JP2008063035A - Article storage facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To cooperatively carry a single article by a pair of article carrying devices cooperatively while a pair of lift bodies keeps a set relative height relationship. <P>SOLUTION: The pair of article carrying devices 3 are structured to be able to cooperatively carry a single article C in a sharing support form where the single article C is shared and supported by a pair of lift bodies 11 in a state where a pair of traveling bodies 9 provided for them are arranged at a set distance in the longitudinal direction of a traveling route, and the pair of lift bodies 11 provided for them are brought into a set relative height relationship. A control means is structured to adjust a relative vertical movement speed of the pair of lift bodies 11 so that the pair of lift bodies 11 keep the set relative height relationship based on relative tilt information of a pair of vertical movement guide masts 10 in the pair of article carrying devices 3 when the single article C is cooperatively carried by the pair of article carrying devices 3. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an article storage shelf provided with a plurality of storage units arranged vertically and horizontally, a traveling body that can reciprocate along a traveling route formed along the article storage shelf, and a lifting guide mast that is erected on the traveling body. A pair of article conveying devices provided with an elevating body that can be moved up and down along an elevating path formed along the same, and a pair of traveling positions for detecting a traveling position on the traveling path of the traveling body in each of the pair of article conveying devices Detection means, a pair of lift position detection means for detecting the lift position of the lift body on the lift path in each of the pair of article transport apparatuses, and a travel operation of the traveling body in each of the pair of article transport apparatuses And a control means for controlling the raising / lowering operation of the elevating body, and the pair of article conveying devices includes a pair of the traveling bodies provided in the longitudinal direction of the traveling route with a set interval between them. The control unit is configured to share and support one article by the pair of lifting bodies in a state where the pair of lifting bodies are in a set relative height relationship, and is configured to be able to transport one article in cooperation with each other, and the control Based on the detection information of the pair of travel position detection means and the pair of lift position detection means, a pair of means for cooperatively conveying one article by the pair of article conveyance devices in the shared support form It is related with the article | item storage equipment comprised so that the said traveling body might be drive-operated by a set travel speed pattern, and a pair of said raising / lowering body might be raised-lowered by a set lift speed pattern.

  The article storage facility as described above is a sharing support form in which a pair of article conveying devices share and support one article by a pair of lifting bodies, and the one article is cooperated to convey the article in the longitudinal direction. Even a long article can be conveyed along.

  In the conventional article storage facility, the control means cooperates with one article by the pair of article transport devices in a shared support form based on the detection information of the pair of travel position detection means and the pair of lift position detection means. In order to convey to a conveyance location, it is comprised so that a pair of traveling body may carry out driving | running | working operation | movement with a setting traveling speed pattern, and a pair of raising / lowering body may be raised / lowered according to a setting raising / lowering speed pattern (for example, refer patent document 1). ).

US Patent Application Publication No. 2005/0053450

In the above-described conventional article transport facility, when a single article is cooperatively transported by the pair of article transport apparatuses in the shared support form, the control means simply lifts and lowers the pair of lift bodies according to the set lift speed pattern. Since it is only operated, there is a possibility that the pair of lifting bodies cannot maintain the set relative height relationship.
If it demonstrates, if there exists relative inclination of a pair of raising / lowering guide mast, even if a pair of raising / lowering body raises / lowers only the same raising / lowering distance from the same height, a height difference will arise in a pair of raising / lowering body in an up-down direction. Therefore, when the pair of lifting bodies are moved up and down at the same set lifting speed pattern, a height difference in the vertical direction occurs between the pair of lifting bodies, and the pair of lifting bodies can maintain the set relative height relationship. Disappear.
Here, the set relative height relationship is, for example, a height relationship in which a pair of lifting bodies have the same height, and a height at which one article can be appropriately shared and supported by the pair of lifting bodies. If the relationship is set as a relationship and the set relative height relationship cannot be maintained, there is a possibility that one article cannot be properly shared and supported by the pair of lifting bodies.

  The present invention has been made paying attention to such a point, and the object thereof is to provide one article by a pair of article conveying devices in a shared support form while a pair of lifting bodies maintain a set relative height relationship. The object is to provide an article storage facility that can be transported in cooperation.

In order to achieve this object, a first characteristic configuration of an article storage facility according to the present invention includes an article storage shelf provided with a plurality of storage portions arranged vertically and horizontally, and a travel route formed along the article storage shelf. In each of a pair of article conveying apparatuses provided with a movable body that can freely move up and down a lifting path formed along an elevating guide mast erected on the traveling body, and a pair of the article conveying apparatuses A pair of travel position detection means for detecting a travel position of the travel body on the travel path, and a pair of lift position detections for detecting the lift position of the lift body on the lift path in each of the pair of article conveying devices. And a control means for controlling the traveling operation of the traveling body and the lifting operation of the elevating body in each of the pair of article conveying apparatuses, and the pair of article conveying apparatuses includes a pair of front A shared support configuration in which a traveling object is separated and supported by a pair of the lifting bodies in a state where the traveling bodies are spaced apart by a set interval in the longitudinal direction and the pair of lifting bodies provided in the traveling path has a set relative height relationship. Thus, it is configured to be able to convey one article in cooperation with each other, and the control means is a pair of supporting support forms based on detection information of the pair of travel position detection means and the pair of lift position detection means. In order to cooperatively convey one article by the article conveying device, a pair of the traveling bodies are operated to operate at a set traveling speed pattern, and the pair of elevating bodies are operated to be moved up and down at a set up / down speed pattern. In the goods storage facility that has been
Based on the relative inclination information of the pair of lifting guide masts in the pair of article conveying devices, the control means moves the pair of lifting bodies relative to each other so as to maintain the set relative height relationship. It is configured to adjust the speed.

When there is a relative inclination of the pair of lifting guide masts when the article is cooperatively transported by the pair of article transporting devices in the shared support form, the control means can control the pair of lifting bodies based on the relative tilt information. The relative lifting speed is adjusted. The control means adjusts the relative lifting speed of the pair of lifting bodies so that the pair of lifting bodies can maintain the set relative height relationship based on the relative inclination information. Since the speed is adjusted, the pair of lifting bodies can be lifted and lowered while maintaining the set relative height relationship.
Therefore, it has become possible to provide an article storage facility in which a pair of lifting bodies can cooperate and convey one article by a pair of article conveying devices in a shared support form while maintaining a set relative height relationship.

  According to a second characteristic configuration of the article storage facility according to the present invention, the control unit moves up and down one of the pair of lifting bodies according to the set lifting speed pattern and the other of the pair of lifting bodies is the set lifting speed. In order to maintain the set relative height relationship between the pair of lifting bodies, the pair of lifting bodies is configured to be moved up and down with an adjustment setting lifting speed pattern adjusted based on the relative inclination information. It is in the point comprised so that a relative raising / lowering speed may be adjusted.

The control means does not adjust the ascending / descending speed in the set ascending / descending speed pattern for both the pair of ascending / descending bodies based on the relative inclination information, Only the other of the pair of lifting bodies is moved up and down with an adjustment setting lifting speed pattern in which the lifting speed in the set lifting speed pattern is adjusted based on the relative tilt information, thereby adjusting the relative lifting speed of the pair of lifting bodies. be able to.
Therefore, in adjusting the relative lifting speed of the pair of lifting bodies, it is only necessary to adjust the lifting speed in one of the pair of lifting bodies, and the configuration for adjusting the relative lifting speed can be simplified. Become.

