JP2008174335A - Stocker, and control method of stacker device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stocker having high storage capacity, and a control method of a stacker device in the stocker. <P>SOLUTION: On a storage shelf 2 extending in one direction, two loading areas with objects 9 for storage being loaded thereon are provided along the direction orthogonal to its extending direction. The objects 9 are loaded on the storage shelf 2 with both sides of the extending direction of the storage shelf 2 on its lower side being supported. A stacker device 4 for transferring the objects 9 between the storage shelf 2 and a port 3 has a hand 47 to be advanced/retracted along the direction orthogonal to the extending direction of the storage shelf 2. The length of the hand 47 abutted on the lower sides of the loaded objects 9 along the advancing/retracting direction of the abutting surface is not less than the length over the two loading areas provided along the advancing/retracting direction of the hand 47 on the storage shelf 2. The hand 47 can take a state in which the abutting surface is advanced to the vertically overlapping position on the loading area located on the stacker device 4 side out of the two loading areas and a state in which the abutting surface is advanced to the vertically overlapping position on both two loading areas. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a stocker for storing stored items, and a control method for a stacker device in the stocker.

  Patent Document 1 discloses a storage shelf device that is installed in a clean room where semiconductors are manufactured and is a stocker for temporarily storing semiconductor materials in the manufacturing process. Such an apparatus includes a shelf on which stored items are placed, a delivery unit for transferring stored items to and from the outside, and a stacker for transferring stored items between the shelf and the delivery unit. ing.

The stacker includes a hand having a surface facing upward, an advancing / retracting mechanism for moving the hand back and forth in the horizontal direction, and an elevating mechanism for moving the hand up and down. One stored item is placed on the shelf with respect to the advancing / retreating direction of the hand. The stacker advances the hand to a position overlapping with the stored item placed on the shelf in the vertical direction, and then raises the hand to lift up the stored item.
Japanese Patent Laid-Open No. 10-98094

  A clean room has a large space unit price. Therefore, it is desired that the storage shelf device installed in the clean room as described above can store more stored items with a small occupation area.

  Accordingly, an object of the present invention is to provide a stocker having a high storage capacity, and a control method of a stacker device in the stocker.

Means and effects for solving the problems

  The stocker of the present invention includes a storage shelf that is extended along one direction and on which stored items being stored are placed, a port on which the stored items to be loaded and unloaded are placed, the storage shelf and the port, And a stacker device for transferring the stored items between the storage units. The stacker device also controls a hand having an abutting surface facing upward that supports a contacted surface facing downward of the stored item, an advancing / retreating mechanism for advancing and retracting the hand in a horizontal direction, and the advancing / retreating mechanism. An advancing / retreating control means; an elevating mechanism for elevating the hand; an elevating control means for controlling the elevating mechanism; a moving mechanism for moving the hand along the one direction; and a movement control means for controlling the moving mechanism. Then, after the hand is advanced to a position where the abutted surface and the abutting surface of the stored article placed under the control of the advance / retreat control means overlap in the vertical direction, The stored item is lifted by raising the hand to a position where the stored item is lifted, and is used to control at least one of the elevation control unit and the movement control unit. Ri is intended to transport the storage products to the vicinity of the portion to be transferred. And in the storage shelf, a first placement area and a second placement area on which the stored items are respectively placed are formed in order from the stacker device side along the advance / retreat direction of the hand, The hand has a length in the advancing / retreating direction of the contact surface that is equal to or longer than the length straddling the first and second placement areas, and is advanced to a position overlapping the first placement area in the vertical direction; The first and second placement areas can be in a state of moving forward to a position overlapping in the vertical direction.

  According to this configuration, the stored items can be delivered to the first and second placement areas by the hand. Accordingly, the stored items can be respectively placed on the first and second placement areas provided in the storage shelf along the forward / backward direction of the hand, and therefore the storage placed along the forward / backward direction of the hand. The storage capacity of the stocker can be increased compared to the case where there is only one item.

  In the stocker of the present invention, in the storage shelf and the port, the stored item is placed in a state where both ends of the lower surface of the storage item in a direction orthogonal to the advancing / retreating direction are supported, and the lower surface of the stored item is It may be a contacted surface. According to this configuration, the hand can lift up the stored item from below while supporting the unsupported portion of the lower surface of the stored item in the mounted state by the contact surface.

