JP2009190805A - Automated storage and retrieval warehouse, and cargo conveying method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automated storage and retrieval warehouse capable of reducing the vertical distance of a storage space of a storage shelf without adding any mechanical structure. <P>SOLUTION: The automated storage and retrieval warehouse comprises a storage shelf 2 for storing a cargo M, and a stacker crane 10 having a fork 20 supporting the cargo M and extending in a direction toward the storage shelf 2, and an elevating/lowering device 30 for moving the fork 20 in the height direction of the storage shelf 2, and further comprises a control device for driving the elevating/lowering device 30 based on the deflection of the fork 20 which is generated by the extension of the fork 20 with respect to the storage shelf 2. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to an automatic warehouse including a storage shelf and a crane that delivers and receives the load to and from the storage shelf, and a load transportation method of the automatic warehouse.

  In an automatic warehouse, the storage shelf has a plurality of storage spaces that are partitioned in the vertical and horizontal directions, and the crane moves the load to a position facing these storage spaces, and moves forks, arms, etc. A configuration in which a load is transferred to and from a storage shelf using a mounting device is common.

  The transfer device having such a configuration supports the load, extends toward the storage shelf, and delivers the load, so that bending occurs due to the weight of the load and the weight of the device itself. Then, before the extension and after the extension, a deviation occurs in the height direction between the load and the storage shelf in the height direction. Therefore, conventionally, the distance between the upper and lower sides of the storage space of the storage shelf is designed in consideration of not only the size of the load but also the amount of the deflection in order to prevent the load from colliding with the storage shelf due to the deviation due to the deflection. It was. That is, as a result, the storage shelf becomes large, and there is a problem that it is difficult to save space in the automatic warehouse.

As a method for correcting such a bend, for example, as described in Patent Document 1 and Patent Document 2, a method for correcting the bend using a structure in which a fork or an arm is inclined in advance is known.
Japanese Patent Laid-Open No. 5-178411 Japanese Patent No. 2932896

  However, in order to introduce the above-described method into existing equipment, there is a problem that the structure is added to the crane and the cost is increased. In addition, since the structure is mechanically tilted, there is a problem that, for example, when the type of load to be handled is changed, it is necessary to appropriately adjust the amount of deflection due to the weight of the load and the amount of tilt.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide an automatic warehouse capable of reducing the distance between the upper and lower storage spaces of a storage shelf without adding a mechanical structure. To do.

In order to solve the above-described problems, the present invention provides a storage shelf for storing a load, a transfer device that supports the load and extends in a direction toward the storage shelf, and a transfer device having a height of the storage shelf. An automatic warehouse comprising a crane having an elevating device that moves in a vertical direction, wherein the elevating device is driven based on a deflection amount of the transfer device generated by the transfer device extending with respect to the storage shelf. A configuration is adopted in which a control device is provided.
By adopting such a configuration, in the present invention, the lifting device is driven so as to cancel the amount of bending that occurs when the transfer device is extended, thereby reducing the displacement in the height direction of the load with respect to the storage shelf. Can be made.

In the present invention, the control device employs a configuration in which the lifting device is driven so as to cancel the change in the relative position of the load and the storage shelf in the height direction based on the amount of deflection. .
By adopting such a configuration, in the present invention, the relative position in the height direction of the load with respect to the storage shelf can always be made constant while the transfer device extends.

In the present invention, the control device drives the lifting device so that the position of the transfer device in the height direction rises while the crane stores the load in the storage shelf. Is adopted.
By adopting such a configuration, in the present invention, when a load is stored, the amount of bending of the transfer device gradually increases, and thus the amount of bending can be offset by increasing the amount.

In the present invention, the control device drives the lifting device so that the position of the transfer device in the height direction is lowered while the crane takes out the load from the storage shelf. Is adopted.
By adopting such a configuration, in the present invention, when the load is taken out, the amount of bending of the transfer device is gradually reduced, so that the bending can be offset by lowering the amount.

In the present invention, there is provided a detection device that detects the weight of the load, and the control device employs a configuration in which the lifting device is driven based on a detection result of the detection device.
By adopting such a configuration, in the present invention, by estimating the amount of deflection of the transfer device based on the weight of the load, even if the type of the load changes, the setting of the control device is performed each time. It is possible to suppress a decrease in work efficiency of changing.