  A third characteristic configuration of the article storage facility according to the present invention is based on the relative inclination information when the control means cooperatively conveys one article by the pair of article conveyance devices in the shared support form. In order to maintain the distance between the pair of lifting bodies in the longitudinal direction of the travel path to the sharing support interval in which one article is shared and supported by the pair of lifting bodies when there is no relative inclination of the pair of lifting bodies. , The distance between the pair of traveling bodies in the longitudinal direction of the traveling route is adjusted.

When one article is cooperatively conveyed by the pair of article conveying devices in the shared support form, if there is a relative inclination of the pair of lifting guide masts, the longitudinal direction of the travel path depends on the lifting position of the pair of lifting bodies. The distance between the pair of lifting bodies changes. Therefore, the distance between the pair of lifting bodies in the longitudinal direction of the travel path cannot be maintained at the sharing support interval, and one article may not be properly shared and supported by the pair of lifting bodies.
Therefore, when a pair of article conveying devices cooperatively convey one article in the shared support form, if there is a relative inclination of the pair of lifting guide masts, the control means determines the travel route based on the relative inclination information. By adjusting the distance between the pair of traveling bodies in the longitudinal direction, the distance between the pair of lifting bodies in the longitudinal direction of the traveling path is adjusted. When the control means adjusts the distance between the pair of traveling bodies in the longitudinal direction of the traveling path, the distance between the pair of lifting bodies in the longitudinal direction of the traveling path maintains the shared support interval based on the relative inclination information. Since the distance between the pair of traveling bodies in the longitudinal direction of the traveling path is adjusted so as to be able to be performed, one article can be appropriately shared and supported by the pair of lifting bodies.

  A fourth characteristic configuration of the article storage facility according to the present invention is configured such that each of the pair of travel position detection means detects a travel distance of the travel body from a reference travel position on the travel route. Each of the lift position detecting means is configured to detect a lift distance of the lift body from a reference lift position on the lift path, and the control means is configured to In order to move the elevating body to positions corresponding to a plurality of target stop positions in each of the plurality of storage units, the traveling body is operated to move and the elevating body is operated to move up and down for each of the pair of article conveying devices. A plurality of target stop positions in each of the plurality of storage units based on the detection information of the pair of travel position detection means and the pair of lift position detection means. In each of the transport devices, the target travel distance information from the reference travel position in the traveling body and the target lift distance information from the reference lift position in the lift body are learned, and the relative inclination is determined based on the learned information. It is configured to seek information.

The control means travels the traveling body for each of the pair of article transport devices so as to move the lifting body to a position corresponding to the plurality of target stop positions in each of the plurality of storage units. A pair of article conveyances for a plurality of target stop positions in each of the plurality of storage units based on detection information of the pair of travel position detection means and the pair of lift position detection means when the lift body is moved up and down. Since each of the devices learns the target travel distance information from the reference travel position in the traveling body and the target lift distance information from the reference lift position in the lift body, the learned information, the pair of travel position detection means, and the pair of lifts Corresponding to a plurality of target stop positions in each of the plurality of storage units for each of the pair of article conveying devices based on the detection information of the position detecting means. To move the elevating body to that position, it is possible to raise and lower operating a and lifting body is traveling operating the running body for each of the pair of the article transport device. Therefore, an article can be appropriately conveyed to each of the plurality of storage units by the pair of article conveying devices.
The control means compares the target travel distance information in one of the pair of article transport devices with the target travel distance information in the other based on the learning information, and the target lift distance information in one of the pair of article transport devices. The relative inclination information can be obtained by comparing with the target lift distance information on the other side.
Therefore, the learning information can be used not only for conveying the article to each of the plurality of storage units but also for obtaining the relative inclination information, and the relative inclination information can be obtained while simplifying the configuration. .

An embodiment of an article storage facility according to the present invention will be described with reference to the drawings.
As shown in FIG. 1 and FIG. 2, the article storage facility includes two article storage shelves 1 that are installed at an interval so that the front surfaces for putting in and out the article B face each other, and two article storage shelves 1. A stacker crane 3 is provided as an article conveying device that reciprocates along a traveling rail 6 installed on the floor surface of the work passage 2 formed therebetween.

Each of the article storage shelves 1 is provided in a state extending over a pair of front and rear columns 1a that are provided in a plurality of positions in the width direction of the shelf (horizontal direction) and a pair of front and rear columns 1a. It is comprised from this mounting support part 1b.
And the storage part 4 is comprised so that one article B may be mounted and supported by the left-right paired mounting support part 1b adjacent to a shelf width direction, and such a storage part 4 is located in a line in length and breadth. A plurality are provided in the direction.

The article B includes a long article (hereinafter referred to as “long article”) C along the longitudinal direction of the traveling rail 6 and a short article (hereinafter referred to as “short article” along the longitudinal direction of the traveling rail 6. And D).
The storage unit 4 includes a plurality of long storage units 41 for storing the long articles C and a plurality of short storage units 42 for storing the short articles D. Incidentally, in this embodiment, the long storage portions 41 are provided in one row in the shelf width direction, and the short storage portions 42 are provided in a plurality of rows in the shelf width direction.

The travel rail 6 is configured as a travel path formed along the article storage shelf 1 and is installed on the floor surface of the work path 2. The travel rail 6 is parallel to the travel rail 6 on the upper side of the work path 2. Thus, a guide rail 7 is provided. The stacker crane 3 is provided so as to travel along the traveling rail 6 while being guided by the guide rail 7.
On one end side of the traveling rail 6, a ground side controller 8 is provided as a control means for controlling the operation of the stacker crane 3. The ground side controller 8 manages storage information such as which storage unit 4 stores which product B and which storage unit 4 stores the product B.

At a position adjacent to the article storage shelf 1 in the longitudinal direction of the traveling rail 6, there is provided a loading table 5 that supports the article B that enters the article storage shelf 1 and the article B that comes out of the article storage shelf 1. The loading table 5 is arranged only on one side of the article storage shelf 1 in the longitudinal direction of the traveling rail 6.
A pair of the loading platforms 5 are provided with the traveling rail 6 interposed therebetween. As the loading table 5, a long loading table 51 that supports the long article C and a short loading table 52 that supports the short article D are provided. The long loading table 51 is disposed closer to the ground controller 8 in the longitudinal direction of the traveling rail 6 than the short loading table 52. Two short load mounting tables 52 are provided in a state of being arranged along the longitudinal direction of the traveling rail 6, and the one located on the side close to the ground-side controller 8 is a first short load mounting table 52 a, and an article storage shelf. The one located on the side close to 1 is the second short loading platform 52b.

  Two stacker cranes 3 are provided in a state of being aligned in the longitudinal direction of the traveling rail 6 so as to travel on the same traveling rail 6. In this embodiment, in the arrangement order along the longitudinal direction of the traveling rails 6 of the two stutter cranes 4, the one located on the side close to the loading platform 5 is the first stacker crane 3 a and is close to the article storage shelf 1. The thing located in the side is demonstrated as the 2nd stacker crane 3b.

  As shown in FIG. 3, each of the two stacker cranes 3 can move up and down along a traveling carriage 9 that can reciprocate along the traveling rail 6, and a lifting guide mast 10 that stands on the traveling carriage 9. The elevator 11 includes an article transfer device 12 mounted on the elevator 11. The traveling carriage 9 is configured as a traveling body, and the lifting platform 11 is configured as a lifting body. As the article transfer device 12, for example, a fork-type article transfer device in which an article can be transferred by moving the fork back and forth is applicable.

