12 on both sides is detected so that the article presence / absence sensor that has detected the non-existence state detects the article presence state by determining that the posture is inclined in the width direction. The belt conveyor 32 is transported (steps 40 and 41).
In addition, when the posture correction process is executed and the inclination is not corrected even after the set time has elapsed, a notification operation is executed (steps 42, 43, 44).

  In FIG. 24 (a), any one of the article presence / absence sensors S4 detects a non-existing state, and the belt conveyor 32 of the article transfer device 12 on the side where the article presence / absence sensor S4 is provided is transported. The inclination of the long article C is corrected (see FIG. 24 (B)). At this time, not only when any one of the article presence / absence sensors S3 detects a non-existing state, but either one of the article presence / absence sensors S3 detects a non-existing state, and It may be in an inclined state in which any one of the article presence / absence sensors S4 detects a non-existence state. In such a case, the belt conveyor 32 of the article transfer device 12 on both sides is transported. It will be.

  When the transfer operation is completed and the energization of the electromagnetic solenoid 59 is stopped in this way, the movable position restricting member 58 attempts to return and swing to the operating position by the biasing force of the helical spring 64. When C is transferred to the stacker crane 3 side, since the long article C exists above the movable position restricting member 58, the long article C prevents the swinging. On the other hand, when the long article C is transferred to the article unloading position, since the transfer of the long article C is completed, there is no problem even if the movable position regulating member 58 returns to the operating position. Next, when the transfer operation of the long article C to the stacker crane 3 side is executed, the electromagnetic solenoid 59 is switched to the retracted position.

  In this way, each article transfer device 12 is placed and transported in a synchronized state while placing and supporting a long article while being shared by the article transfer device 12 in each of the two stacker cranes 3. The long article C can be transferred.

  As described above, the ground-side controller 8 can execute various processes as the transport process for transporting the article B. However, the transport request information such as the instruction information about which article B is to be stored or unloaded is It is configured to execute a process selected from a plurality of processes in response to an input from an operation-type operating means or a command from a host controller and according to a command content by the transport request information.

  In FIG. 25, the movement of the warehousing process in the short article conveyance process is indicated by a solid line arrow, and the movement of the warehousing process is indicated by a broken line arrow. In this process, the second stacker crane 3b located on the short load mounting table 52 side is selected as the stacker crane 3 to be transported, and the second stacker crane 3b receives the second article so as to enter or leave the short article. For each of the stacker cranes 3b, separate traveling control, separate lifting control and separate transfer control are performed. In this process, when there is a possibility that the first stacker crane 3a interferes with the conveyance of the article by the second stacker crane 3b, the operation of the first stacker crane 3a is controlled so as to retreat from the planned travel route. . In FIG. 25, since the current position of the first stacker crane 3a is a position that does not interfere with the conveyance of the articles by the second stacker crane 3b, the first stacker crane 3a is kept waiting on the spot.

  In FIG. 26, the movement of the warehousing process in the long article conveyance process is indicated by a solid line arrow, and the movement of the warehousing process is indicated by a broken line arrow. In this process, the first stacker crane 3a and the second stacker crane 3b cooperate with each other so that the long stack C can be loaded or unloaded. Integral lift control and integral transfer control are performed.

[Another embodiment]
(1) In the above embodiment, when the ground-side controller as the control means operates the article transfer device in the long article conveyance processing state, the electromagnetic solenoid is energized, and the article transfer device When the transfer operation is stopped, the operation of the electromagnetic solenoid is controlled to stop the energization of the electromagnetic solenoid. However, the transfer operation of the article transfer device is not limited to such a configuration. Even when the operation is stopped, the electromagnetic solenoid may be continuously energized.

(2) In the above-described embodiment, the position changing operation means includes a helical spring as an urging means, and a movable position regulating member that is moved and urged toward the operating position by the helical spring. A fulcrum bracket as a receiving body for receiving and holding at a position, and an electromagnetic solenoid as a moving operation means for moving the movable position regulating member to the retracted position are exemplified. Instead of such a configuration, the position of the movable position regulating member may be changed using an electric motor, a hydraulic cylinder, or the like.

(3) In the above embodiment, the control means makes the separation distance between the stacker cranes adjacent along the longitudinal direction of the travel path constant in the integrated conveyance process as the long article conveyance process. The separation distance of the stacker crane may be changed and adjusted based on the length information along the longitudinal direction of the travel route.

(4) In the above embodiment, each of the plurality of stacker cranes is provided with the article transfer device, but instead of such a configuration, for example, as shown in FIG. It is good also as a structure provided with the two articles | goods transfer apparatus 12 in the state located in a line with the longitudinal direction of the traveling path of the crane 3. As shown in FIG.

(5) In the above embodiment, the slide position of the loading / conveying unit is detected by the rotary encoder in the article transfer device, but may be detected by a limit switch or the like.

