JP2016113240A - Transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transfer device which enables stable operation.SOLUTION: A side arm type transfer device 29 comprises a drive motor 414a, a sensor 801, a servo circuit 802, a wireless modem 78, a wireless modem 77, and a transfer control part 81c. The sensor 801 detects an operation of the drive motor 414a. The servo circuit 802 is connected to the drive motor 414a and the sensor 801. The wireless modem 78 is connected to the servo circuit 802. The wireless modem 77 can be connected to the wireless modem 78. The transfer control part 81c repeatedly transmits a state confirmation command for confirming a state of the drive motor 414a through the wireless modem 77. After transmitting an operation command for operating the drive motor 414a through the wireless modem 77, the transfer control part 81c retransmits the operation command if it does not receive completion information of the operation of the drive motor 414a as a response to the state confirmation command after 200 msec.SELECTED DRAWING: Figure 13

Description

  The present invention relates to a transfer device for transferring a load.

The transfer device is used, for example, in a stacker crane that takes in and out luggage in an automatic warehouse. As such a transfer device, there is disclosed a side arm type transfer device that includes an arm that is arranged on a lifting platform and advances and retreats to the side of a load, and a hook provided on the arm (see, for example, Patent Document 1). .)
In the side arm type transfer device shown in Patent Literature 1, a hook provided on an arm protrudes toward a load side, and the hook can be hooked on the load to drop the load from the shelf. Also, the luggage can be loaded on the shelf by pushing the luggage with the hook.

  The hook is provided on a member on the distal end side of the arm that advances and retreats, and a hook motor that drives the hook is also provided on the member. On the other hand, a controller for controlling the hook motor is provided on the elevator platform side, and communication is performed between the hook motor and the controller, and the hook motor is controlled by the controller.

International Publication No. 2014/034173

  However, in the above-described conventional transfer device, if the communication between the controller and the hook motor is delayed, the operation of the transfer device is stopped, so that a stable operation cannot be obtained.

  An object of the present invention is to provide a transfer device capable of stable operation in consideration of the problems of a conventional transfer device.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
A transfer device according to an aspect of the present invention is a load transfer device, and includes an actuator, a sensor, a control circuit, a first communication device, a second communication device, and a controller. Yes. The sensor detects the operation of the actuator. The control circuit is connected to the actuator and the sensor. The first communication device is connected to the control circuit. The second communication device can be connected to the first communication device. The controller repeatedly transmits a state confirmation command for confirming the state of the actuator via the second communication device. In addition, after transmitting an operation command for operating the actuator via the second communication device, the controller does not receive the completion information of the operation of the actuator as a response to the state confirmation command even after the first predetermined time has elapsed. If so, re-send the operation command.

As described above, even when the operation completion information of the actuator cannot be received within the first predetermined time after the operation command to the actuator, the operation command is retransmitted without stopping the operation of the transfer device.
As a result, even if the communication temporarily fails and the first communication device cannot receive the operation command or the second communication device cannot receive the operation completion information, the operation command is retransmitted. By doing so, the operation of the transfer device can be continued.
Further, by shortening the first predetermined time, the delay time of the transfer device can be reduced, and the operation of the transfer device can be apparently not stopped.

In order to suppress the communication failure between the first communication device and the second communication device as much as possible and perform stable communication, it is conceivable to connect by wire, but it is necessary to arrange a cable in the wire connection. There are design constraints. However, in the transfer device according to the first aspect of the present invention, the operation of the mobile device can be continued even if a communication failure occurs temporarily. Therefore, the connection between the first communication device and the second communication device. A wireless connection can be used. By using the wireless connection in this way, it is not necessary to consider the space for arranging the cable, and the degree of freedom in design is improved.
Note that the connection between the first communication device and the second communication device is not limited to wireless connection, but may be wired. Even in the case of wired connection, as in the case of wireless connection, the effect that the operation of the transfer device can be continued even when a failure occurs temporarily in communication is exhibited.

The controller repeatedly retransmits the operation command until the second predetermined time elapses. If the controller does not receive the operation completion information after the second predetermined time elapses, the controller operates after clearing the transmission buffer memory. The command may be retransmitted.
As described above, when the operation completion information cannot be received even after the second predetermined time has elapsed, the transmission buffer memory is once cleared and the operation command is retransmitted.
In addition, once the transmission buffer is cleared in this way, if a communication failure occurs due to a part of the command message remaining in the transmission buffer, the failure can be removed. The operation of the transfer device can be continued by retransmitting the command.

The control circuit may be a servo circuit. The servo circuit feeds back the detection result of the sensor to the actuator.
Thus, by using the servo circuit and feeding back the detection result of the sensor to the actuator, the operation of the actuator can be appropriately controlled.

The transfer device may further include an arm and a hook. In that case, the arm advances and retreats to the side of the luggage. The hook is provided on the arm and can be moved toward and away from the load by an actuator. A plurality of hooks, actuators, sensors, and control circuits are provided. Communication between the first communication device and the second communication device is performed wirelessly. The controller transmits a state confirmation command and identification information for identifying which actuator among the plurality of actuators the state confirmation command is. The controller receives a response to the actuator state confirmation command specified by the identification information via the second communication device.
In this way, identification information for specifying which of the plurality of actuators is the state confirmation command is also transmitted together with the state confirmation command.
Therefore, even if a plurality of actuators are provided, the state of the actuator can be confirmed for a specific actuator.

  In addition, when the communication between the first communication device and the second communication device is performed wirelessly, buffering by other radio waves can be suppressed by repeatedly transmitting the state confirmation command.

When a double reach is used as the transfer device, which is about three times the length of the arm before the arm is extended, a hook is provided at the tip of the arm of the double reach and driven. Then, since it was difficult to pass the cable through the arm, it was necessary to perform it wirelessly.
In conventional wireless communication control, the operation is delayed due to interference of other radio waves, and thus it has been difficult to achieve stable driving of the hook provided at the tip of the arm of the double reach. Since the stable driving can be realized even when using, it is more useful for a transfer device using double reach.

  According to the present invention, a transfer device capable of stable operation can be provided.