  The stocker of the present invention preferably includes the two storage shelves arranged on both sides of the stacker device. According to this configuration, the storage capacity of the stocker can be further enhanced as compared with the case where the storage shelf is provided only on one side of the stacker device.

  The stacker apparatus control method of the present invention is a stacker apparatus control method in any one of the above-described stockers, and in the storage shelf, the forward and backward direction is greater than the stored item to be transferred from the storage shelf to the port. When there is no other stored item on the stacker side, an object receiving step for allowing the hand to receive only the stored item to be transferred, and the stored item to be transferred received in the target receiving step. A target transporting process for transporting the object to the vicinity of the port, and a target delivery process for placing the stored material transported in the target transporting process on the port. In addition, when the other stored item exists, the two received items of the stored item to be transferred and the other stored item are simultaneously received by the hand, and the two received items are received in the both received step. A two-sided transporting step for transporting the two stored items to the vicinity of the port, and one of placing the stored items to be transferred among the two stored items transported in the two-sided transporting step on the port A delivery process; a second transporting process for transporting the other stored article that has not been placed on the port in the one delivery process to the vicinity of the storage shelf; and the other stored article transported in the other transporting process. And a return process for returning to the storage shelf.

  According to this configuration, in a stocker having a high storage capacity capable of placing two stored items on the storage shelf along the advancing / retreating direction of the hand, the stacker is more advanced with respect to the moving direction of the hand than the stored item to be transferred in the storage shelf. Even when other stored items exist on the apparatus side, only the stored items to be transferred can be transferred to the port.

  In the stacker device control method of the present invention, the length of the port along the advancing / retreating direction is a length on which the plurality of stored items are placed, and the one delivery step is supported by the hand. After the two stored items are advanced to the position where the two items are vertically overlapped with the port, the two stored items are moved down so that the two stored items are placed on the port. A both-side placing step of placing an object on the port, and the hand does not face the stored matter to be transferred, of the two stored items placed on the port in the both-side placing step. And after the hand has been retracted to a position facing the other stored item, the hand is lifted to a position where the other stored item is lifted, thereby lifting the other stored item. Out Good. Thereby, in the one delivery process, only the stored items to be transferred can be placed on the port.

  A preferred embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a horizontal sectional view of a stocker according to an embodiment of the present invention. 2 is a cross-sectional view taken along line II-II in FIG. 1, and FIG. 3 is a cross-sectional view taken along line III-III in FIG.

  The stocker 1 according to the present embodiment is installed in a clean room where semiconductors are manufactured. For example, a stocker case in which a mask used for manufacturing a semiconductor is stored, or a FOUP (in which a semiconductor wafer is stored) Front Opening Unified Pod) etc. are temporarily stored. As shown in FIGS. 1 to 3, the stocker 1 is inserted into a storage shelf 2 on which a stored item 9 to be stored is placed, which is provided in a substantially rectangular housing 7, and the stocker 1. It has a port 3 on which a stored item 9 to be delivered is placed, and a stacker device 4 that transfers the stored item 9 between the storage shelf 2 and the port 3.

  The storage shelves 2 are provided on both sides of the casing 7 in the short direction (vertical direction in FIG. 1, horizontal direction in FIG. 3), and the longitudinal direction of the casing 7 (horizontal direction in FIGS. 1 and 2). Is distracted. That is, the storage shelves 2 are provided with a predetermined interval in the short direction of the housing 7. In the present embodiment, the storage shelf 2 is provided in seven stages in the vertical direction as shown in FIGS. That is, the storage shelf 2 is provided in 14 stages in total. Here, in the present embodiment, addresses T to Z are assigned in order from the top to the seven-stage storage shelves 2 provided in the vertical direction. As shown in FIG. 3, the two storage shelves 2 corresponding to any of the addresses TZ provided on both sides in the short direction of the housing 7 are located at the same height level. FIG. 1 is a view of the storage shelf 2 at the address V as viewed from above.