  Each of the two stacker cranes 3 is provided with a single elevating guide mast 10, and this single elevating guide mast 10 is provided on the side away from the stacker crane 3 adjacent in the longitudinal direction of the traveling rail 6. It is erected at the end portion of the traveling carriage 9. An upper frame 13 is provided at the upper end of the lifting guide mast 10 so as to be guided by the guide rail 7.

The elevator 11 is guided and supported by an elevator guide mast 10 erected on the traveling carriage 9 so as to be movable up and down, and supported by being suspended by an elevator wire 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 guide mast 10 and connected to a take-up drum 17 provided at one end of the traveling carriage 9. Has been.
The take-up drum 17 is driven to rotate forward and backward by an inverter-type elevating electric motor 18 and 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. The lifting rotary encoder 19 is configured as lifting position detecting means for detecting the lifting distance of the lifting platform 11 from the reference lifting position in the longitudinal direction of the lifting guide mast 10.
The reference lifting position is set to a position when the lifting platform 11 is positioned at the lowermost end of the lifting guide mast 10. Although not shown in the figure, the reference lift position is detected by detecting the detected dog of the equipment on the traveling carriage 9 side with a detection body such as a limit switch provided on the lift base 11 side. I have to. And the sprocket which meshes | engages with the chain provided along the longitudinal direction of the raising / lowering guide mast 10 is provided in the rotating shaft of the raising / lowering rotary encoder 19, and the raising / lowering of the raising / lowering stand 11 after detecting a reference | standard raising / lowering position is provided. The distance is detected.

  In each of the two stacker cranes 3, a pair of front and rear traveling wheels 20 are arranged on the traveling carriage 9 with an interval in the longitudinal direction of the traveling rail 6. Each of the pair of front and rear traveling wheels 20 comes into contact with the traveling rail 6 from the lower side so that the upward movement of the traveling rail 6 is restricted. A backup roller 29 that restricts the rising from the position 6 is provided.

  Of the pair of front and rear traveling wheels 20, an inverter type traveling electric motor 21 that drives a traveling wheel 20 a located on the side away from the stacker crane 3 adjacent in the longitudinal direction of the traveling rail 6 is provided. It is comprised as a driving wheel for propulsion. 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 distance from its own installation position to the traveling carriage 9 by projecting toward the reflector 23 installed on the traveling carriage 9. Then, the first traveling laser rangefinder 22a arranged at the end portion on the side close to the ground controller 8 in the longitudinal direction of the traveling rail 6 detects the traveling position of the traveling carriage 9 in the first stacker crane 3a. . In addition, the second traveling laser range finder 22b disposed at the end opposite to the side where the ground controller 8 is located in the longitudinal direction of the traveling rail 6 is connected to the traveling carriage 9 in the second stacker crane 3b. The traveling position is detected.

  As shown in FIG. 4, each of the two stacker cranes 3 includes a traveling inverter 24 that can be switched between a state where the traveling electric motor 21 is operated and a state where the article transfer device 12 is operated. There is provided an input / output device 26 capable of outputting detection information of a lift inverter 25 for operating the motor 18 and a rotary encoder 19 for lift.

  A communication controller (not shown) is provided in each of the ground-side controller 8 provided on the ground side, the traveling inverter 24 provided in each of the two stacker cranes 3, the lifting inverter 25, and the input / output device 26. Is provided. In addition, the first optical transmission device 27 for exchanging information between the ground side controller 8 and the first stacker crane 3a, and the information exchange 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. The ground-side optical transmission devices 27a and 28a are disposed at the end of the traveling rail 6, as shown in FIG. The ground-side optical transmission device 27a in the first optical transmission device 27 is disposed beside the first traveling laser range finder 22a, and the ground-side optical transmission device 28a in the second optical transmission device 28 is the first optical transmission device 27a. 2 It is arranged beside the traveling laser range finder 22b.

  The communication controller provided in the ground-side controller 8, the communication inverter provided in each of the traveling inverter 24, the lift inverter 25, and the input / output device 26, the first optical transmission device 27, and the second optical transmission device 28. A communication network that allows various types of information to be communicated is configured.

Detection information of the first traveling laser range finder 22a and the second traveling laser range finder 22b is input to the ground-side controller 8, and the ground-side controller 8 detects the traveling carriage 9 in the first stacker crane 3a. The traveling position and the traveling position of the traveling carriage 9 in the second stacker crane 3b are managed.
In addition, detection information of the lifting rotary encoder 19 provided in each of the two stacker cranes 3 is input to the ground-side controller 8 via the above-described communication network, and the ground-side controller 8 is connected to the first stacker crane 8. The lifting position of the lifting platform 11 in 3a and the lifting position of the lifting platform 11 in the second stacker crane 3b are managed.
Then, the ground controller 8 controls the operation of the traveling inverter 24 and the lifting inverter 25 via the above-described communication network, whereby the traveling operation and lifting of the traveling carriage 9 in each of the two stacker cranes 3 are performed. It is comprised so that the raising / lowering operation | movement of the base 11 and the goods transfer operation | movement of the goods transfer apparatus 12 may be controlled.

As shown in FIG. 5, the two stacker cranes 3 are configured such that the two traveling carriages 9 included in the two stacker cranes 3 are spaced apart from each other by a set interval in the longitudinal direction of the traveling rail 6, and the two lifting platforms 11 provided in the two In such a state that one long article C is shared and supported by the two article transfer devices 12 equipped on each of the two lifting platforms 11, the long article C can be transported in cooperation. It is configured. Here, the set relative height relationship is, for example, a height relationship in which the two lifting platforms 11 have the same height, and one set of the two lifting platforms 11 is provided by two article transfer devices 12. The height relationship is set so that the long article C can be appropriately shared and supported.
Further, as shown in FIG. 6, each of the two stacker cranes 3 supports each of the short articles D by the two article transfer devices 12 provided on the two lifting platforms 11 provided in the stacker cranes 3 respectively. In the form, the two short articles D are configured to be transportable separately.

A target stop position for appropriately transferring the article B by the stacker crane 3 is determined in each of the plurality of storage units 4 and the loading platform 5. The target stop position is determined by the target travel distance information from the reference travel position in the traveling carriage 9 and the target lift distance information from the reference lift position in the lift platform 11. The reference travel position is the installation position of the first travel laser range finder 22a, and the reference lift position is the position when the lift platform 11 is positioned at the lowest end of the lift guide mast 10 as described above.
The ground-side controller 8 learns in advance target travel distance information and target lift distance information for each of the plurality of storage units 4 and a plurality of target stop positions in the loading platform 5, and based on the learned information. The stacker crane 3 is configured to convey the article B to the plurality of storage units 4 and the loading platform 5.

  The ground-side controller 8 has an article transfer device 12 mounted on the lifting platform 12 at a position corresponding to each of the plurality of storage units 4 and a plurality of target stop positions in the loading platform 5 for each of the two stacker cranes 3. Are moved based on the detection information of the two lift rotary encoders 19 and the two travel laser rangefinders 22 when the travel carriage 9 is operated and the lift 11 is moved up and down. Each of the stacker cranes 3 is configured to learn target travel distance information and target lift distance information.

  If it demonstrates, although illustration is abbreviate | omitted, in the raising / lowering stand 11 in each of the two stacker cranes 3, the mounting part detection sensor which detects the mounting support part 1b in each storage part 4, and a position adjacent to each storage part 4 And a supporting column detection sensor for detecting a portion corresponding to the installation location of the mounting support portion 1b of each storage unit 4 in the supporting column 1a.