In the present invention, the storage shelf for storing the load, the transfer device that supports the load and extends in the direction toward the storage shelf, and the lifting device that moves the transfer device in the height direction of the storage shelf. A load carrying method of an automatic warehouse comprising a crane having a crane, wherein the lifting device is based on a deflection amount of the transfer device generated by extending the transfer device with respect to the storage shelf while extending the transfer device. The configuration of driving is adopted.
By adopting such a configuration, in the present invention, the lifting device is driven so as to cancel the amount of bending that occurs when the transfer device is extended, thereby reducing the displacement in the height direction of the load with respect to the storage shelf. Can be made.

According to the present invention, a storage shelf that stores a load, a transfer device that supports the load and extends in a direction toward the storage shelf, and a lifting device that moves the transfer device in the height direction of the storage shelf. And a control device that drives the lifting device based on the amount of deflection of the transfer device generated by the transfer device extending with respect to the storage shelf. By adopting, it is possible to reduce the displacement in the height direction of the load with respect to the storage shelf by driving the elevating device so as to cancel the amount of bending that occurs when the transfer device is extended.
Therefore, the present invention has an effect of providing an automatic warehouse capable of reducing the distance between the upper and lower storage spaces of the storage shelf without adding a mechanical structure.

Further, according to the present invention, the storage shelf for storing the load, the transfer device that supports the load and extends in the direction toward the storage shelf, and the transfer device is moved in the height direction of the storage shelf. An automatic warehouse load transport method comprising a crane having a lifting device, wherein the transfer device is extended with respect to the storage shelf while the transfer device is bent based on the amount of deflection of the transfer device. By adopting a configuration in which the lifting device is driven, the lifting device is driven so as to cancel the amount of bending that occurs when the transfer device is extended, thereby reducing the displacement in the height direction of the load with respect to the storage shelf. be able to.
Therefore, the present invention has an effect that it is possible to provide a load transport method for an automatic warehouse that can reduce the distance between the upper and lower sides of the storage space of the storage shelf without adding a mechanical structure.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing an automatic warehouse 1 in an embodiment of the present invention.
The automatic warehouse 1 includes a storage shelf 2 that stores the load M, a stacker crane (crane) 10 that delivers the load M between the storage shelves 2, and a ground control device 40 that controls the operation of the automatic warehouse 1. ing. Rails 3 are laid in a straight line on the floor of the automatic warehouse 1, and the stacker crane 10 is configured to travel along the rails 3 by driving a travel motor (not shown). Also, at one end of the rail 3, a supply unit 5 that supplies the load M to the stacker crane 10 and a carry-out unit 6 that receives the load M from the stacker crane 10 are provided so as to face each other.

  The storage shelf 2 is provided along the rail 3 and has a configuration in which storage units 4 that store the load M are provided in multiple stages in the vertical direction and in a plurality in the horizontal direction. Each storage unit 4 has an opening 4a that opens in a substantially rectangular shape in the horizontal direction toward the rail 3, and has a region for storing the load M that has passed through the opening 4a.

  The stacker crane 10 includes a fork 20 that supports the load M and extends in a direction toward the storage shelf 2, an elevating device 30 that moves the fork 20 in the height direction of the storage shelf 2, and an on-board machine that controls the driving thereof. The control device 50 is included.

The elevating device 30 is disposed so as to be able to move up and down along the mast 31 and a pair of masts 31 erected on the base 11 that is straddled over the rail 3 and can travel along the rail 3. The lift carriage 32 is configured.
The pair of masts 31 are column members that are separated by a predetermined distance in the traveling direction and extend in the height direction in parallel to each other. The lifting carriage 32 is provided between the pair of masts 31 and is configured to move up and down along the mast 31 by driving a lifting motor (not shown).

  The fork 20 is integrally provided on the elevating carriage 32, supports the load M from below, and extends in a substantially horizontal direction from above the elevating carriage 32 to the back of the storage unit 4 by a fork motor (not shown). It has a possible configuration.

Next, the control apparatus of the automatic warehouse 1 having the above configuration will be described with reference to FIG.
FIG. 2 is a block diagram illustrating a configuration of the control device 100 of the automatic warehouse 1.
The control device 100 includes an on-board control device 50 provided on the stacker crane 10. The on-board control unit 50 includes a location instruction receiving unit 51 that receives an operation instruction of the stacker crane 10, and a stacker crane. 10, a control unit 52 that controls the operation of 10, a flexure amount calculation unit 53 that gradually calculates the flexure amount of the fork 20 when the fork 20 extends in accordance with an operation instruction, and a flexure amount calculation unit 53 calculate the flexure amount. A deflection amount data storage unit 54 in which deflection amount calculation data to be referred to is stored in advance.