  A plurality of stored items 9 are placed on each storage shelf 2 such that two rows of stored items 9 arranged in the extending direction are formed in a direction perpendicular to the columns. That is, two stored items 9 are placed on each storage shelf 2 along a direction orthogonal to the extending direction. In the present embodiment, 13 stored items 9 are placed along the extending direction of the storage shelf 2, and addresses 10 to 22 are assigned in order from the left side in FIGS. ing. The storage shelf 2 provided on one side of the casing 7 in the short direction (upward in FIG. 1 and left in FIG. 3) is assigned addresses A and B in order from the one side. The storage shelf 2 provided on the other side in the short side of the casing 7 (downward in FIG. 1, rightward in FIG. 3) is assigned addresses C and D in order from the opposite side to the other side. It is.

  As described above, the storage shelf 2 has addresses T to Z along the vertical direction, 10 to 22 along the longitudinal direction of the casing 7, and A to D along the lateral direction of the casing 7. Since they are allocated, the placement position of the stored items 9 in the storage shelf 2 can be specified by combining them. For example, the address of the placement position of the storage item 9 shaded in FIG. 1 is V-19-A, and the address of the placement position of the storage item 9 painted black is V-14-C. .

  In addition, as shown in FIG. 4 which is an enlarged view of a portion surrounded by a broken line in FIG. 1, the storage shelf 2 has storage shelves at locations corresponding to addresses 10 to 22 allocated along the extending direction. Cutouts 2a extending in a direction perpendicular to the extending direction 2 are formed. The stored items 9 placed on the storage shelf 2 are placed so as to straddle the notches 2a. That is, the stored item 9 is placed on the storage shelf 2 in a state where the vicinity of both ends of the lower surface 9a (see FIGS. 2 and 3) in the longitudinal direction of the storage shelf 2 (left and right direction in the drawing) is supported.

  An opening 7 a communicating with the outside is formed on the side wall on one end side in the longitudinal direction of the housing 7 (left side in FIGS. 1 and 2). And the one end side of the space extended in the longitudinal direction of the housing | casing 7 formed between the side wall in which the opening 7a of the housing | casing 7 was formed, and the storage shelf 2 which mutually opposes regarding the transversal direction of the housing | casing 7 ( Port 3 is provided between the left side in FIGS. As shown in FIG. 1, a total of four stored items 9 can be placed in the port 3, two each in the longitudinal direction and the short direction of the housing 7. Similarly to the storage shelf 2, addresses are assigned to the placement positions of the storage items 9 in the port 3. That is, addresses 30 and 31 are assigned in order from the left side in FIG. 1 along the longitudinal direction of the housing 7, and addresses a and b are assigned in order from the upper side in FIG.

  In the present embodiment, the stored item 9 delivered from the stocker 1 is placed at the addresses 30-a and 31-a of the port 3, and the stored item 9 received into the stocker 1 is stored at the port 3. They are placed at addresses 30-b and 31-b. Further, the stored item 9 placed on the port 3 is loaded in a state where the vicinity of both ends in the short direction of the casing 7 on the lower surface 9a is supported, similarly to the stored item 9 placed on the storage shelf 2. Is placed.

  Between the storage shelves 2 arranged on both sides of the housing 7 in the short direction, a traveling rail upper 6 extending in the longitudinal direction of the housing 7 is laid, and the stacker device 4 travels on the traveling rail 6. A traveling carriage 42 is provided. As a result, the stacker device 4 can travel while facing the storage shelf 2 along the longitudinal direction of the housing 7. That is, between the storage shelves 2 arranged on both sides of the casing 7 in the short direction is a travel path of the stacker device 4. An elevating column 45 that supports an elevating platform 44 that elevates by driving of the elevating mechanism 43 is erected on the traveling carriage 42. Further, a hand 47 for lifting and transporting the stored item 9 is provided on the lifting platform 44 via a link mechanism 46.

  As shown in FIG. 4, the link mechanism 46 is fixed to the upper surface of the lifting platform 44, and is attached to the upper surface of the fixed arm 46a so as to be rotatable in a horizontal plane around one end thereof. The first rotation arm 46b and the second rotation arm 46c attached to the other end of the first rotation arm 46b so as to be rotatable in the horizontal plane around the one end. A hand 47 is attached to the other end of the second rotating arm 46c so as to be rotatable in the horizontal plane around one end. The link mechanism 46 enables the hand 47 to move along the horizontal direction. In the present embodiment, the link mechanism 46 advances and retracts the hand 47 along the longitudinal direction or the short direction of the housing 7 under the control of a link control unit 54 (see FIG. 1) described later, and a fixed arm. The first rotation arm 46b attached to the upper surface of 46a is rotated around one end.