1 is a schematic plan view of an automatic warehouse in which a side arm transfer device according to an embodiment of the present invention is employed. It is an II-II arrow line view of FIG. 1, and is a figure for demonstrating a rack and a stacker crane. It is a III-III arrow line view of FIG. 1, and is a figure for demonstrating a rack and a stacker crane. The top view which shows typically the side arm type transfer apparatus shown in FIG. Sectional drawing of the right arm of the side arm type transfer apparatus shown in FIG. (A)-(c) The figure for demonstrating the expansion-contraction operation | movement of the right arm shown in FIG. The front view which looked at the right side top member, center top member, and left side top member of the side arm type transfer apparatus shown in FIG. 4 from the front side. The top view of the right side top member of the side arm type transfer apparatus shown in FIG. 4, a center top member, and a left side top member. The block diagram which shows the control structure of the side arm type transfer apparatus shown in FIG. The block diagram for demonstrating the communication structure of the side arm type transfer apparatus shown in FIG. The figure for demonstrating operation | movement at the time of acquiring a state confirmation from a command type motor part in the side arm type transfer apparatus shown in FIG. The figure for demonstrating operation | movement at the time of transmitting an operation command to a command type motor part in the side arm type transfer apparatus shown in FIG. The flowchart for demonstrating control operation | movement of the side arm type transfer apparatus shown in FIG. The figure for demonstrating the period at the time of acquiring a state confirmation from a command type motor part in the side arm type transfer apparatus shown in FIG. The figure for demonstrating operation | movement at the time of transmitting an operation command to a command type motor part in the side arm type transfer apparatus shown in FIG. The figure for demonstrating the detection of a transmission failure of a wireless modem, and a transmission period in the side arm type transfer apparatus shown in FIG. The figure which shows the time passage at the time of resending an operation command and clearing a buffer memory in the side arm type transfer apparatus shown in FIG.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.
<1. Configuration>
(1) Automatic warehouse 1 as a whole

Hereinafter, an automatic warehouse 1 in which an embodiment according to the present invention is employed will be described. FIG. 1 is a schematic plan view of the automatic warehouse 1. In the present embodiment, the vertical direction in FIG. 1 is the front-rear X direction of the automatic warehouse 1, X1 is the front direction, and X2 is the rear direction. Moreover, the left-right direction of FIG. 1 is made into the left-right Y direction of the automatic warehouse 1, the right direction is shown by Y1, and the left direction is shown by Y2. Except when the viewing direction is designated, the front side indicates the X1 direction side, the rear side indicates the X2 direction side, the right side indicates the Y1 direction side, and the left side indicates the Y2 direction side.
As shown in FIG. 1, the automatic warehouse 1 in this embodiment mainly includes a front rack 2a and a rear rack 2b, and a stacker crane 3 that travels between them.

(2) Front rack 2a, rear rack 2b
The front rack 2a and the rear rack 2b are arranged before and after the travel path 5 so as to sandwich the travel path 5 of the stacker crane 3 extending in the left-right Y direction. The front rack 2a and the rear rack 2b include a large number of first struts 7 arranged on the left and right sides with a predetermined interval on the side of the traveling path 5, and a large number of second struts lined on the left and right sides with a predetermined distance on the opposite side of the traveling path 5. 9 and a large number of luggage storage shelves 11 provided between the adjacent first support column 7 and second support column 9. As shown in FIG. 1, three sets of packages W are arranged in the package storage shelf 11, with four packages W as one set. The four packages W are arranged at predetermined intervals in the front-rear and left-right directions. Here, in FIG. 1, when four loads are viewed from the stacker crane 3, the load disposed on the right front side is W1, the load disposed on the right back side is W2, and the load disposed on the left front side is. W3, the luggage arranged on the left back side is indicated as W4.
In the lowermost luggage storage shelf 11 on the left side of the front rack 2a, a storage station 17 for storing the luggage W is disposed. In the lowermost luggage storage shelf 11 on the left side of the rear rack 2b, a delivery station 19 for delivering the luggage W is disposed. In these warehousing station 17 and warehousing station 19, four packages W can be warehousing and unloading.

(3) Stacker crane 3
2 is a view taken in the direction of arrows II-II in FIG. 3 is a view taken in the direction of arrows III-III in FIG. As shown in FIGS. 1 to 3, an upper guide rail 21 a and a lower guide rail 21 b are provided along the traveling path 5. The stacker crane 3 is guided by the upper guide rail 21a and the lower guide rail 21b so as to be movable in the left-right Y direction. The stacker crane 3 conveys the load W between the large number of load storage shelves 11, the storage station 17 and the output station 19.
As shown in FIGS. 2 and 3, the stacker crane 3 includes a side arm transfer device 29, a traveling carriage 22 that moves the side arm transfer device 29 in the left-right direction, and a side arm transfer device 29. It has the raising / lowering part 10 to raise / lower.

The traveling carriage 22 has a left traveling wheel 23a and a right traveling wheel 23b at both ends in the left-right Y direction. The left traveling wheel 23a and the right traveling wheel 23b are rotatably supported by bearings on the traveling carriage 22 and travel on the lower guide rail 21b.
As shown in FIG. 3, the traveling carriage 22 is guided to the lower guide rail 21b by a front guide roller 23c and a rear guide roller 23d disposed at both ends with the lower guide rail 21b interposed therebetween. In FIG. 2, the front guide roller 23c is disposed at the same position as the rear guide roller 23d with the lower guide rail 21b interposed therebetween. The right traveling wheel 23 b is driven by a traveling motor 87.

The elevating part 10 has a left mast 25a and a right mast 25b extending in the vertical direction. The left mast 25a and the right mast 25b are fixed inside the left traveling wheel 23a and the right traveling wheel 23b of the traveling carriage 22.
The lifting platform 27 constituting a part of the side arm type transfer device 29 is mounted on the left mast 25a and the right mast 25b provided on the traveling carriage 22 so as to be movable up and down. Note that a description of a mechanism (for example, a motor) for raising and lowering the elevator 27 is omitted.

Further, a control panel 80 in which a crane control unit 81 for controlling the stacker crane 3 is housed is attached to the right mast 25b.
(4) Side arm transfer device 29
The side arm type transfer device 29 is attached to the left mast 25 a and the right mast 25 b so as to be movable up and down, and moves the cargo W between the warehousing station 17, the luggage storage shelf 11 and the evacuation station 19.

The side arm type transfer device 29 includes an elevator 27, a right arm 100, a central arm 110, a left arm 120, and a conveyor 200.
(5) Conveyor 200
FIG. 4 is a schematic plan view of the side arm transfer device 29 of the present embodiment.