The control device 100 also includes a fork drive unit 61 that extends and drives the fork 20, a fork motor 62 that generates a driving force of the fork 20, a travel drive unit 71 that travels the base 11, and a travel drive of the base 11. A traveling motor 72 that generates a force, a lifting drive unit 81 that drives the lifting device 30, and a lifting motor 82 that generates a driving force for the lifting device 30 are provided.
These three motors (fork motor 62, travel motor 72, lift motor 82) are rotational speeds instructed by three drive units (fork drive unit 61, travel drive unit 71, lift drive unit 81). The rotation amount is detected and transmitted to the control unit 52 via each drive unit.

  Furthermore, the control device 100 performs on-board an inventory management system 90 that performs inventory management processing in the automatic warehouse 1 and a location instruction for taking in and out the load M in the automatic warehouse 1 in accordance with an instruction from the inventory management system 90. And a ground control device 40 that transmits to the location instruction receiving unit 51 of the control device 50.

Here, the location instruction means that the stacker crane 10 shown in FIG. 1 receives the load M from the supply unit 5, moves to the storage unit 4 instructed by traveling and lifting operation, and stores instructed by the forking operation. A series of warehousing operation instructions for placing the load M on the unit 4 and the tacker crane 10 move to the storage unit 4 instructed by running and lifting operation, and the load M is transferred from the storage unit 4 instructed by the forking operation. Is a series of unloading operation instructions to take out and place on the unloading unit 6.
Further, the instruction of the storage unit 4 in the location instruction identifies the position of the storage shelf 2 in the traveling direction of the stacker crane 10 as “address”, and identifies the position of the storage shelf 2 in the elevation direction as “stage”. Further, each storage shelf 2 provided with the rail 3 interposed therebetween is identified as a “row”. For example, by specifying “1 row, 3rd address, 4th row”, a predetermined storage portion 4 is specified. Can be uniquely identified.

Next, the operation of the automatic warehouse 1 having the above configuration and the operation of storing and taking out the load M will be described with reference to FIGS.
FIG. 3 is a flowchart showing the operation of the onboard control device 50 when the load M is stored.
FIG. 4 is a diagram illustrating an operation in which the stacker crane 10 stores the load M in the storage shelf 2.
FIG. 5 is a flowchart showing the operation of the onboard control device 50 when the load M is taken out.
FIG. 6 is a diagram illustrating an operation in which the stacker crane 10 takes out the load M from the storage shelf 2.

  First, the ground control device 40 of the automatic warehouse 1 transmits a location instruction to the location instruction receiving unit 51 in accordance with an instruction from the inventory management system 90, as shown in FIG. The location instruction receiving unit 51 that has received the location instruction notifies the control unit 52 of the received location instruction. The location instruction includes location information for specifying the position of the storage unit 4 that stores the load M (for example, “1st row, 3rd address, 4th row”, etc.) and warehousing information for specifying warehousing or delivery. included.

  Upon receiving the location instruction, the control unit 52 determines whether it is a warehousing or leaving instruction. For example, if it is a warehousing instruction, after loading the cargo M on the stacker crane 10 by the supply unit 5 shown in FIG. Based on the location information, the drive information is notified to the travel drive unit 71 and the lift drive unit 81. The driving unit 71 that has received the driving information drives the driving motor 72 based on the information to move the base 11 to a predetermined address position on the storage shelf 2. Further, the lift drive unit 81 that has received the drive information drives the lift motor 82 based on the information to move the lift carriage 32 to a predetermined stage position of the storage shelf 2. By these driving operations, the load M is positioned at a position facing the specific storage portion 4 as shown in FIG.

  After positioning the load M, the control unit 52 notifies the fork drive unit 61 of drive information in order to store the load M in the storage unit 4 (step S1). The fork drive unit 61 that has received the drive information drives the fork motor 62 based on the information to extend the fork 20 substantially horizontally with respect to the storage unit 4. Note that as the fork 20 extends, the fork 20 is bent due to the weight of the load M and its own weight.