  As described above, the hand 47 has a rectangular contact surface facing upward, which supports an unsupported portion on the lower surface of the stored item 9 placed on the storage shelf 2 or the port 3 so that both ends thereof are supported. This is a plate-like member having 47a. The length along the longitudinal direction of the contact surface 47a is equal to or longer than the length across the two placement areas corresponding to the addresses A and B of the storage shelf 2, or the addresses C and D, or the addresses 30 and 31 of the port 3, respectively. It is. When the hand 47 transfers the stored item 9 to the storage shelf 2 by the link mechanism 46, the hand 47 is in a state where the longitudinal direction of the contact surface 47 a matches the short direction of the casing 7. Advancing and retreating along the short direction of 7. Further, when the stored item is delivered to the port 3, the abutting surface 47 a moves forward and backward along the longitudinal direction of the housing 7 in a state where the longitudinal direction of the contact surface 47 a coincides with the longitudinal direction of the housing 7. ing.

  The stacker device 4 is controlled by the controller 5 shown in FIG. The controller 5 has an address (a combination of T to Z, 10 to 22, and A to D) for specifying the placement position on the storage shelf 2 and an address (30, 31 and a combination of a and b) and the address storage in which the position of each address (the vertical position, the position along the longitudinal direction of the housing 7, and the position along the short direction of the housing 7) is stored. A portion 51 is provided. Further, the controller 5 includes a travel control unit 52 that controls driving of the traveling carriage 42, an elevation control unit 53 that controls driving of the lifting mechanism 43, and a link control unit 54 that controls driving of the link mechanism 46. ing. The travel control unit 52, the elevation control unit 53, and the link control unit 54 perform control based on the position information of each address stored in the address storage unit 51.

  In addition, as shown in FIG. 1, the length along the transversal direction of the housing | casing 7 of the storage shelf 2 is 740 mm. The storage shelves 2 are arranged on both sides of the travel path of the stacker device 4 with an interval of 870 mm with respect to the short direction of the housing 7. That is, the width of the stocker 1 (the length along the short direction of the casing 7) is 2350 mm. Here, the stocker 1 of the present embodiment has a width of 2350 mm, and can store four stored items 9 along the width direction at the same height level. That is, the width required for each stored item 9 is 587.5 mm.

  Next, a procedure for transferring the stored items 9 placed on the storage shelf 2 to the port 3 will be described. In the present embodiment, when the stacker device 4 is not performing the transfer operation, the traveling carriage 42 is on the side opposite to the port 3 side of the traveling rail 6 (the right side in FIGS. 1 and 2). Suppose that it is located in the initial position which is an edge. At this time, the hand 47 is retracted so as to be positioned in the travel path of the stacker device 4.

  First, referring to the flowchart shown in FIG. 5, when there is no other stored item 9 on the stacker device 4 side (front side) with respect to the direction orthogonal to the extending direction of the storage shelf 2 relative to the transferred item 9 to be transferred. As an example of the transfer procedure, a case will be described in which the blackened storage item 9 (address: V-14-C) shown in FIG. 1 is transferred. In addition, when there is no other stored item 9 in front of the transferred item 9 to be transferred, the stored item 9 located at the address B or the address C is transferred as in the case of the stored item 9 painted in black. In addition to the case where the stored item 9 is located at the address A or the address D and the other item 9 is not present at the address B or the address C, and the addresses A, B, Alternatively, there are cases where two stored items 9 located at addresses C and D are to be transferred.

  First, under the control of the traveling control unit 52, the traveling carriage 42 is caused to travel from the initial position to a predetermined position near the address 14 (S1). Subsequently, the elevator 44 is moved up and down to a predetermined position under the control of the elevator controller 53. More specifically, as shown in FIG. 6A, the contact surface 47a of the hand 47 is adjusted to a position slightly lower than the height position of the address V. Then, under the control of the link control unit 54, the hand 47 is advanced to a position where the contact surface 47a of the hand 47 faces the lower surface 9a of the stored item 9 to be transferred, as shown in FIG. 6B. . At this time, the abutting surface 47a of the hand is stored in the stored item 9 (the stored item 9 located at the address V-14-D) on the back side of the transferred item 9 with respect to the advancing and retreating direction of the hand 47. ) Is not opposed to the lower surface 9a. Further, under the control of the lifting control unit 53, the lifting platform 44 is raised to a position where the stored item 9 to be transferred is lifted. More specifically, as shown in FIG. 6C, the contact surface 47a of the hand 47 is adjusted to a position slightly above the height position of the address V. Thereafter, the hand 47 is retracted and retracted into the travel path under the control of the link control unit 54. In this manner, the stored item 9 to be transferred is received by the hand 47 (S2: target receiving step).