As shown in FIG. 4, the conveyor 200 is provided on the upper surface side of the lifting platform 27, and the right front conveyor 210, the right rear conveyor 220, the left front conveyor 230, and the left rear conveyor. 240.
The front conveyor 210 and the rear conveyor 220 on the right side are located on the right side of the elevator 27 and are arranged at a predetermined interval along the front-rear direction. The front conveyor 210 includes an endless belt 211 and a motor 212 that rotates the belt 211. The belt 211 is rotated in the front-rear direction by the rotation of the motor 212, and the load W can be moved. Further, the rear conveyor 220 includes an endless belt 221 and a motor 222 that rotates the belt 221. The belt 221 rotates in the front-rear direction by the rotation of the motor 222, and the load W on the belt 221 can be moved.

The left-side front conveyor 230 and the rear-side conveyor 240 are disposed on the left side of the lifting platform 27 and are arranged at predetermined intervals along the front-rear direction. The front conveyor 230 includes an endless belt 231 and a motor 232 that rotates the belt 231. The belt 231 is rotated in the front-rear direction by the rotation of the motor 232, and the load W can be moved. Further, the rear conveyor 240 includes an endless belt 241 and a motor 242 that rotates the belt 241. The belt 241 rotates in the front-rear direction by the rotation of the motor 242, and the load W on the belt 241 can be moved.
Rollers 213 a and 213 b are rotatably supported on the lifting platform 27 on the front side of the right front conveyor 210. By the rollers 213a and 213b, the luggage W can be smoothly moved between the front conveyor 210 and the luggage storage shelf 11 of the front rack 2a. Similarly, rollers 233 a and 233 b are rotatably supported on the lifting platform 27 on the front side of the left front conveyor 230.

Rollers 223 a and 223 b are rotatably supported on the lifting platform 27 on the rear side of the right rear conveyor 220. The rollers 223a and 223b can smoothly move the luggage W between the rear conveyor 220 and the luggage storage rack 11 of the rear rack 2b. Similarly, rollers 243 a and 243 b are rotatably supported on the lifting platform 27 on the rear side of the left rear conveyor 240.
(6) Arm As shown in FIG. 4, the right arm 100, the central arm 110, and the left arm 120 are arranged on the lifting platform 27 with a predetermined distance in parallel to each other. The right arm 100, the central arm 110, and the left arm 120 are configured to be extendable in the front-rear X direction, and the right arm 100 and the left arm 120 can advance and retreat on both sides in the left-right direction of the load W.

The right arm 100 is on the right side of the right front conveyor 210 and the rear conveyor 220, and is disposed on the lifting platform 27 along the front conveyor 210 and the rear conveyor 220. On the lifting platform 27 between the right arm 100 and the front conveyor 210 and the rear conveyor 220, a right guide 130 is provided in the front-rear X direction along the right arm 100. The right guide 130 prevents the load W from coming into contact with the right arm 100.
The left arm 120 is disposed on the lifting platform 27 along the front conveyor 230 and the rear conveyor 240 on the left side of the left front conveyor 230 and the rear conveyor 240. A left guide 150 is provided in the front-rear X direction along the left arm 120 on the lifting platform 27 between the left arm 120 and the front conveyor 230 and the rear conveyor 240. The left guide 150 prevents the load W from coming into contact with the left arm 120.

The right arm 100 and the right guide 130 are configured to be movable in the left-right direction along a front guide rail 180 a and a rear guide rail 180 b provided on the lifting platform 27. The left arm 120 and the left guide 150 are configured to be movable in the left-right direction along a front guide rail 181a and a rear guide rail 181b provided on the lifting platform 27.
The central arm 110 is located between the front conveyor 210 and the rear conveyor 220 on the right side, and the front conveyor 230 and the rear conveyor 240 on the left side, so that the longitudinal direction thereof substantially coincides with the front-rear X direction. Is arranged. A lift 27 between the central arm 110 and the right front conveyor 210 and the rear conveyor 220 is provided with a first central guide 141 in the front-rear X direction along the central arm 110. Further, a second central guide 142 is provided in the front-rear X direction along the central arm 110 on the lifting platform 27 between the central arm 110 and the left front conveyor 230 and the rear conveyor 240. The first central guide 141 and the second central guide 142 prevent the load W from coming into contact with the central arm 110.

As shown in FIG. 4, the right arm 100 includes a right base member 101, a right middle member 102, and a right top member 103. The lengths of the right base member 101, the right middle member 102, and the right top member 103 in the front-rear direction are substantially the same. The right base member 101 is fixed to the lifting platform 27. When the right arm 100 is extended, the right base member 101, the right middle member 102, and the right top member 103 are arranged in the extending direction in this order.
FIG. 5 is a diagram schematically showing a cross section of the right arm 100. As shown in FIG. 5, the right base member 101, the right middle member 102, and the right top member 103 are arranged in the left direction in this order.

The right base member 101 is provided with a right drive motor 160 and a gear portion 161. The gear portion 161 has a gear 161 a provided on the left side surface of the right base member 101. The gear 161a can rotate around the horizontal direction. The gear 161 a is connected to the right drive motor 160 by a shaft 161 b that penetrates the right base member 101. The gear 161a is in contact with the lower end of the right middle member 102 on the upper side thereof.
Further, a connecting portion 101 a that is connected to the right guide 130 is formed to protrude below the left side surface of the right base member 101.

The right middle member 102 is provided with a gear portion 163 on the left side surface thereof. The gear part 163 has a gear 163a, and the gear 163a is rotatably arranged with the horizontal direction as a rotation axis.
The connecting portion 101a of the right base member 101 is formed with a protruding portion 101b upward from the middle thereof, and the upper end of the protruding portion 101b is in contact with the lower side of the gear 163a. The gear 163a is in contact with the right top member 103 on the upper side.

A guide rail 101c is embedded in the left side surface of the right base member 101 along the front-rear direction. A plurality of rollers 102a fitted to the guide rail 101c are provided on the right side surface of the right middle member 102 along the front-rear direction. The right middle member 102 is movably supported by the right base member 101 by the roller 102a and the guide rail 101c.
A guide rail 103 c is embedded in the right side surface of the right top member 103 along the front-rear direction. A plurality of rollers 102b fitted to the guide rail 103c are provided on the left side surface of the right middle member 102 along the front-rear direction. The right top member 103 is movably supported by the right middle member 102 by the roller 102b and the guide rail 103c.