  And the ground side controller 8 detects the mounting support part 1b in each storage part 4 with a mounting part detection sensor, and mounting support of each storage part 4 in the support | pillar 1a located adjacent to each storage part 4 is carried out. The traveling carriage 9 in the first stacker crane 3a is caused to travel and the lifting platform 11 is raised and lowered so that the portion corresponding to the installation location of the portion 1b is detected by the support detection sensor. When the ground-side controller 8 detects a portion corresponding to the installation location of the mounting support 1b in the column 1a by the column detection sensor, the detection information of the first traveling laser rangefinder 22a and the mounting support detection sensor The target horizontal movement distance information and the target vertical movement distance information for a plurality of target stop positions in the first stacker crane 3a are obtained based on the detection information of the lifting rotary encoder 19 when the mounting support portion 1b is detected. It is configured.

Similarly to the first stacker crane 3a, the ground-side controller 8 operates the second stacker crane 3b and detects the portion corresponding to the installation location of the mounting support portion 1b on the column 1a by the column detection sensor. Based on the detection information of the second traveling laser range finder 22b and the detection information of the lifting rotary encoder 19 when the mounting support portion 1b is detected by the mounting support portion detection sensor, a plurality of pieces in the second stacker crane 3a are detected. The target horizontal movement distance information and the target up / down movement distance information for the target stop position are obtained.
At this time, the second traveling laser range finder 22 b detects the traveling distance of the traveling carriage 9 from its own installation position, but the first traveling laser range finder 22 b is installed in the longitudinal direction of the traveling rail 6. The distance between the position and the installation position of the second traveling laser rangefinder 22b and the lengths of the two traveling carriages 9 are set in advance. Therefore, the ground-side controller 8 determines the detection information of the second traveling laser range finder 22b, and the position between the installation position of the first traveling laser range finder 22b and the installation position of the second traveling laser range finder 22b. Based on the distance and the length of the two traveling carriages 9, the target travel distance information from the installation position of the first travel laser rangefinder 22b, which is the reference travel position, can be obtained for a plurality of target stop positions. it can.

As shown in FIG. 7, the ground-side controller 8 includes target travel distance information (X11 to X32) and target lift distance information (Y11 to Y32) for a plurality of target stop positions M in each of the plurality of short storage units 42. Is learned for each of the first stacker crane 3a and the second stacker crane 3b. And about the some accommodating part 41 for elongate, there exist the 1st target stop position M1 in the 1st stacker crane 3a, and the 2nd target stop position M2 in the 2nd stacker crane 3b as a target stop position. Therefore, the ground-side controller 8 includes, for each of the plurality of long storage units 41, the first target travel distance information (S1 to S3) and the first target lift distance information (P1) for the plurality of first target stop positions M1. To P3) and second target travel distance information (T1 to T3) and second target lift distance information (Q1 to Q3) for a plurality of second target stop positions M2.
Moreover, although illustration is abbreviate | omitted, the ground side controller 8 is learning the target travel distance information and target raising / lowering distance information about a target stop position also about the loading platform 5. FIG.

And the ground side controller 8 is comprised so that the relative inclination information of the two raising / lowering guide masts 10 in the two stacker cranes 3 may be calculated | required based on the learning information which learned the target travel distance information and the target raising / lowering distance information. Yes.
The ground-side controller 8 is based on learning information about a plurality of target stop positions M in a plurality of short storage units 42 arranged in the vertical direction at the same position in the longitudinal direction of the traveling rail 6. The target travel distance information in the first stacker crane 3a is compared with the target travel distance information in the second stacker crane 3b, and the target lift distance information in the first stacker crane 3a and the target lift distance information in the second stacker crane 3b are compared. By comparing, the relative inclination information of the two lifting guide masts 10 is obtained.

When the explanation is added, as shown in FIG. 8 (a), when the lifting guide mast 10 in the second stacker crane 3b is inclined to the side farther away from the lifting guide mast 10 in the first stacker crane 3a. As shown in FIG. 10 (a), the target stop position Ma for the first stacker crane 3a determined from the target travel distance information and the target lift distance information in the first stacker crane 3a, and the second stacker crane 3b The target stop position Mb for the second stacker crane 3b determined from the target travel distance information and the target lift distance information is different in the horizontal direction and the vertical direction. Therefore, the ground-side controller 8 performs distance difference information (ΔX1 to ΔX6) in the horizontal direction and the vertical direction between the target stop position Ma for each first stacker crane 3a and the target stop position Mb for each second stacker crane 3b. The relative difference information is obtained by obtaining the distance difference information (ΔY1 to ΔY6).
As shown in FIG. 8 (b), when the lifting guide mast 10 in the second stacker crane 3b is inclined closer to the upper side than the lifting guide mast 10 in the first stacker crane 3a, Although omitted, the target stop position Ma for the first stacker crane 3a and the target stop position Mb for the second stacker crane 3b are different from each other in the horizontal and vertical directions, as in FIG. Therefore, in the same manner as described above, the ground-side controller 8 performs distance difference information in the horizontal direction about the target stop position Ma for each first stacker crane 3a and the target stop position Mb for each second stacker crane 3b, and Relative slope information is obtained by obtaining distance difference information in the vertical direction.

In addition, as shown in FIG. 9 (a), when the lifting guide mast 10 in the first stacker crane 3a and the lifting guide mast 10 in the second stacker crane 3b are inclined away from each other upward. As shown in FIG. 10B, the target stop position Ma for the first stacker crane 3a and the target stop position Mb for the second stacker crane 3b are different in the horizontal direction. Therefore, the ground-side controller 8 calculates distance difference information (ΔX1 to ΔX6) in the horizontal direction between the target stop position Ma for each first stacker crane 3a and the target stop position Mb for each second stacker crane 3b. The relative inclination information is obtained.
As shown in FIG. 9 (b), when the lifting guide mast 10 in the first stacker crane 3a and the lifting guide mast 10 in the second stacker crane 3b are inclined closer to the upper side, the illustration is omitted. However, as in FIG. 9A, the target stop position Ma for the first stacker crane 3a and the target stop position Mb for the second stacker crane 3b are different in the horizontal direction. In the same manner as described above, the ground-side controller 8 obtains the distance difference information in the horizontal direction between the target stop position Ma for each first stacker crane 3a and the target stop position Mb for each second stacker crane 3b. The inclination information is obtained.

  As shown in FIG. 11, the ground side controller 8 cooperates with one long article C by means of two stacker cranes 3 in a shared support form to convey from the article receiving location to the article wholesale location, As shown in FIGS. 12 and 13, it is possible to execute different transport processes for transporting one short article D from an article receiving location to an article wholesale location by a stacker crane 3 that is transported and operated in different support forms. It is configured.

Hereinafter, the cooperative conveyance process will be described.
When the long article C is stored in the article storage shelf 1, the ground controller 8 selects the long loading table 51 as an article receiving location and takes one of the plurality of long storage units 41 to carry out the goods wholesale. The cooperative conveyance process is executed in a state where the location is selected. When leaving the long article C from the article storage shelf 1, the ground-side controller 8 selects one of the plurality of long storage units 41 as an article receiving location and takes the long loading table 51 out of goods. The cooperative conveyance process is executed in a state where the location is selected.