  Next, the hand 47 is rotated by 90 ° so that the tip of the hand 47 faces the port 3, and the lifting platform 44 is moved up and down under the control of the lifting control unit 53. More specifically, the contact surface 47 a of the hand 47 is adjusted to a position slightly above the height of the port 3. Thereafter, the traveling carriage 42 is caused to travel to the vicinity of the port 3 under the control of the traveling control unit 52. In this way, the storage object 9 to be transferred is transported from the storage shelf 2 to the port 3 (S3: target transporting process). Subsequently, as shown in FIG. 7A, the link 47 is controlled by the control of the link control unit 54 so that the stored item 9 to be transferred overlaps with the address 30-a of the port 3 in the vertical direction. After the advancement, the elevator 44 is lowered by the control of the elevator controller 53 until the stored item 9 to be transferred is placed on the port 3 as shown in FIG. That is, the contact surface 47 a of the hand 47 is lowered to a position slightly below the height of the port 3. Under the control of the link control unit 54, the hand 47 is retracted and retracted into the travel path. In this way, the transferred item 9 is transferred to the port 3 (S4: target delivery process). When another stored item 9 is placed at the address 30-a of the port 3, the stored item 9 to be transferred is placed at the address 31-a.

  Next, referring to the flowchart shown in FIG. 8, there is another stored item 9 on the stacker device 4 side (front side) with respect to the direction orthogonal to the extending direction of the storage shelf 2 with respect to the transferred item 9 to be transferred. As an example of the transfer procedure in the case where the stored item 9 located at the address A or the address D is a transfer target and another stored item 9 exists at the address B or the address C, the network shown in FIG. The case of transferring the stored item 9 (address: V-19-A) will be described.

  First, similarly to the above-described procedure, the traveling carriage 42 is caused to travel from the initial position to a predetermined position near the address 19 (S11). Then, as shown in FIG. 9A, after the hand 47 is adjusted to a predetermined height position, as shown in FIG. 9B, the contact surface 47a of the hand 47 is a storage object to be transferred. The hand 47 is moved forward to a position facing the lower surface 9 a of 9. Further, as shown in FIG. 9C, the hand 47 is raised to a position where the stored item 9 to be transferred is lifted. At this time, the other stored items 9 in the vertical stripe pattern located at the address V-19-B are also lifted together with the stored items 9 to be transferred. Thereafter, the hand 47 is retracted and retracted into the travel path. In this way, the two stored items 9 are received by the hand 47 (S12: both receiving step).

  Thereafter, the hand 47 is rotated by 90 ° so that the tip of the hand 47 faces the port 3 side, and the contact surface 47a of the hand 47 is adjusted to a position slightly above the height of the port 3, and then the traveling carriage 42 is driven to the vicinity of port 3. In this way, the two stored items 9 are transported from the storage shelf 2 to the port 3 (S13: Both transporting step).

  Subsequently, as shown in FIG. 10A, the hand 47 is moved forward to a position where the stored item 9 to be transferred overlaps with the address 30-a of the port 3 in the vertical direction. At this time, the other stored item 9 supported by the hand 47 overlaps the address 31-a in the vertical direction. Thereafter, as shown in FIG. 10B, the hand 47 is lowered until the two stored items 9 supported by the hand 47 are placed on the port 3. At this time, the storage object 9 to be transferred is placed at the address 30-a, and the other storage article 9 is placed at the address 31-a (S14: both placement process). Next, as shown in FIG. 10C, the hand 47 is retracted to a position that does not face the stored item 9 to be transferred and faces the other stored item 9. Further, as shown in FIG. 10 (d), the hand 47 is raised to a position where another stored item 9 is lifted. As a result, as shown in FIG. 10A, the other storage items 9 supported on the front side in the advancing / retreating direction of the hand 47 on the contact surface 47a are not (S15: change process). Thereafter, the hand 47 is retracted and retracted into the travel path. In this way, of the two stored items 9 received by the hand 47 in the both-side receiving process, only the stored item 9 to be transferred is placed on the port 3 (one delivery step).