In the present embodiment, for simplification of explanation, the number of gears provided in the gear part 161 and the gear part 163 is one, but the number of gears is not limited to these, and more gears are provided. May be provided.
FIG. 6A is a view taken along the line EE in FIG. 5, and schematically shows the structure of the right arm 100. In FIG. 6A, the rollers 102a and 102b are omitted as appropriate for the sake of explanation. 6A to 6C, the right base member 101 is indicated by a solid line, the right middle member 102 is indicated by a dotted line, and the right top member 103 is indicated by a one-dot chain line.

In such a configuration, when the right drive motor 160 is driven by the transfer control unit 81c (see FIG. 9 described later), the gear 161a rotates. Here, when the gear 161a rotates counterclockwise as shown in FIG. 6A, the right middle member 102 moves in the arrow X1 direction (forward direction). By the movement of the right middle member 102 in the X1 direction, the gear 163a rotates counterclockwise because it is in contact with the protruding portion 101b of the right base member 101 on the lower side. By the left rotation of the gear 163a, the right top member 103 that is in contact with the gear 163a also moves in the direction of the arrow X1. FIG. 6B shows a state where the right arm 100 extends in the X1 direction. When the right arm 100 is contracted, the rotation direction of the right drive motor 160 may be reversed. Further, by driving the right drive motor 160 so as to rotate the gear 161a clockwise from the state of FIG. 6A, as shown in FIG. 6C, the right arm 100 is moved in the X2 direction opposite to X1 ( It can be extended backwards.
As described above, the right arm 100 can be expanded and contracted in the front-rear direction.

The left arm 120 is configured symmetrically with the right arm 100, and includes a left base member 121, a left middle member 122, and a left top member 123, as shown in FIG. Further, a left drive motor 170 for extending and retracting the left arm 120 is provided.
The central arm 110 has the same configuration as the right arm 100, and includes a central base member 111, a central middle member 112, and a central top member 113. Further, a central drive motor 165 for extending and retracting the central arm 110 is provided (see FIG. 4). The expansion / contraction structure of the central arm 110 and the left arm 120 is the same as that of the right arm 100, and thus the description thereof is omitted.

(7) Hook FIG. 7 is a schematic view of the right top member 103, the central top member 113, and the left top member 123 as viewed from the front side. FIG. 8 is a schematic view of the right top member 103, the central top member 113, and the left top member 123 as viewed from above.

(7-1) Right Top Member Hook As shown in FIGS. 4 and 8, the right top member 103 is provided with a front end hook 104, a center hook 105, and a rear end hook 106. The front end hook 104, the central hook 105, and the rear end hook 106 are rotatable to positions that protrude toward the central top member 113. The front end hook 104 is provided at the front end of the right top member 103, the center hook 105 is provided at the center in the front-rear direction of the right top member 103, and the rear end hook 106 is provided on the right top member 103. It is provided at the rear end.
As shown in FIG. 4, the luggage W is disposed between the front end hook 104 and the central hook 105 and between the central hook 105 and the rear end hook 106.

The right top member 103 is provided with a drive motor 404, a drive motor 405, and a drive motor 406 for driving the front end hook 104, the center hook 105, and the rear end hook 106.
FIG. 7 shows the front end hook 104. The front end hook 104 is provided so as to be rotatable around an axis O <b> 1 parallel to the front-rear direction provided at the lower portion of the right top member 103. The axis O1 coincides with the rotation axis of the drive motor 404. The front end hook 104 can be moved back and forth toward the central arm 110 side by rotating the upper end 104e about the axis O1 by driving the drive motor 404. In FIG. 8, a state in which the front end hook 104, the central hook 105, and the rear end hook 106 are rotated toward the central arm 110 is indicated by a two-dot chain line.

(7-2) Left Top Member Hook As shown in FIG. 4, the left top member 123 is provided with a front end hook 124, a center hook 125, and a rear end hook 126. The front end hook 124, the central hook 125, and the rear end hook 126 are rotatable to positions that protrude toward the central top member 113. The front end hook 124 is provided at the front end portion of the left top member 123, the center hook 125 is provided at the center in the front-rear direction of the left top member 123, and the rear end hook 126 is provided on the left top member 123. It is provided at the rear end.

The luggage W is disposed between the front end hook 124 and the center hook 125 and between the center hook 125 and the rear end hook 126.
As shown in FIG. 8, the left top member 123 is provided with a drive motor 424, a drive motor 425, and a drive motor 426 that drive the front end hook 124, the center hook 125, and the rear end hook 126.

  FIG. 7 shows the front end hook 124. The front end hook 124 is provided so as to be rotatable about an axis O4 provided in the lower part of the left top member 123 and parallel to the front-rear direction. The axis O4 coincides with the rotation axis of the drive motor 424. The front end hook 124 can be moved back and forth toward the central arm 110 side by rotating the upper end portion 124e about the axis O4 by driving the drive motor 424. In FIG. 8, a state in which the front end hook 124, the central hook 125, and the rear end hook 126 are rotated toward the central arm 110 is indicated by a two-dot chain line.

(7-3) Hook of Center Top Member As shown in FIG. 4, the center top member 113 includes a right front end hook 114a, a left front end hook 114b, a right center hook 115a, a left center hook 115b, a right rear end hook 116a, and A left rear end hook 116b is provided. The right front end hook 114 a, the right center hook 115 a, and the right rear end hook 116 a can be rotated to positions that protrude toward the right top member 103. The left front end hook 114 b, the left center hook 115 b, and the left rear end hook 116 b can be rotated to positions that protrude toward the left top member 123. The right front end hook 114a and the left front end hook 114b are provided at the front end of the center top member 113, and the right center hook 115a and the left center hook 115b are provided at the center in the front-rear direction of the center top member 113. The right rear end hook 116 a and the left rear end hook 116 b are provided at the rear end of the central top member 113. The right front end hook 114 a faces the front end hook 104, the right center hook 115 a faces the center hook 105, and the right rear end hook 116 a faces the rear end hook 106. Further, the left front end hook 114 b faces the front end hook 124, the left center hook 115 b faces the center hook 125, and the left rear end hook 116 b faces the rear end hook 126.