(6) In the above embodiment, the article transfer device is configured to place and convey the article on the belt conveyor. However, the article transfer device is a fork-type article transfer device provided with a fork on which the article can be placed. May be.

(7) In the above embodiment, the two stacker cranes are provided so as to be reciprocally movable along the travel path. However, the number of stacker cranes can be changed as appropriate. For example, three or more stacker cranes are provided. It is good also as a structure which is shared by the article transfer apparatus with which each of each stacker crane is equipped, and transfers a long article.

(8) In the above embodiment, a pair of storage shelves are provided at the front and rear, but a configuration including only one storage shelf may be employed. Moreover, in the said embodiment, although it comprised with the load mounting base for articles | goods carrying in / out, an article carrying in / out operation | work was carried out using any article storage part of a storage shelf, without providing such a load mounting base. It may be configured to do.

Top view of goods storage equipment Side view of goods storage equipment Side view of stacker crane Plan view of the article transfer device Side view of article transfer device Side view of article transfer device Front view of article transfer device Front view of article transfer device Front view showing the sliding state of the article transfer device The figure which shows the support structure of a position control member The figure which shows the support structure of a position control member The figure which shows the support structure of a position control member The figure which shows the support structure of a position control member The figure which shows the support structure of a position control member Side view of stacker crane Side view of stacker crane Control block diagram of goods storage equipment Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Sectional view of the article transfer device in the article placement state Action explanation diagram of transfer operation Action explanation diagram of transfer operation Action explanation diagram of transfer operation The figure which shows the operation | movement in a short member conveyance process The figure which shows the operation | movement in a long article conveyance process Side view of another embodiment of a stacker crane

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Storage shelf 3, 3a, 3b Stacker crane 4 Goods storage part 8 Control means 12 Goods transfer apparatus 57,58 Position control member 59 Electromagnetic solenoid (moving operation means)
62 Receiving body 64 Biasing means IS position changing operation means

Claims (4)

A storage shelf provided with a plurality of article storage sections arranged vertically and horizontally, and a loading and transporting type that is capable of traveling along a traveling path in front of the storage shelf and transferring articles along the front-rear width direction of the storage shelf. A stacker crane provided with a plurality of article transfer devices arranged in the longitudinal direction of the travel path, and a control means for controlling the travel operation of the stacker crane and the transfer operation of the article transfer device,
The control means includes a short article conveyance processing state in which a short article that is short along the longitudinal direction of the travel path is placed and supported by each of the plurality of article transfer devices, and a longitudinal direction of the travel path. An article conveying apparatus configured to be switchable to a long article conveying processing state in which a long article along the line is shared and supported by the plurality of article transfer apparatuses,
Corresponding to each of the plurality of article transfer devices, both sides in the longitudinal direction of the travel path in the article existing planned area when the short article is transferred to the stacker crane side in the short article conveyance processing state A pair of position restricting members that are positioned beside and receive and restrict the position of the short article existing in the article existing planned area in the longitudinal direction of the travel path,
Among the plurality of position regulating members provided in pairs corresponding to each of the plurality of article transfer devices, when the long article is transferred to the stacker crane side in the long article conveyance processing state The position restricting member, which is located below the planned article existence area, is capable of changing the position between the position regulating action position and the retreat position where the position regulating member is retracted below the planned article existence area. Configured as a member,
A position change operation means capable of switching the movable position regulating member between the operating position and the retracted position;
The control means switches the movable position regulating member to the operating position in the short article conveyance processing state, and switches the movable position regulating member to the retracted position in the long article conveyance processing state. An article conveying apparatus configured to control the position changing operation means. The position change operation means is
The urging means for moving and urging the movable position restricting member toward the action position, and the movable position restricting member moved and urged toward the action position by the urging means. The article conveying apparatus according to claim 1, further comprising: a receiving body that receives and holds at a position; and a moving operation unit that moves the movable position regulating member to the retracted position. The moving operation means is constituted by an electromagnetic solenoid that moves the movable position restricting member to the retracted position when energized,
The control means is
In the long article conveyance processing state, when the article transfer device is moved, the electromagnetic solenoid is energized, and when the article transfer device is stopped, the electromagnetic solenoid is turned off. The article conveying apparatus according to claim 2, wherein the article conveying apparatus is configured to control an operation of the electromagnetic solenoid. A plurality of the stacker cranes are provided in a state along the longitudinal direction of the travel path, and the article transfer device is provided separately for each of the plurality of stacker cranes,
The control means is
In the short article conveyance processing state, the plurality of stacker cranes are traveled separately, and in the long article conveyance processing state, the plurality of stacker cranes are arranged at a set distance along the longitudinal direction of the traveling path. The article conveying device according to any one of claims 1 to 3, wherein the article conveying device is configured to control a traveling operation of the plurality of stacker cranes so as to travel.

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