  Further, after the traveling carriage 42 travels to a predetermined position in the vicinity of the address 19 with the hand 47 supporting another stored item 9, the tip of the hand 47 faces the upper storage shelf 2 side in FIG. As shown in FIG. 11A, the hand 47 is rotated 90 degrees so that the contact surface 47a of the hand 47 is adjusted to a position slightly above the height of the address V (S16: other transporting step). ). Then, as shown in FIG. 11 (b), the hand 47 is advanced to a position where the other stored item 9 that is supported overlaps with the address V-19-B of the storage shelf 2 in the vertical direction. Subsequently, as shown in FIG. 11C, the hand 47 is lowered until the stored item 9 supported by the hand 47 is placed on the storage shelf 2. Then, the hand 47 is retracted and retracted into the travel path. In this way, the other stored item 9 is returned to the original position (address V-19-B) of the storage shelf 2 (S17: other return step).

  When the stored item 9 placed on the port 3 is transferred to the storage shelf 2, the storage shelf 2 and the port 3 are exchanged in the operation when transferring from the storage shelf 2 to the port 3. The operation may be performed.

  As described above, in the present embodiment, two placement areas in which the stored items 9 are placed on the storage shelf 2 along the advancing / retreating direction of the hand 47 are provided. Therefore, the storage capacity of the stocker 1 can be increased as compared with the case where only one placement area is provided along the forward / backward direction of the hand 47. Further, the length of the abutment surface 47a that abuts the lower surface 9a of the stored item 9 along the advance / retreat direction of the hand 47 is the length across the two placement areas provided along the advance / retreat direction of the hand 47 in the storage shelf 2. That's it. Then, both the state in which the hand 47 moves forward to a position where the contact surface 47a overlaps with the placement area located on the stacker device 4 side in the vertical direction out of the two placement areas, and the two placement areas. And a state of moving forward to a position overlapping in the vertical direction. As a result, the hand 47 can deliver the stored item 9 to the two placement areas.

  Further, in the present embodiment, in the storage shelf 2 and the port 3, the stored item 9 is placed in a state where both ends of the lower surface 9 a in the direction orthogonal to the advancing / retreating direction of the hand 47 are supported. Therefore, the hand 47 can lift up the stored item 9 while supporting the unsupported portion of the lower surface 9a of the stored item 9 placed on the abutment surface 47a.

  In addition, in the present embodiment, the storage shelves 2 are provided on both sides of the travel path of the stacker device 4. Therefore, the storage capacity of the stocker 1 can be further enhanced as compared with the case where the storage shelf 2 is provided only on one side of the travel path of the stacker device 4.

  Further, in the present embodiment, when the stored item 9 placed on the back side of the storage shelf 2 is transferred, the stored item 9 to be transferred is first positioned on the near side of the stored item 9. The two stored items 9 of the other stored items 9 are received by the hand 47 (both receiving step), then the two stored items 9 are transported to the vicinity of the port 3 (both conveying steps), and then the two stored items 9 are received. Among them, only the stored item 9 to be transferred is transferred to the port 3 (one-handed delivery process), and another stored item 9 is moved to the vicinity of the original position on the storage shelf 2 where the stored item 9 was placed. It is transported (the other transporting process), and finally the other stored item 9 is returned to the original position of the storage shelf 2 (the other returning process). Therefore, in the stocker 1 having a high storage capacity capable of placing two stored items 9 along the advancing and retracting direction of the hand 47 on the storage shelf 2, the hand 47 has a higher capacity than the stored items 9 to be transferred on the storage shelf 2. Even when another stored item 9 exists on the front side 4 in the forward / backward direction, only the stored item 9 to be transferred can be transferred to the port 3.

  In the present embodiment, in the one-way delivery process, the hand 47 is moved forward to a position where the two stored items 9 supported by the hand 47 overlap the port 3 in the vertical direction, and then the hand 47 is lowered to 2 The both-placement process of placing one stored item 9 on the port 3 and the hand 47 after retracting the hand 47 to a position facing the other stored item 9 without facing the stored item 9 to be transferred, The holding process of raising 47 and lifting another stored item 9 is performed. Thereby, in the one delivery process, only the stored item 9 to be transferred can be placed on the port 3.