Further, as shown in FIG. 8, the center top member 113 is driven with a right front end hook 114a, a left front end hook 114b, a right center hook 115a, a left center hook 115b, a right rear end hook 116a, and a left rear end hook 116b. A driving motor 414a, a driving motor 414b, a driving motor 415a, a driving motor 415b, a driving motor 416a, and a driving motor 416b are provided.
FIG. 7 shows a right front end hook 114a and a left front end hook 114b. The right front end hook 114a and the left front end hook 114b are provided so as to be rotatable about axes O2 and O3 provided in the lower part of the central top member 113 and parallel to the front-rear direction. The axis O2 coincides with the rotation axis of the drive motor 414a. The axis O3 coincides with the rotation axis of the drive motor 414b. The right front end hook 114a can be moved back and forth toward the right arm 100 side by rotating the upper end portion 114ae about the axis O2 by driving the drive motor 414a. Further, the left front end hook 114b can be moved back and forth toward the left arm 120 side by rotating the upper end portion 114be around the axis O3 by driving the drive motor 414b. In FIG. 8, a state in which the right front end hook 114a, the right center hook 115a, and the right rear end hook 116a are rotated toward the right arm 100 is indicated by a two-dot chain line. Further, in FIG. 8, a state in which the left front end hook 114b, the left center hook 115b, and the left rear end hook 116b are rotated toward the left arm 120 is indicated by a two-dot chain line.

(8) Control Configuration (8-1) Control Configuration of Stacker Crane FIG. 9 is a block diagram mainly showing a control configuration of the stacker crane 3. The crane control unit 81 of the stacker crane 3 is mounted on the control panel 80 of the stacker crane 3. The crane control unit 81 can communicate with a control unit 82 that controls the entire automatic warehouse 1 as shown in FIG. 9. The crane control unit 81 includes computer hardware such as a CPU and a memory. In FIG. 9, the crane control unit 81 is expressed as a functional block realized by the cooperation of the computer hardware and software.

The crane control unit 81 performs a transfer control of the traveling control unit 81 a that controls the traveling and stopping of the traveling carriage 22, the lifting control unit 81 b that performs the lifting control of the lifting platform 27, and the side arm transfer device 29. A transfer control unit 81c (an example of a controller) is provided as a functional configuration. A travel motor 87 and a rotary encoder 88 for detecting the travel amount are connected to the travel control unit 81a. A lift motor 89 and a rotary encoder 90 for detecting the lift amount are connected to the lift control unit 81b.
The transfer controller 81c includes motors 212, 222, 232, and 242 for rotating the belts 211, 221 and 231, 241 and a right drive motor 160, a central drive motor 165, and a left drive for extending and contracting each arm. An opening / closing motor 99 (not shown in FIG. 4) that moves the right arm 100 and the left arm 120 in the left-right direction along the motor 170 and the front guide rails 180a and 181a and the rear guide rails 180b and 181b shown in FIG. Is connected.

The transfer control unit 81c includes drive motors 404, 405, and 406 that drive the hooks of the right arm 100, and drive motors 414a, 414b, 415a, 415b, 416a, and 416b that drive the hooks of the central arm 110. The drive motors 424, 425, and 426 that drive the hooks of the left arm 120 are connectable.
A communication connection between the transfer control unit 81c and the drive motors 404, 405, 406, 414a, 414b, 415a, 415b, 416a, 416b, 424, 425, and 426 will be described next.

(8-2) Communication connection configuration of transfer controller and hook drive motor As an example, communication between the drive motors 414a, 414b, 415a, 415b, 416a, 416b of the central arm 110 and the transfer controller 81c The connection configuration will be described.

FIG. 10 is a diagram illustrating a communication configuration between the drive motors 414a, 414b, 415a, 415b, 416a, and 416b of the central arm 110 and the transfer control unit 81c.
As shown in FIG. 10, wireless communication is used for communication between the drive motors 414a, 414b, 415a, 415b, 416a, and 416b of the central arm 110 and the transfer control unit 81c.

Specifically, the drive motor 414 a constitutes a part of the command type motor unit 701, and the drive motor 414 b constitutes a part of the command type motor unit 702. Similarly, the drive motors 415a, 415b, 416a, and 416b constitute part of the command type motor units 703, 704, 705, and 706, respectively. Communication is performed between the command type motor units 701 to 706 and the transfer control unit 81c.
(8-2-1) Control panel side

The control panel 80 is provided with a transmission unit 85, a reception unit 86, and a wireless modem 77 so that the transfer control unit 81c performs wireless communication with the command type motor units 701 to 706.
On the other hand, the central arm 110 is provided with a wireless modem 78 and an RS232C-RS485 converter 79 for the command type motor units 701 to 706 to perform wireless communication with the transfer control unit 81c.

As shown in FIG. 10, the transfer control unit 81c includes a command message generation unit 81ca and a state monitoring unit 81cb. The command message generation unit 81ca generates a command message for giving a command to the central arm 110 side. Examples of the command message include an operation command message and a status confirmation message.
The operation command message is a message for operating all or part of the drive motors 414a, 414b, 415a, 415b, 416a, and 416b. The state confirmation message is a message for confirming the state of all or part of the drive motors 414a, 414b, 415a, 415b, 416a, and 416b. A response message for the state confirmation message is transmitted from the central arm 110 side.

The state monitoring unit 81cb monitors the drive motors 414a, 414b, 415a, 415b, 416a, and 416b based on the response message transmitted from the central arm 110 side.
The transmission unit 85 transmits the command message created by the command message generation unit 81ca to the wireless modem 77. The transmitter 85 is provided with a buffer memory 85c that temporarily stores a command message.

The receiving unit 86 receives the response message received by the wireless modem 77 and transfers it to the state monitoring unit 81cb. The receiving unit 86 is provided with a buffer memory 86c for temporarily storing a response message. The transmission unit 85 and the reception unit 86 are configured using an RS232C port.
The wireless modem 77 transmits a command message to the wireless modem 78 of the central arm 110 and receives a response message from the wireless modem 78. The wireless modem 77 is provided with a buffer memory 77a for temporarily storing a command message and a buffer memory 77b for temporarily storing a response message.

(8-2-2) Central Arm Side The wireless modem 78 provided in the central arm 110 receives a command message from the wireless modem 77 and transmits a response message to the wireless modem 77. The wireless modem 78 is provided with a buffer memory 78a that temporarily stores a command message and a buffer memory 78b that temporarily stores a response message.