The ground-side controller 8 first moves the two article transfer devices 12 to the target stop position at the article receiving location based on the detection information of the two lifting rotary encoders 19 and the two traveling laser rangefinders 22. Thus, the article transfer device 12 is configured to perform an article transfer operation so as to receive the long article C in the shared support form by the two article transfer devices 12 from the article receiving location.
Then, when the ground-side controller 8 receives the long article C from the article receiving location, the target controller at the article wholesale location is stopped based on the detection information of the two lift rotary encoders 19 and the two traveling laser rangefinders 22. In order to move the two article transfer devices 12 to the position in the shared support form, the cooperative traveling control for operating the two traveling carts 9 with the set traveling speed pattern and the two lifting platforms 11 to the set ascending / descending speed pattern The article transfer device 12 is operated to transfer the long article C to the article wholesale location by the two article transfer devices 12 in a shared support form. It is configured to perform cooperative transfer control.
At this time, in the state where the ground controller 8 performs the collaborative lift control and the collaborative travel control in parallel and performs the lift of the two lift platforms 11 and the travel of the two travel carts 9 in parallel. It is configured to transport the scale article C from the article receiving location to the article wholesale location.

The cooperative up / down control will be described.
The ground side controller 8 sets up / down speed command information for instructing the target up / down speed via the communication network so that the up / down speed obtained from the detection information of the up / down rotary encoder 19 changes according to the set up / down speed pattern. Every time it elapses, it instructs the raising / lowering inverter 25. And the raising / lowering inverter 25 adjusts the electric current value given to the raising / lowering electric motor 18 so that the raising / lowering speed of the raising / lowering stand 11 becomes the target raising / lowering speed commanded by the raising / lowering speed command information.
After that, the ground controller 8 communicates when the lift distance from the reference lift position on the lift platform 11 becomes the target lift distance information learned about the target stop position at the article wholesale location based on the detection information of the lift rotary encoder 19. A lift stop command is given to the lift inverter 25 via the network. And the raising / lowering inverter 25 stops the raising / lowering operation | movement of the raising / lowering stand 11 by stopping the action | operation of the raising / lowering electric motor 18 by a raising / lowering stop command, and applying a brake.

As shown in FIG. 14, the set ascending / descending speed pattern is determined in a state where the target ascending / descending speed of the elevator 11 is made to correspond to the passage of time. The set acceleration α, steady speed, set deceleration β, and stop speed are set values determined in advance through experiments or the like.
When the elevator 11 is raised or lowered, the elevation speed of the elevator 11 is increased to a steady speed at a set acceleration in the initial stage, and thereafter, the elevation speed is maintained at the steady speed. When the elapsed time from the start of raising / lowering the elevator 11 reaches the deceleration start elapsed time, the elevation speed is reduced to the stop speed (creep speed) by the set deceleration, and thereafter the elevation speed is stopped. When the lifting / lowering base 11 reaches the target lifting / lowering position, the lifting / lowering of the lifting / lowering base 11 is stopped.

As shown in FIG. 8, when the two lifting guide masts 10 have a relative inclination, the first lifting distance V for lifting the lifting platform 11 in the first stacker crane 3a and the lifting platform 11 in the second stacker crane 3b are moved up and down. Since there is a difference in the second lifting distance W, when the two lifting platforms 11 are moved up and down with the set lifting speed pattern, the two lifting platforms 11 cannot maintain the set relative height relationship.
Therefore, the ground-side controller 8 determines whether the two lifting platforms 11 have the set relative height relationship based on the relative inclination information of the two lifting guide masts 10 in the cooperative lifting process. It is comprised so that a relative raising / lowering speed may be adjusted.

Based on the relative inclination information, the ground-side controller 8 sets the first lifting distance V for lifting the lifting platform 11 in the first stacker crane 3a and the second lifting distance W for lifting the lifting platform 11 in the second stacker crane 3b. Can be sought. That is, the ground-side controller 8 has learned the first target lift distance information (P1 to P3) for the plurality of first target stop positions M1 as shown in FIG. 7, and as shown in FIG. , Seeking relative tilt information. Accordingly, the ground-side controller 8 moves up and down the lifting platform 11 in the first stacker crane 3a based on the first target lifting distance information (P1 to P) about the plurality of first target stop positions M1. Asking for. Then, the ground-side controller 8 moves the lifting platform 11 in the second stacker crane 3b up and down based on the first target lifting distance information (P1 to P) and the relative tilt information about the plurality of first target stop positions M1. 2 The lifting distance W is obtained.
Incidentally, since the ground side controller 8 has learned the first target lift distance information (Q1 to Q3) about the plurality of first target stop positions M1, the first controller about the first target stop positions M1. Based on the target lifting distance information (Q1 to Q3), the second lifting distance W for lifting the lifting platform 11 in the second stacker crane 3b can be obtained.

And the ground side controller 8 calculates | requires the adjustment ratio (W / V) which is a ratio of the 1st raising / lowering distance V and the 2nd raising / lowering distance W, and raises / lowers the adjustment ratio (W / V) in the setting raising / lowering speed pattern. Is applied to obtain the adjustment set up / down speed pattern. As shown in FIG. 8, when the second elevating distance W is larger than the first elevating distance V, an adjustment set ascending / descending speed pattern as shown by a dotted line in FIG. 14 is obtained. When the second raising / lowering distance W is smaller than the first raising / lowering distance V, an adjustment setting raising / lowering speed pattern as shown by a one-dot chain line in FIG. 14 is obtained.
Then, the ground-side controller 8 moves one of the two lifting platforms 11 up and down with the set lifting speed pattern and adjusts the other lifting platform 11 with the lifting speed in the set lifting speed pattern based on the relative tilt information. The two lifting platforms 11 are configured to adjust the relative lifting speeds of the two lifting platforms 11 so as to maintain the set relative height relationship in a form in which the lifting / lowering operation is performed according to the set lifting speed pattern for adjustment.

The cooperative traveling control will be described.
The ground-side controller 8 uses the traveling inverter 24 via the communication network so that the traveling speed of the traveling carriage 9 obtained from the detection information of the traveling laser rangefinder 22 changes according to the set traveling speed pattern. The travel speed command information for commanding the target travel speed while operating the motor 21 is commanded every time the set time elapses. The traveling inverter 24 adjusts the current value applied to the traveling electric motor 21 so that the traveling speed of the traveling carriage 9 becomes the target traveling speed commanded by the traveling speed command information.
Thereafter, based on the detection information of the traveling laser rangefinder 22, the ground-side controller 8 determines that the traveling distance from the reference traveling position in the traveling carriage 9 becomes the target traveling distance information learned about the target stop position at the wholesale location. Then, a travel stop command is given to the travel inverter 24 via the communication network. Then, the traveling inverter 24 stops the traveling operation of the traveling carriage 9 by stopping the operation of the traveling electric motor 21 and applying a brake in response to the traveling stop command.
Incidentally, since the set travel speed pattern is determined in a state in which the target travel speed of the traveling carriage 9 is made to correspond to the passage of time, like the set ascending / descending speed pattern, detailed description and illustration are omitted.

  The ground controller 8 commands the traveling speed command information to the traveling inverter 24 every time the set time elapses as described above, but based on the detection information of the two traveling laser rangefinders 22. Thus, the distance F between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 is constantly monitored, and the two traveling carriages are set so that the distance F between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 is constant. 9 is configured to command the traveling speed command information to the two traveling inverters 24 in a state in which the target traveling speed to be commanded to one of 9 is adjusted.