  The preferred embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiment, and various design changes can be made as long as they are described in the claims. Is something.

  In the above-described embodiment, the case where the port 3 is provided at one end of the traveling path of the stacker device 4 extending along the extending direction of the storage shelf 2 has been described. However, the installation position of the port 3 is not limited thereto. . For example, the port 3 may be provided at a position overlapping the storage shelf 2 in the vertical direction. In this case, the object transporting process or the both transporting process when the stored article 9 placed in a position overlapping the port 3 in the storage shelf 2 in the vertical direction is transferred to the port 3 is only controlled by the lifting control unit 53. Done in

  Moreover, although the above-mentioned embodiment demonstrated the case where the contact surface 47a of the hand 47 contact | abuts the lower surface 9a of the stored thing 9, it is not limited to this. The surface that contacts the contact surface 47 a of the hand 47 of the stored item 9 may be a surface facing downward. For example, protrusions are provided on both side surfaces of the stored item 9, and the lower surface of the protrusion is the hand 47. It may come into contact with the contact surface 47a.

  In the above-described embodiment, the case where the storage shelves 2 are provided on both sides of the stacker device 4 has been described. However, the storage shelf 2 may be provided only on one side of the stacker device 4. .

  Furthermore, although the above-mentioned embodiment demonstrated the case where another stored thing 9 was returned to the original position (address V-19-B) of the storage shelf 2 in a return process, it is not restricted to this. For example, another stored item 9 may be returned to the back side (address V-19-A) of the storage shelf 2.

  In addition, in the above-described embodiment, in the one-side delivery process, the both-placement process of placing the two stored items 2 on the port 3 and the transfer for lifting the other stored item 9 once placed on the port 3 again. Although the case where a process is performed was demonstrated, it is not limited to this. For example, in the one-handed delivery process, out of the two stored items 9 transported in the two-side transporting process, after the hand 47 is advanced to a position where only the stored items 9 to be transferred overlap the port 3 in the vertical direction, the storage is performed. By lowering the hand 47 until the object 9 is placed on the port 3, only the stored article 9 to be transferred is placed on the port 3 without placing another stored article 9 on the port 3. You may make it do.

(Comparative example)
Here, a comparative example of the present embodiment will be described with reference to FIG. The configuration of the stocker 101 according to the comparative example is mainly different from the configuration of the stocker 1 according to the embodiment of the present invention, in the stocker 1 according to the present embodiment, in the storage shelf 2 along the advancing / retreating direction of the hand 47. Two placement areas are provided on which the stored items 9 are placed. In the stocker 101 of the comparative example, the placement regions on which the stored items 9 are placed on the storage shelf 102 along the advancing / retreating direction of the hand 147. Is that only one is provided. About another structure, it is as substantially the same as this Embodiment.

  As shown in FIG. 12, in this comparative example, the length along the short direction of the casing 107 of the storage shelf 102 is 440 mm. The storage shelves 102 are arranged on both sides of the travel path of the stacker device 104 with an interval of 570 mm with respect to the short side direction of the housing 107. That is, the width of the stocker 101 (the length along the short direction of the casing 107) is 1450 mm. Here, the stocker 101 of this comparative example has a width of 1450 mm, and can store two stored items 9 along the width direction at the same height level. That is, the width required for each stored item 9 is 725 mm.

  Here, as described above, in the stocker 1 of the present embodiment, the width required for each stored item 9 is 587.5 mm. That is, in the stocker 1 of the present embodiment, the width required for each stored item 9 is reduced by about 20% compared to the stocker 101 of the comparative example.