The RS232C-RS485 converter 79 performs conversion between RS232C and RS485. The RS232C-RS485 converter 79 and the command type motor units 701 to 706 (six nodes) are connected by RS485.
Next, the command type motor units 701 to 706 will be described. Since the configuration of the command type motor units 701 to 706 is the same, the configuration will be described using the command type motor unit 701.

The command type motor unit 701 includes a drive motor 414a, a sensor 801, a servo circuit 802, a buffer memory 803, a message creation unit 804, and a state confirmation unit 805.
The sensor 801 is a potentiometer such as an angle sensor, for example, and detects the operation state of the drive motor 414a. The servo circuit 802 feeds back the output result of the sensor 801 to the drive motor 414a.

The state confirmation unit 805 confirms the operation state of the drive motor 414a based on the detection result of the sensor 801.
The message creation unit 804 creates a response message based on the state of the drive motor 414a confirmed by the state confirmation unit 805.

The buffer memory 803 temporarily stores the command message transmitted from the RS232C-RS485 converter 79, and temporarily stores the response message created by the message creation unit 804 and transferred to the RS232C-RS485 converter 79. Save to.
<2. Operation>
(2-1) Outline of communication

An outline of the communication path will be described based on the configuration described above. The following numbers correspond to the numbers shown in the communication path in FIG.
(1). The transfer control unit 81c generates a command (operation command, status check command) message, and the command message is transferred to the buffer memory 85c of the transmission unit 85 configured using the RS232C port.
(2). The command message is transferred from the buffer memory 85c to the wireless modem 77.

(3). The command message is transferred from the wireless modem 77 on the control panel 80 side to the reception buffer memory 78a of the wireless modem 78 of the central arm 110.
(4), (5). The command message received by the wireless modem 78 of the central arm 110 is simultaneously transmitted to the command type motor units of all nodes, that is, the command type motor units 701 to 706 through the RS232C-RS485 converter 79. Here, by connecting the command type motor units 701 to 706 by RS485, wiring saving can be realized. Depending on the node setting of the command type motor units 701 to 706, the command type motor units 701 to 706 designated by the node execute commands, and when a response is required, the response is returned. Here, nodes (1) to (6) are set in advance in the command type motor units 701 to 706, and are recorded in the header of the command message sent to all the command type motor units 701 to 706 simultaneously. Based on the node number (node information) of the corresponding node, only the command type motor unit of the corresponding node number executes the command.

When the command message is an operation command, the command type motor units 701 to 706 only execute the operation and do not return a response. That is, the case where a response is required is a case where the command message is a state confirmation message.
(5), (6). When there is a response message from the command type motor units 701 to 706, the response message is transferred from the buffer memory 803 to the wireless modem 78 through the RS232C-RS485 converter 79.

(7). The wireless modem 78 on the central arm 110 side transfers a response message to the control panel 80 side.
(8). The wireless modem 77 on the control panel 80 side transfers the received response message to the receiving unit 86 configured using the RS232C port.

(9). The transfer control unit 81c checks the consistency of the received response message and stores it in the memory if it is good.
(2-2) State Confirmation Command and Operation Command Next, the state confirmation command and the operation command will be described.

The command-type motor units 701 to 706 described above operate according to a command message, but all of the state confirmation report, operation execution, and the like are performed by a command message from the host.
(2-2-1) Status confirmation command

Acquisition of the state confirmation from the command type motor units 701 to 706 is performed by reading out from a memory (not shown) of the command type motor units 701 to 706.
FIG. 11 is a diagram for explaining the operation when acquiring the state confirmation from the command type motor units 701 to 706. As shown in FIG. 11, the transfer control unit 81 c creates a status confirmation message in the command message generation unit 81 ca, adds a CRC (Cyclic Redundancy Check), and outputs it to the wireless modem 77. To do. The transfer control unit 81c enters a response waiting state after outputting the state confirmation message.

The status confirmation command message is transmitted from the wireless modem 77 to the wireless modem 78 and received by the command type motor units 701 to 706. Here, assuming that the node number corresponding to the node number recorded in the header of the status confirmation command message is 1, the command type motor unit 701 (see FIG. 10) confirms whether the received status confirmation message is normal, Check CRC calculation.
After the CRC calculation check, the command type motor unit 701 creates a response message for the state confirmation command message. Then, CRC is added to the created response message and output to the wireless modem 78.

The response message is transmitted from the wireless modem 78 to the wireless modem 77 and received by the transfer control unit 81c.
After receiving the response message, the transfer control unit 81c confirms whether the communication is normal and performs a CRC calculation check. Then, the transfer control unit 81c confirms the command purpose after storing the response message in the memory.

(2-2-2) Operation Command As the operation command, for example, a command for operating the drive motor 414a to rotate the right front end hook 114a toward the right arm 100 can be cited.

FIG. 12 is a diagram illustrating an operation when an operation command is transmitted to the command type motor units 701 to 706. As shown in FIG. 12, the transfer control unit 81 c creates an operation command message in the command message generation unit 81 ca, adds a CRC (Cyclic Redundancy Check), and outputs it to the wireless modem 77. To do.
The operation command message is transmitted from the wireless modem 77 to the wireless modem 78 and received by the command type motor units 701 to 706. Here, assuming that the node number corresponding to the node number recorded in the header of the status confirmation message is 2, the command type motor unit 702 (see FIG. 10) confirms whether the received status confirmation message is normal, and the CRC. Perform a computation check.

After the CRC calculation check, the command type motor unit 702 executes an operation command based on the operation command message.
In addition, the response from the command type motor unit 702 to the operation command is not performed, and the confirmation of the execution of the operation command is confirmed by the response message to the above-described state confirmation command.

(2-3) Control Operation Next, the control operation will be described. FIG. 13 is a flowchart showing the control operation of the side arm transfer device of this embodiment.

In the side arm type transfer device 29 of the present embodiment, the transfer control unit 81c repeatedly transmits a state check command, and checks the state of the command type motor units 701 to 706.
FIG. 14 is a diagram for explaining the execution operation of the state confirmation command.