If it demonstrates, as shown in FIG. 15, the ground side controller 8 will be based on the detection information of the 1st traveling laser rangefinder 22a, and the 1st traveling laser rangefinder in the traveling cart 9 of the 1st stacker crane 3a will be described. The first travel distance L1 from the installation position 22a can be obtained. Further, the ground-side controller 8 determines the second distance from the installation position of the second traveling laser range finder 22b in the traveling carriage 9 of the second stacker crane 3b based on the detection information of the second traveling laser range finder 22b. The travel distance L2 can be obtained. Then, in the longitudinal direction of the traveling rail 6, the total distance M between the installation position of the first traveling laser rangefinder 22a and the installation position of the second traveling laser rangefinder 22b, and the two traveling carriages 9 The length N of each is preset.
Therefore, the ground-side controller 8 determines the two traveling carts in the longitudinal direction of the traveling rail 6 from the first traveling distance L1, the second traveling distance L2, the total length distance M, and the length N of each of the two traveling carts 9. An interval F of 9 can be obtained.
The ground-side controller 8 constantly monitors the distance F between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 so that the distance F between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 becomes a constant interval. In addition, in a state where the target travel speed commanded to one of the two travel carts 9 is adjusted, the travel speed command information is commanded to the two travel inverters 24.
For example, when the distance F between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 is larger than a certain distance, the ground controller 8 determines that the distance F between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 is a certain distance. In such a state that the target traveling speed commanded to the traveling cart 9 located on the rear side in the traveling direction of the two traveling carts 9 is adjusted to increase, the traveling speed command information is sent to the two traveling inverters 24. It is configured to command.

As shown in FIGS. 8 and 9, when the two lifting guide masts 10 have a relative inclination, the distance between the two lifting platforms 11 in the longitudinal direction of the traveling rail 6 varies depending on the lifting position of the two lifting platforms 11. become. Therefore, there is a possibility that the ground controller 8 cannot maintain the interval between the two lifting platforms 11 in the longitudinal direction of the traveling rail 6 at the shared support interval only by operating the two traveling vehicles 9 with the set traveling speed pattern. is there.
Therefore, the ground-side controller 8 determines the interval between the two lift platforms 11 in the longitudinal direction of the traveling rail 6 based on the relative tilt information of the two lift guide masts 10 when there is no relative tilt of the two lift guide masts 10. The distance between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 is maintained in order to maintain the sharing support interval in which one long article C is divided and supported by the two article transfer devices 12 installed in the two lifting platforms 11. Configured to adjust.

  As shown in FIG. 10, the ground-side controller 8 determines the distance in the horizontal direction at positions adjacent to each other in the vertical direction based on the distance difference information (ΔX1 to ΔX6) in the horizontal direction obtained when the relative inclination information is obtained. Differences in difference information (for example, the difference between ΔX1 and ΔX2) are obtained for all the distance difference information (ΔX1 to ΔX6) in the horizontal direction, and as shown in FIGS. The adjustment interval ΔG according to the above is obtained. In the case shown in FIG. 8 (a), the distance between the two lifting platforms 11 in the longitudinal direction of the traveling rail 6 increases as the two lifting platforms 11 are moved upward. The adjustment interval ΔG is obtained so that the elevation position of the elevator platform 11 increases as it goes upward. Incidentally, in FIG. 9, the sum of the first adjustment interval ΔG1 and the second adjustment interval ΔG2 is the adjustment interval ΔG (= ΔG1 + ΔG2), so the first adjustment interval ΔG1 and the second adjustment interval ΔG2 And are shown separately.

Then, as described in FIG. 15, the ground-side controller 8 constantly monitors the interval F between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6, and calculates the distance F between the two traveling carriages 9 as relative inclination information. By adjusting based on this, it is comprised so that the space | interval of the two raising / lowering bases 11 in the longitudinal direction of the running rail 6 may be maintained to the space | interval for shared support.
In the ground-side controller 8, the distance F between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 becomes an interval for maintaining the distance between the two lifting platforms 11 in the longitudinal direction of the traveling rail 6 as the shared support interval. As described above, the travel speed command information is commanded to the two travel inverters 24 in a state where the target travel speed commanded to one of the two travel carts 9 is adjusted.

As shown in FIG. 8 and FIG. 9, a description will be given of cooperative elevation control and cooperative traveling control when the two elevation guide masts 10 have a relative inclination.
As described above, the ground-side controller 8 performs the cooperative lifting control and the cooperative traveling control in the state where the first lifting distance V, the second lifting distance W, and the adjustment interval ΔG are obtained. By performing the control and the cooperative traveling control in parallel, the two elevators 11 are moved up and down and the two traveling carts 9 are driven in parallel.
And although the ground side controller 8 performs cooperating raising / lowering control and cooperating traveling control in parallel, when the two article transfer devices 12 reach the target stop position in the horizontal direction earlier than the vertical direction. The ground-side controller 8 is configured to continue the cooperative up / down control even after the cooperative traveling control is terminated. In this case, when the ground controller 8 continues the cooperative lifting control, based on the relative inclination information, the distance between the two lifting platforms 11 in the longitudinal direction of the traveling rail 6 is set as the sharing support spacing. In order to maintain, the distance between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 is adjusted.

Hereinafter, in each case shown in FIG. 8 and FIG. 9, description will be given of the cooperative lifting control and the cooperative traveling control.
The case shown in FIG. 8 (a) will be described. In the cooperative up / down control, the ground-side controller 8 obtains an adjustment set up / down speed pattern from the first up / down distance V and the second up / down distance W, and the first stacker. The lifting platform 11 in the crane 3a is moved up and down with a set lifting speed pattern, and the lifting platform 11 in the second stacker crane 3b is moved up and down with a set lifting speed pattern for adjustment. In the cooperative traveling control, the ground controller 8 increases the distance between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 based on the adjustment interval ΔG so that the ascending / descending positions of the two lifting platforms 11 are on the upper side. The two traveling carts 9 are configured to run in a state in which the traveling speed of one of the two traveling carts 9 is adjusted so as to decrease.

  The case shown in FIG. 8 (b) will be described. In the cooperative up / down control, the ground-side controller 8 obtains the set up / down speed pattern for adjustment from the first up / down distance V and the second up / down distance W, and the first stacker. The lifting platform 11 in the crane 3a is moved up and down with a set lifting speed pattern, and the lifting platform 11 in the second stacker crane 3b is moved up and down with a set lifting speed pattern for adjustment. In the cooperative travel control, the ground-side controller 8 determines that the distance between the two traveling carriages 9 in the longitudinal direction of the traveling rail 6 increases as the elevation position of the two elevation bases 11 rises upward based on the adjustment interval ΔG. The two traveling carts 9 are configured to run in a state where the traveling speed of one of the two traveling carts 9 is adjusted so as to increase.

  The case shown in FIG. 9A will be described. Since the first elevating distance V and the second elevating distance W are the same distance, in the cooperative elevating control, the ground-side controller 8 moves the elevating and lowering in the first stacker crane 3a. Both the platform 11 and the elevator platform 11 in the second stacker crane 3b are configured to move up and down with a set lifting speed pattern. In the cooperative travel control, the ground controller 8 causes the two traveling carts 9 in the longitudinal direction of the traveling rail 6 to move upward as the lifting position of the two lifting platforms 11 increases based on the adjustment interval ΔG (ΔG1 + ΔG2). The two traveling carts 9 are configured to travel in a state where the traveling speed of one of the two traveling carts 9 is adjusted so that the interval between the two traveling carts 9 is adjusted.

  The case shown in FIG. 9 (b) will be described. Since the first elevating distance V and the second elevating distance W are the same distance, in the cooperative elevating control, the ground-side controller 8 moves up and down in the first stacker crane 3a. Both the platform 11 and the elevator platform 11 in the second stacker crane 3b are configured to move up and down with a set lifting speed pattern. In the cooperative travel control, the ground controller 8 causes the two traveling carts 9 in the longitudinal direction of the traveling rail 6 to move upward as the lifting position of the two lifting platforms 11 increases based on the adjustment interval ΔG (ΔG1 + ΔG2). The two traveling carts 9 are configured to travel while adjusting the traveling speed of one of the two traveling carts 9 so that the distance between the two traveling carts 9 increases.