Simultaneously with the start of extension of the fork 20, the fork motor 62 detects the amount of rotation of the fork 20 and outputs the detection results to the control unit 52 gradually. The control unit 52 that has received the rotation amount detection result outputs the detection result to the deflection amount calculation unit 53. The deflection amount calculation unit 53 calculates the extension amount of the fork 20 from the input rotation amount (step S2) and, based on the data stored in the deflection amount data storage unit 54, the fork 20 of the extension amount. The amount of deflection is calculated (step S3) and output to the control unit 52.
The data stored in the deflection amount data storage unit 54 is based on data obtained by gradually storing the change in the deflection amount when the load M is loaded and the fork 20 is extended by an experiment in advance. Corresponding table data between the created extension amount and the deflection amount of the fork 20 may be used, and calculation formula data for calculating the deflection amount based on the extension amount when the load M of the fork 20 is loaded and extended. It may be. Further, the position for calculating the deflection amount may be the tip of the fork 20 or the position of the center of gravity G of the load M. In this embodiment, the amount of deflection at the position of the center of gravity G of the load M is calculated.

Here, the control unit 52 drives the lifting device 30 so as to cancel the calculated amount of bending (step S4). Specifically, the control unit 52 notifies the elevating drive unit 81 of drive information for rotating the elevating motor 82 that only raises the elevating carriage 32 by the amount of bending.
In this way, while the fork 20 is extended, the amount of bending that gradually increases as the fork 20 extends is calculated, and the lifting carriage 32 is gradually raised by the amount of bending, so that the height of the load M with respect to the storage unit 2 is increased. The storage operation is performed by correcting the deviation in the vertical direction. Such an operation is repeated until the fork 20 moves the load M to a predetermined position in the storage unit 4 (step S5), so that the height of the load M with respect to the storage unit 4 is always maintained while the fork 20 extends. The relative position in the direction can be made constant (see FIG. 4B). More specifically, the change in the height direction position of the center of gravity G of the load M can be offset before and after the extension. Note that the load M slightly tilts due to the bending of the fork 20, but the change in the dimension of the load M in the height direction due to the tilt is very small compared to the bending of the fork 20.

  And after loading the load M in the storage part 4, the fork 20 is returned on the raising / lowering carriage 32, and a series of warehousing operation | movement is complete | finished.

  On the other hand, when the location instruction is an exit instruction, the control unit 52 notifies the travel drive unit 71 and the lift drive unit 81 of the drive information based on the location information in order to take out the load M from the specific storage unit 4. . The driving unit 71 that has received the driving information drives the driving motor 72 based on the information to move the base 11 to a predetermined address position on the storage shelf 2. Further, the lift drive unit 81 that has received the drive information drives the lift motor 82 based on the information to move the lift carriage 32 to a predetermined stage position of the storage shelf 2. By these driving operations, the fork 20 is positioned at a position facing the specific storage portion 4 that stores the load M. The fork 20 passes under the load M in the storage unit 4 and extends to a predetermined position, and then is lifted by the lifting device 30 to lift the load M as shown in FIG. It will be in the state of

  At this time, the fork motor 62 detects the amount of rotation of the fork motor 62 due to the extension, and outputs the detection result to the control unit 52. The control unit 52 outputs the detection result to the deflection amount calculation unit 53, and based on the deflection amount of the fork 20 in the state of FIG. 6A, the load M take-out operation described below (see FIG. 5). Will be.

  When the fork 20 contracts from the extended state, the amount of flexure gradually decreases, and the load M rises relative to the storage portion 4 before and after taking out. Therefore, the control unit 52 drives the elevating device 30 so as to cancel out only the bending amount reduced from the bending amount of the fork 20 in the state of FIG.

  Specifically, first, the control unit 52 notifies the fork drive unit 61 of contraction drive information in order to take out the load M (step S6). Simultaneously with the start of contraction of the fork 20, the fork motor 62 detects the amount of rotation of the fork 20 and outputs the detection result to the control unit 52 gradually. The control unit 52 that has received the rotation amount detection result outputs the detection result to the deflection amount calculation unit 53. The deflection amount calculation unit 53 calculates the extension amount of the fork 20 from the input rotation amount (step S2) and, based on the data stored in the deflection amount data storage unit 54, the fork 20 of the extension amount. A deflection amount is calculated (step S3). Then, the bending amount calculation unit 53 calculates a difference between the bending amount of the fork 20 in the state of FIG. 6A and the current bending amount (step S7), and outputs the difference to the control unit 52.