As described in FIG. 11, the transfer control unit 81 c transmits a state confirmation command to the command type motor unit 701 via the wireless modem 77 and the wireless modem 78 (step S <b> 1 in FIG. 13).
After transmitting the status confirmation command, the transfer control unit 81c waits for a response from the command type motor unit (in this case, the command type motor unit 701) that requested the status confirmation, and does not perform any other transmission (see FIG. 13 step S2).

When the response is received, the transfer control unit 81c confirms the command purpose by the procedure described in FIG. 11, and after the confirmation, the state confirmation is completed (step S3 in FIG. 13).
As shown in FIG. 14, the time from the response confirmation command by the transfer control unit 81c to the completion of the state confirmation is about 56 msec. When the non-communication state continues for 10 msec, the buffer memories 77a, 77b, 78a, 78b of the wireless modems 77, 78 are cleared.

That is, the transfer control unit 81c repeatedly transmits a state confirmation command to the command type motor units 701 to 706 every 66 msec, and the state confirmation of all the command type motor units 701 to 706 is performed.
Next, when an operation command is issued to any one of the drive motors 414a, 414b, 415a, 415b, 416a, and 416b, an operation command message (see FIG. 12) is transmitted after 10 msec has elapsed after completion of the state confirmation. .

As shown in FIG. 13, when the operation command is not performed, steps S1 to S3 are repeatedly performed. When the operation command is performed (step S4), the operation command message is performed according to the procedure described in FIG. Is generated and transmitted to the command type motor units 701 to 706 via the wireless modems 77 and 78 (step S5 in FIG. 13).
The command type motor units 701 to 706 determine whether or not the operation command is for itself based on the node number included in the header of the operation command, and execute the operation in the case of the operation command for itself. For example, when operating the right front end hook 114a, the right center hook 115a, and the right rear end hook 116a of the central arm 110 so as to protrude toward the right arm 100, the nodes (1), (3), (5 ) Is specified and an operation command message is sent. The command-type motor unit 701 (node (1)), the command-type motor unit 703 (node (3)), and the command-type motor unit 705 (node (5)) recognize the operation commands for themselves and drive The motors 414a, 415a, and 416a are driven.

After transmitting the operation command, the transfer control unit 81c transmits a state confirmation command (step S6 in FIG. 13).
Then, when a response message for the state confirmation command message is received (step S7 in FIG. 13), the transfer control unit 81c performs state confirmation (step S8 in FIG. 13).

The transfer control unit 81c determines whether or not the operation has been completed based on the result of the state confirmation. If the operation has not been completed, the transfer control unit 81c performs the determinations of Step S10 and Step S11 described later. The transmission of the status confirmation command message (step S6), the status confirmation (step S8), etc. are repeated.
That is, the transfer control unit 81c confirms the completion of the operation by repeatedly performing the state confirmation command after transmitting the operation command.

Steps S1 to S11 will be specifically described with reference to FIG. FIG. 15 shows communication between the transfer control unit 81 c and the command type motor unit 701.
As shown in FIG. 15, the transfer control unit 81c transmits a status confirmation command, and the command type motor unit 701 reports the status (step S1). After the transfer control unit 81c completes the state check (steps S2 and S3), it issues a state check command again (step S1). As shown in FIG. 15, since the drive motor 414a is initially stationary, it is confirmed that the state of the drive motor 414a is normal as the state confirmation.

Next, when the transfer control unit 81c transmits an operation command to the command type motor unit 701, the operation of the drive motor 414a is started (steps S4 and S5).
Subsequently, the transfer control unit 81c transmits a state confirmation command (step S6), receives a response from the command type motor unit 701, and performs state confirmation (steps S7 and S8). Thereafter, if the operation is not completed, the state confirmation command is repeated again (steps S9, S10, S11, S6). When the operation completion response is received from the command type motor unit 701 as the response to the state confirmation command, the transfer control unit 81c repeats the transmission of the state confirmation command again after confirming the operation completion (steps S7 to S7). S9, S1). That is, the transfer control unit 81c performs the completion of the operation command by using the state confirmation command without using the signals from the command type motor units 701 to 706.

Next, steps S10, S11, and S15 to S18 shown in FIG. 13 will be described. These steps are operations for dealing with a communication failure.
Note that a communication failure is likely to occur during transmission / reception between the wireless modem 77 and the wireless modem 78 when the transfer control unit 81c acquires a response to the state confirmation.

In the above steps, as a general rule, in the acquisition of the status confirmation, the time-out is 500 msec after no response is received, and the buffer memories 77a, 77b, 78a, 78b are initialized, reconstructed, and retransmitted.
In the case of an operation command, in order not to stop the operation of the device apparently, retransmission when no state change is seen is repeated every 200 ms. Thus, the recovery is set to be performed within approximately one second.

In FIG. 13, after the transfer control unit 81 c transmits a state confirmation command, it is determined whether or not 500 msec has elapsed since the response is lost in step S <b> 15.
FIG. 16 is a diagram for explaining the detection of transmission failure of the wireless modems 77 and 78 and the transmission cycle. As shown in FIG. 16, after issuing a command message from the transfer control unit 81c to the wireless modems 77 and 78, there is a response corresponding to ACK (Acknowledgement) and NAK (Negative Acknowledgement) from the wireless modems 77 and 78. Since the message in this response is divided between the wired side and the wireless side, it can be determined from which side the response is sent.

That is, as shown in FIG. 16, when a status confirmation command is transmitted from the transfer control unit 81c to the wireless modem 77, a response message corresponding to ACK and NAK is returned from the wireless modem 77. When a state confirmation command is transmitted from the wireless modem 77 to the wireless modem 78, a response message corresponding to ACK and NAK is returned from the wireless modem 78. As described above, the response period of the state confirmation command is set to 56 msec.
Therefore, “When there is no response”
(1) When a response corresponding to ACK or NAK from the wireless modem 77 does not return even after a predetermined time has elapsed (the predetermined time is, for example, in consideration of transmission time, command processing time, carrier sense, etc. (It can be set to 5ms)
(2) When the response from the wireless modem 77 is NAK (3) When the response corresponding to ACK or NAK from the wireless modem 78 does not return after a predetermined time elapses (the predetermined time is the transmission time) In consideration of command processing time, carrier sense, etc., it can be set to 44 ms, for example)
(4) The response from the wireless modem 78 may be NAK. It should be noted that the time when the status confirmation command was last transmitted may be “when no response is received”.