  Incidentally, although illustration is omitted, when there is no relative inclination of the two lifting guide masts 10, in the cooperative lifting control, the ground controller 8 lifts the lifting platform 11 in the first stacker crane 3a and the second stacker crane 3b. Both bases 11 are configured to move up and down with a set up and down speed pattern. In the cooperative traveling control, the ground-side controller 8 allows the traveling cart 9 and the second stacker crane in the first stacker crane 3a to be in a state where the distance between the two traveling carts 9 in the longitudinal direction of the traveling rail 6 is constant. Both the traveling carriages 9 in 3b are configured to travel based on the set traveling speed pattern.

The cooperative transfer control will be described.
The ground-side controller 8 sends the same transfer command information to the traveling inverters 24 of the two stacker cranes 3 in order to simultaneously operate the two article transfer devices 12 via the communication network. Command at the same timing. Then, the traveling inverter 24 in each of the two stacker cranes 3 switches the article transfer device 12 to the state in which the article transfer device 12 is operated based on the transfer command information from the ground-side controller 8. Operate transfer operation.
In this way, by giving the same transfer command information from the ground-side controller 8 at the same timing, the two stacker cranes 3 share one long article C by the two article transfer devices 12. It is configured so that one long article C can be transferred to an article wholesale location in a shared support form to support.

Hereinafter, each separate conveyance process will be described.
When the short article D is stored in the article storage shelf 1, the ground controller 8 selects the short loading platform 52 as an article receiving location and selects one of the plurality of short storage sections 42 as an article wholesale location. In this state, each separate conveyance process is executed. When the short article D is delivered from the article storage shelf 1, the ground-side controller 8 selects one of the plurality of short storage sections 42 as an article receiving location and selects the short loading platform 52 as an article wholesale location. In this state, each separate conveyance process is executed.
Then, the ground-side controller 8 selects the first short load placing table 52a as the article receiving place and the article wholesale place in the first stacker crane 3a for the short load placing table 52, and the second short load placing stand 52b. The second stacker crane 3b is configured to select an article receiving location and an article wholesale location.

The ground-side controller 8 selects one or both of the two stacker cranes 3 as the stacker crane 3 that transports and operates the two stacker cranes 3 to transport the short article D by the selected stacker crane 3. It is comprised so that the action | operation of may be controlled.
The ground-side controller 8 first transfers the article to the target stop position at the article receiving location based on the detection information of the lifting rotary encoder 19 and the traveling laser rangefinder 22 corresponding to the stacker crane 3 that is transported. The apparatus 12 is moved, and the article transfer apparatus 12 is configured to perform an article transfer operation so that the article transfer apparatus 12 receives the short articles D in different support forms from the article receiving location.
Then, when the ground controller 8 receives the short article D from the article receiving location, the controller 8 at the article wholesale location based on the detection information of the lifting rotary encoder 19 and the traveling laser range finder 22 in the stacker crane 3 that is transported. In order to move the article transfer device 12 to the target stop position in different support forms, the elevator 9 in the stacker crane 3 that operates the transport carriage 9 in the stacker crane 3 that is transported and travels in the set travel speed pattern and the transport operation. In order to transfer the short article D to the article wholesale location by the article transfer apparatus 12 in the stacker crane 3 that moves the elevator 11 up and down at the set up / down speed pattern and carries out the transport operation in the different support forms. 12 is configured to operate the article transfer operation.
At this time, the ground-side controller 8 performs the traveling operation of the traveling carriage 9 and the raising / lowering operation of the lifting platform 11 in parallel, and performs the lifting and lowering of the two lifting platforms 11 and the traveling of the two traveling carriages 9 in parallel. In the state, the short article D is transported from the article receiving place to the article wholesale place.

  Further, as shown in FIG. 12, the ground-side controller 8 performs simultaneous loading / unloading processing for simultaneously loading and unloading two short articles D with two stacker cranes 3 as shown in FIG. As shown, it is configured to be able to execute a single loading / unloading process for loading and unloading one short article D with one stacker crane 3.

The simultaneous loading / unloading process will be described.
When two short articles D are simultaneously received by two stacker cranes 3, the ground-side controller 8 uses the article transfer device 12 provided in the first stacker crane 3a in the first short load carrying table 52a. The article transfer device 12 positioned at the target stop position and provided in the second stacker crane 3b is positioned at the target stop position of the second short load carrying table 52b, and the two article transfer devices 12 use the two short lengths. Two short articles D are simultaneously received from the loading table 52, and each of the article transfer devices 12 provided in each of the two stacker cranes 3 is positioned at a target stop position at a different article wholesale location, Each of the article transfer apparatuses 12 is configured to control the operation of the two stacker cranes 3 so as to wholesale the short articles D to the short storage section 42.
Further, when two short articles D are delivered simultaneously by two stacker cranes 3, the ground-side controller 8 has different article transfer apparatuses 12 provided in each of the two stacker cranes 3. The two short articles D are received separately from the different short storage sections 42 by the two article transfer devices 12 at the target stop position at the article receiving location, and then provided to the first stacker crane 3a. The article transfer device 12 is positioned at the target stop position of the first short load mounting table 52a, and the article transfer device 12 provided in the second stacker crane 3b is positioned at the target stop position of the second short load mounting table 52b. Thus, the operation of the two stacker cranes 3 is controlled so that the two short articles D are simultaneously wholesaled on the two short loading platforms 52 by the two article transfer devices 12. It is configured so that.

The single entry / exit process will be described.
The ground-side controller 8 selects one of the first stacker crane 3a and the second stacker crane 3b as the stacker crane 3 that is transported, transports the short article D by the stacker crane 3 that is transported, and The stacker crane 3 that is not selected as the transporting stacker crane 3 is configured to control the operation of the two stacker cranes 3 so as to be positioned outside the traveling range in which the transporting stacker crane 3 travels. .
Incidentally, in FIG. 11, the case where the 2nd stacker crane 3b is selected as the stacker crane 3 which carries out conveyance operation is shown.

[Another embodiment]
(1) In the above-described embodiment, the ground controller 8 performs the cooperative up / down control and the cooperative travel control in the cooperative transport process in parallel. It is also possible to perform traveling control, or perform cooperative traveling control and then perform cooperative lifting control, so that one of cooperative lifting control and cooperative traveling control is performed first and the other is performed later. it can. In this case, when the ground-side controller 8 performs cooperative travel control, the two travel carts 9 are operated to maintain a constant distance between the two travel carts 9 in the longitudinal direction of the travel rail 6. In addition, when performing the cooperative lifting control, the longitudinal direction of the traveling rail 6 is used to maintain the distance between the two lifting platforms 11 in the longitudinal direction of the traveling rail 6 at the shared support interval based on the relative inclination information. The interval between the two traveling carriages 9 is adjusted.

(2) In the embodiment described above, the ground controller 8 adjusts the relative lifting speed of the pair of lifting platforms 11 by operating only one of the pair of lifting platforms 11 with the set lifting speed pattern for adjustment. However, you may make it adjust the relative raising / lowering speed of a pair of raising / lowering stand 11 by adjusting the raising / lowering speed in a setting raising / lowering speed pattern about both of a pair of raising / lowering stands 11 based on relative inclination information.