It is a horizontal sectional view of a stocker concerning an embodiment of the invention. It is sectional drawing which follows the II-II line of FIG. It is sectional drawing which follows the III-III line of FIG. It is the elements on larger scale of FIG. It is a flowchart which shows the procedure at the time of transferring the stored goods mounted in the near side of the storage shelf by the stacker apparatus shown in FIG. It is a figure which shows a mode when the stacker apparatus shown in FIG. 1 performs an object reception process. It is a figure which shows a mode when the stacker apparatus shown in FIG. 1 performs an object delivery process. It is a flowchart which shows the procedure at the time of transferring the stored goods mounted in the back | inner side of the storage shelf by the stacker apparatus shown in FIG. It is a figure which shows a mode when the stacker apparatus shown in FIG. 1 performs a both reception process. It is a figure which shows a mode when the stacker apparatus shown in FIG. 1 performs a one delivery process. It is a figure which shows a mode when the stacker apparatus shown in FIG. 1 performs the other return process. It is a horizontal sectional view of the stocker concerning a comparative example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Stocker 2 Storage shelf 3 Port 4 Stacker device 9 Stored item 9a Bottom surface (contacted surface)
42 Traveling cart (movement mechanism)
43 Lifting mechanism 46 Link mechanism (advance / retreat mechanism)
47 Hand 47a Abutting surface 52 Traveling control unit (movement control means)
53 Elevation control unit (elevation control means)
54 Link control unit (advance / retreat control means)

Claims (5)

A storage shelf that is extended along one direction and on which stored items being stored are placed, a port on which the stored items to be loaded and unloaded are placed, and the stored items between the storage shelf and the port A stocker equipped with a stacker device for transferring
The stacker device includes a hand having an upward contact surface that supports a contact surface facing downward of the stored item, an advance / retreat mechanism for moving the hand in a horizontal direction, and an advance / retreat control for controlling the advance / retreat mechanism. A lifting mechanism for lifting and lowering the hand, a lifting control means for controlling the lifting mechanism, a moving mechanism for moving the hand along the one direction, and a movement control means for controlling the moving mechanism, After the hand is advanced to a position where the abutted surface and the abutting surface of the stored article placed under the control of the advance / retreat control unit overlap in the vertical direction, the storage is performed under the control of the elevation control unit. The stored item is lifted by raising the hand to a position where the item is lifted, and is applied by control of at least one of the elevation control unit and the movement control unit. Is intended to transport the storage products to the vicinity of the portion to be transferred,
In the storage shelf, a first placement area and a second placement area on which the stored items are respectively placed are formed in order from the stacker device side along the advancing / retreating direction of the hand,
The hand is in a state in which the length of the abutting surface in the advance / retreat direction is equal to or longer than the length straddling the first and second placement areas and moves forward to a position overlapping the first placement area in the vertical direction. And a state of being advanced to a position overlapping with the first and second placement areas in the vertical direction. In the storage shelf and the port, the stored item is placed in a state where both ends of the lower surface of the storage shelf with respect to the direction orthogonal to the advance / retreat direction are supported.
The stocker according to claim 1, wherein a lower surface of the stored item is the contacted surface.   The stocker according to claim 1, comprising two storage shelves arranged on both sides of the stacker device. A control method of a stacker device in a stocker according to any one of claims 1 to 3,
In the storage shelf, when there is no other stored item on the stacker device side with respect to the forward / backward direction than the stored item to be transferred from the storage shelf to the port,
An object receiving step for allowing the hand to receive only the stored items to be transferred;
An object transporting process for transporting the stored items received in the object receiving process to the vicinity of the port;
A target delivery step of placing the stored items transported in the target transport step on the port;
If the other stored item exists,
A both-reception step for causing the hand to receive two stored items of the stored item to be transferred and the other stored item;
A double carrying step of carrying the two stored items received in the double receiving step to the vicinity of the port;
Of the two stored items transported in the both-side transporting step, the one handing step of placing the stored items to be transferred on the port,
The other transporting step of transporting the other stored items that have not been placed on the port in the one delivery step to the vicinity of the storage shelf,
A control method for a stacker device, comprising: the other returning step of returning the other stored item transported in the other transporting step to the storage shelf. The length along the forward / backward direction of the port is a length on which a plurality of the stored items are placed,
The one-side delivery process is
After the hand is advanced to a position where the two stored items supported by the hand vertically overlap the port, the hand is lowered so that the two stored items are placed on the port. Thus, a both-side mounting step of mounting the two stored items on the port,
Of the two stored items placed on the port in the both-side placing step, the hand is not opposed to the stored item to be transferred and to the position facing the other stored item. The stacker according to claim 4, further comprising: a repositioning step of lifting the other stored item by moving the hand up to a position where the other stored item is lifted after retreating. Control method of the device.

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