Here, the control part 52 drives the raising / lowering apparatus 30 so that the amount of bending of the calculated difference may be canceled (step S4). Specifically, the control unit 52 moves up / down driving information for rotating the lifting / lowering motor 82 that only lowers the lifting / lowering carriage 32 by the difference between the bending amount of the fork 20 and the current bending amount in the state of FIG. This is performed by notifying the drive unit 81.
Thus, while the fork 20 is contracted, the amount of bending that gradually decreases as the fork 20 contracts is calculated, and the lifting carriage 32 is gradually lowered from the amount of bending of the base by the difference in the amount of bending. 4 is corrected by correcting the deviation in the height direction of the load M with respect to 4. Such an operation is repeated until the fork 20 moves the load M to a predetermined position on the elevating carriage 32 (step S8), so that the height of the load M with respect to the storage unit 4 is always obtained while the fork 20 contracts. The relative position in the direction can be made constant (see FIG. 6B).

  And after taking out the load M, the stacker crane 10 is moved to the carrying-out part 6, and a series of unloading operation | movement is complete | finished by mounting the load M in the carrying-out part 6. FIG.

Therefore, according to the above-described embodiment, the storage shelf 2 that stores the load M, the fork 20 that supports the load M and extends in the direction toward the storage shelf 2, and the fork 20 in the height direction of the storage shelf 2. The automatic warehouse 1 including the stacker crane 10 having the lifting device 30 to be moved, and the control device that drives the lifting device 30 based on the amount of bending of the fork 20 caused by the fork 20 extending with respect to the storage shelf 2. By adopting the configuration of having 100, the elevating device 30 is driven so as to cancel the amount of bending that occurs when the fork 20 is extended, thereby reducing the displacement in the height direction of the load M with respect to the storage shelf 2. be able to.
Therefore, in this embodiment, there is an effect that it is possible to provide the automatic warehouse 1 that can narrow the distance between the upper and lower storage spaces of the storage shelf 2 without adding a mechanical structure.

  Moreover, in this embodiment, the control apparatus 100 employ | adopts the structure which drives the raising / lowering apparatus 30 so that the change of the relative position in the said height direction of the load M and the storage shelf 2 may be canceled based on the said deflection amount. By doing so, the relative position in the height direction of the load M with respect to the storage shelf 2 can always be made constant while the fork 20 extends.

  Moreover, in this embodiment, while the stacker crane 10 stores the load M in the storage shelf 2, the control device 100 drives the lifting device 30 so that the position of the fork 20 in the height direction is raised. When the load M is stored, the amount of bending of the fork 20 gradually increases, so that the amount of bending can be offset by increasing the amount.

  Moreover, in this embodiment, while the stacker crane 10 takes out the load M from the storage shelf 2, the control apparatus 100 drives the raising / lowering apparatus 30 so that the position of the fork 20 in the said height direction falls. When the load M is taken out, the amount of bending of the fork 20 gradually decreases, so that the bending can be offset by lowering the amount.

In the present embodiment, the storage shelf 2 that stores the load M, the fork 20 that supports the load M and extends in the direction toward the storage shelf 2, and the lifting device that moves the fork 20 in the height direction of the storage shelf 2. A load carrying method of an automatic warehouse 1 including a stacker crane 10 having a stacker crane 30, wherein the lifting device 30 is moved based on the amount of bending of the fork 20 caused by extending the fork 20 with respect to the storage shelf 2. By adopting the configuration of driving, the lifting device 30 is driven so as to cancel the amount of bending that occurs when the fork 20 is extended, thereby reducing the displacement in the height direction of the load M with respect to the storage shelf 2. Can do.
Therefore, this embodiment has an effect of providing an automatic warehouse load transport method capable of reducing the distance between the upper and lower storage spaces of the storage shelf without adding a mechanical structure.