(3) In the above embodiment, the ground-side controller 8 detects the placement support portion 1b in each storage portion 4 with the placement portion detection sensor, and each storage in the column 1a adjacent to each storage portion 4 The traveling carriage 9 in the stacker crane 3 is caused to travel and the lifting platform 11 is moved up and down so that the portion corresponding to the installation location of the mounting support portion 1b of the section 4 is detected by the supporting column detection sensor. When the placement support portion 1b is detected by the placement support portion detection sensor and the detection information of the traveling laser rangefinder 22 when the portion corresponding to the installation location of the placement support portion 1b in the support column 1a is detected. Based on the detection information of the rotary encoder 19, the target horizontal movement distance information and the target vertical movement distance information for a plurality of target stop positions in the stacker crane 3 are learned. Although it has to, it is also possible to adapt other structures for construction of learning the target horizontal movement distance information and target vertical movement distance information.

  For example, a state in which the installation position in the longitudinal direction of the traveling rail 6 and the longitudinal guide mast 10 for each of the plurality of storage units 4 is set as the setting installation condition for obtaining the target traveling distance information and the target lifting distance information. A plurality of learning mark bodies are installed and a learning mark body detecting means for detecting the learning mark bodies is mounted on the stacker crane 3 in a state of moving integrally with the article transfer device 12. Then, the ground side controller 8 operates the stacker crane 3 so that all of the plurality of learning mark bodies are detected by the learning mark body detecting means, and the learning mark body detecting means detects the learning marks. Learning from the reference travel position in the longitudinal direction of the travel rail 6 for each of the plurality of learning mark bodies based on the detection information of the travel laser range finder 22 and the lifting rotary encoder 19 when the body is detected Based on the horizontal distance information and learning lift distance information from the reference lift position in the longitudinal direction of the lift guide mast 10, and learning learned horizontal distance information and learned lift distance information, and information corresponding to the set installation conditions Thus, the target horizontal distance information and the target lift distance information can be obtained.

(4) In the above embodiment, the ground-side controller 8 obtains the relative inclination information based on the learning information when learning the target travel distance information and the target lift distance information for the plurality of target stop positions. However, how the relative inclination information is obtained can be appropriately changed.

(5) In the above embodiment, one ground-side controller 8 is provided for controlling the operation of the two stacker cranes 3. However, the operation of the two stacker cranes 3 is controlled by any configuration. It can be changed as appropriate. For example, in addition to the ground-side controller, each of the two stacker cranes 3 includes a crane-side controller, and by communicating various information between the ground-side controller and the crane-side controller, the two stacker cranes 3 Can be controlled.

(6) In the above embodiment, the travel laser range finder 22 is exemplified as the travel position detection means for detecting the travel position of the travel cart 9 on the travel rail 6, but for example, as the travel cart 9 travels. In addition, a rotary encoder that can rotate freely can be applied, and various other configurations can be applied.
In addition, the lifting position detecting means for detecting the lifting position of the lifting platform 11 in the lifting path along the lifting guide mast 10 is not limited to the lifting rotary encoder 19, and a laser range finder can be applied. The configuration can be adapted.

(7) In the above-described embodiment, an example in which two stacker cranes 3 are provided has been described. However, for example, four stacker cranes 3 can be provided. If the number of stacker cranes 3 is an even number, the number can be appropriately changed. is there.

Top view of goods storage equipment Side view of goods storage equipment Side view of two stacker cranes Control block diagram of goods storage equipment Diagram showing shared support form The figure which shows each support form The figure which shows the learned target mileage information and the target lift distance information Side view of two stacker cranes when there is a relative inclination of the two lifting guide masts Side view of two stacker cranes when there is a relative inclination of the two lifting guide masts The figure which shows the target travel distance information and target lift distance information which were learned when there was a relative inclination of two lift guide masts The figure which shows operation in cooperative conveyance processing The figure which shows the operation in simultaneous entry / exit processing The figure which shows the operation in the single entry / exit processing Diagram showing set up / down speed pattern The figure which shows a state when carrying out driving | running | working operation | movement of the two traveling carts in a cooperative conveyance process

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Goods storage shelf 3 Goods conveying apparatus 4 Storage part 6 Traveling path 8 Control means 9 Traveling body 10 Lifting guide mast 11 Lifting body 19 Lifting position detection means 22 Traveling position detection means

Claims (4)

An article storage shelf having a plurality of storage units arranged vertically and horizontally;
A pair of traveling bodies that are capable of reciprocating along a traveling path formed along the article storage shelf and a lifting body that is movable along a lifting path formed along a lifting guide mast that is erected on the traveling body. An article conveying device;
A pair of travel position detecting means for detecting a travel position on the travel route of the traveling body in each of the pair of article conveying devices;
A pair of lift position detecting means for detecting a lift position on the lift path of the lift body in each of the pair of article conveying devices;
Control means for controlling the running operation of the traveling body and the raising / lowering operation of the lifting body in each of the pair of article conveying devices,
In a state where the pair of article transporting devices includes a pair of the traveling bodies provided in the longitudinal direction of the traveling path with a set interval therebetween, and the pair of lifting bodies included in the pair is in a set relative height relationship. In the shared support form of supporting and supporting one article by the lifting body, it is configured to be able to transport one article in cooperation with each other,
Based on the detection information of the pair of travel position detection means and the pair of lift position detection means, the control means should cooperate to convey one article by the pair of article conveyance devices in the shared support form. An article storage facility configured to operate the pair of traveling bodies in a set traveling speed pattern and to operate the pair of lifting bodies in a set up / down speed pattern,
When the control means cooperatively conveys one article by the pair of article conveying devices in the shared support form, based on the relative inclination information of the pair of lifting guide masts in the pair of article conveying devices. An article storage facility configured to adjust a relative lifting speed of the pair of lifting bodies so that the pair of lifting bodies maintain a set relative height relationship.   The control means causes one of the pair of lifting bodies to move up and down with the set lifting speed pattern, and adjusts the lifting speed in the set lifting speed pattern with respect to the other of the pair of lifting bodies based on the relative inclination information. The pair of the lifting bodies is configured to adjust the relative lifting speed of the pair of lifting bodies so that the pair of lifting bodies maintain a set relative height relationship in a form in which the lifting / lowering operation is performed with an adjustment setting lifting speed pattern. The article storage facility according to 1.   When the control means cooperatively conveys one article by the pair of article conveyance devices in the shared support form, the pair of lifting bodies in the longitudinal direction of the travel path based on the relative inclination information Of the pair of the traveling bodies in the longitudinal direction of the traveling path in order to maintain the distance between the pair of the traveling bodies in a longitudinal direction of the traveling path. The article storage facility according to claim 1, wherein the article storage facility is configured to adjust the interval. Each of the pair of travel position detection means is configured to detect a travel distance of the traveling body from a reference travel position on the travel route,
Each of the pair of lift position detecting means is configured to detect a lift distance of the lift body from a reference lift position on the lift path,
For each of the pair of article transport apparatuses, the control means moves the lift to a position corresponding to a plurality of target stop positions in each of the plurality of storage sections. Based on detection information of the pair of travel position detection means and the pair of lift position detection means when the travel body is traveled and the lift body is lifted and lowered, About the target stop position, the target travel distance information from the reference travel position in the traveling body and the target lift distance information from the reference lift position in the lift body are learned and learned in each of the pair of article transport apparatuses. The article storage facility according to claim 1, wherein the article storage facility is configured to obtain the relative inclination information based on learning information.

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