  As mentioned above, although preferred embodiment of this invention was described referring drawings, this invention is not limited to the said embodiment. Various shapes, combinations, and the like of the constituent members shown in the above-described embodiments are examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

For example, since the amount of deflection of the fork 20 varies not only with the amount of extension of the fork 20 but also with the weight of the load M to be loaded, a detection device such as a load cell that detects the weight of the load M is provided in the automatic warehouse 1. It may be configured to have a control device that is provided and detects the weight of the load M (detection step) and drives the lifting device 30 based on the detection result of the detection device. The position where the load cell is provided may be, for example, on the fork 20 or may be configured to be provided while the load M is being conveyed.
By adopting such a configuration, the amount of deflection of the fork 20 is estimated based on the weight of the load M, so that the setting of the control device 100 is changed each time the type of the load M changes. It is possible to suppress a decrease in work efficiency.
In this case, the deflection amount data storage unit 54 has, for example, a configuration having various correspondence table data of the extension amount of the fork 20 and the weight and the deflection amount of the load M, and the deflection amount with the extension amount and the weight of the load M as variables. It is preferable that the calculation formula data to be calculated be used.

  In addition, for example, it has been described that the amount of bending of the fork 20 is obtained by calculation, but a configuration in which the amount of bending is directly obtained by a position detection device that detects the amount of bending of the fork 20 may be employed.

Further, for example, in the present embodiment, it has been described that the lifting device 30 is driven based on the gradually calculated deflection amount, but the present invention is not limited to the above configuration.
For example, a configuration may be adopted in which a lifting operation of the lifting device 30 is set in advance in accordance with the extension of the fork 20, and the driving of the fork 20 and the lifting device 30 is started simultaneously to synchronize.

It is a perspective view which shows the automatic warehouse in embodiment of this invention. It is a block diagram which shows the structure of the control apparatus of the automatic warehouse in embodiment of this invention. It is a flowchart which shows operation | movement of the onboard control apparatus at the time of storage of the load in embodiment of this invention. It is a figure explaining the operation | movement which the stacker crane in embodiment of this invention stores a load in a storage shelf. It is a flowchart which shows operation | movement of the onboard control apparatus at the time of taking out the load in embodiment of this invention. It is a figure explaining the operation | movement which the stacker crane in embodiment of this invention takes out a load from a storage shelf.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Automatic warehouse, 2 ... Storage shelf, 10 ... Stacker crane (crane), 20 ... Fork (transfer device), 30 ... Lifting device, 100 ... Control device, M ... Load

Claims (10)

A storage shelf for storing the load, a transfer device for supporting the load and extending in a direction toward the storage shelf, and a crane having a lifting device for moving the transfer device in the height direction of the storage shelf. Automatic warehouse,
An automatic warehouse comprising: a control device that drives the lifting device based on a deflection amount of the transfer device generated by the transfer device extending with respect to the storage shelf.   The said control apparatus drives the said raising / lowering apparatus so that the change of the relative position in the said height direction of the said load and the said storage shelf may be canceled based on the said deflection amount. Automatic warehouse. While the crane stores the load in the storage shelf,
The automatic warehouse according to claim 1 or 2, wherein the control device drives the lifting device so that the position of the transfer device in the height direction is raised. While the crane removes the load from the storage shelf,
The said control apparatus drives the said raising / lowering apparatus so that the position in the said height direction of the said transfer apparatus may fall, The automatic warehouse as described in any one of Claims 1-3 characterized by the above-mentioned. A detection device for detecting the weight of the load;
The automatic warehouse according to any one of claims 1 to 4, wherein the control device drives the lifting device based on a detection result of the detection device. A storage shelf for storing the load, a transfer device for supporting the load and extending in a direction toward the storage shelf, and a crane having a lifting device for moving the transfer device in the height direction of the storage shelf. An automated warehouse load transport method,
An automated warehouse load transporting method, wherein the lifting device is driven based on a deflection amount of the transfer device generated by the extension while the transfer device is extended with respect to the storage shelf.   7. The automatic warehouse load transportation according to claim 6, wherein the lifting device is driven so as to cancel a change in a relative position between the load and the storage shelf in the height direction based on the deflection amount. Method. While the crane stores the load in the storage shelf,
8. The automatic warehouse load transport method according to claim 6, wherein the lifting device is driven so that the position of the transfer device in the height direction is raised. While the crane removes the load from the storage shelf,
The load conveying method according to claim 6, wherein the lifting device is driven so that a position of the transfer device in the height direction is lowered. A detection step of detecting the weight of the load;
The automatic warehouse load transport method according to any one of claims 6 to 9, wherein the lifting device is driven based on a detection result of the detection step.

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