Returning to FIG. 13 and continuing the description, when 500 msec elapses after the response to the state confirmation command is lost (step S15), the transfer control unit 81c displays the buffer memories 77a, 77b, 78a, and 78b of the wireless modems 77 and 78. Is cleared, that is, initialization is performed (step S16).
Thereafter, the transfer control unit 81c reconstructs communication and transmits a state confirmation command again (step S1).

Due to troubles between the wireless modems 77 and 78, there may be cases where extra data such as pieces of data remain in the buffer memories 77a, 77b, 78a and 78b, and the remaining data by clearing the buffer memory. Only prevents it from being sent.
If there is no response to the state confirmation command even after the buffer is cleared a predetermined number of times, the operation of the side arm type transfer device 29 is stopped (S18).

Next, S10, S11, and S12 will be described.
As described above, the transfer control unit 81c transmits an operation command in step S5, and then transmits a state confirmation command in step S6. When receiving a response to the state confirmation command, the transfer control unit 81c performs state confirmation (step S8) and determines whether or not the operation is completed. If the operation has not been completed, it is determined whether 500 msec has elapsed since the operation command was issued (step S10). Next, when 500 msec has not elapsed since the operation command was issued, the transfer control unit 81c determines whether 200 msec has elapsed since the previous operation command was transmitted (step S11).

Then, the state confirmation command is repeatedly transmitted until 200 msec elapses after the previous operation command is transmitted (step S6). During this 200 msec, when the transfer control unit 81c confirms the completion of the operation, the control returns to step S1, and the state confirmation command is repeatedly transmitted.
On the other hand, when 200 msec has elapsed since the previous operation confirmation command was transmitted, the transfer control unit 81c transmits the operation command again (step S5). As described above, the transfer control unit 81c repeatedly transmits the operation command at an interval of 200 msec (first predetermined time). In addition, when the actual operation with respect to the operation command requires 200 msec or more, the retransmission is performed, but the command type motor units 701 to 706 ignore the command during operation even if the operation command is retransmitted and received. If it is set as such, there is no problem.

When 500 msec has elapsed since the first operation command was transmitted, the transfer control unit 81c clears, that is, initializes the buffer memories 77a, 77b, 78a, and 78b of the wireless modems 77 and 78 (step S12). ). If the initialization has not been repeated a predetermined number of times, the transfer control unit 81c reconstructs communication and transmits an operation command again (step S5). Here, the first operation command indicates the first operation command among the operation commands performed before the buffer memory clear in step S12. Specifically, when the first operation command is sent in step S5 and then the second operation command is sent via steps S6 to S11, the first operation command is the first operation command. . When the buffer memory clear is performed, the first operation command is also cleared, and the first operation command after the buffer memory clear is performed becomes the first operation command.
In addition, even after the operation command is transmitted in step S5 and after the state confirmation command is transmitted in step S6, the response cannot be received, that is, when the response is lost as described above, every 200 msec as described above. An operation command is issued, and after 500 msec has elapsed from the first operation command, buffer clear (step S13) is performed.

FIG. 17 is a diagram illustrating the passage of time when resending the operation command and clearing the buffer memory.
In FIG. 17, the retransmission time between the wireless modem 77 and the wireless modem 78 is shown. The retransmission interval of the status confirmation command from the wireless modem 77 to the wireless modem 78 is 7.5 msec, and is repeated up to 10 times. On the other hand, the retransmission interval from the wireless modem 78 to the wireless modem 77 is also set to 7.5 msec, which is repeated up to 10 times.

The total time of 180 to 230 msec including the retransmission time and the number of repetitions of the wireless modem 77 and the wireless modem 78 and the clear time of the wireless modem 78 is determined because the retransmission interval of the operation command is 200 msec.
As described above, the drive motors 414a, 414b, 415a, 415b, 416a, and 416b can be controlled from the transfer control unit 81c using wireless communication.

The right arm 100 is also provided with a wireless modem. Like the central arm 110, the drive motors 404, 405, and 406, each of which constitutes a part of the command type motor unit, are connected to the transfer control unit 81c. It is controlled using wireless communication. Also, the left arm 120 is provided with a wireless modem, and like the central arm 110, the drive motors 424, 425, and 426 constituting part of the command type motor unit are respectively connected to the transfer control unit 81c. It is controlled using wireless communication.
<3. Main features>

(3-1)
The side arm type transfer device 29 (an example of the transfer device) of the above embodiment is a load transfer device, and includes a drive motor 414a (an example of an actuator), a sensor 801, and a servo circuit 802 (a control circuit). An example), a wireless modem 78 (an example of a first communication device), a wireless modem 77 (an example of a second communication device), and a transfer control unit 81c (an example of a controller). The sensor 801 detects the operation of the drive motor 414a. The servo circuit 802 is connected to the drive motor 414a and the sensor 801. The wireless modem 78 is connected to the servo circuit 802. The wireless modem 77 can be connected to the wireless modem 78. The transfer controller 81 c repeatedly transmits a state confirmation command for confirming the state of the drive motor 414 a via the wireless modem 77. In addition, the transfer control unit 81c transmits an operation command for operating the drive motor 414a via the wireless modem 77, and after 200 msec (an example of the elapse of the first predetermined time) as a response to the state confirmation command. When the operation completion information of the drive motor 414a is not received, the operation command is retransmitted.

As described above, after the operation command to the drive motor 414a is received, even when the completion information of the operation of the drive motor 414a cannot be received within 200 msec (an example of the first predetermined time), the operation of the side arm transfer device 29 is stopped. Instead, the operation command is retransmitted.
By this, even if the communication temporarily fails and the wireless modem 78 cannot receive the operation command or the wireless modem 77 cannot receive the operation completion information, the operation command is retransmitted. The operation of the side arm type transfer device 29 can be continued.

Even if the drive motor 414a operates after re-transmission, the delay time of the side arm type transfer device 29 can be reduced by setting the retransmission interval to a short time interval (200 msec). The operation of the arm type transfer device 29 can be brought into a non-stopped state.
(3-2)

The transfer control unit 81c (an example of a controller) repeatedly retransmits an operation command until 500 msec (an example of a second predetermined time) elapses, and is driven even after 500 msec (an example of a second predetermined time) has elapsed. When the operation completion information of the motor 414a is not received, the operation command may be retransmitted after clearing the buffer memory 77a (an example of a transmission buffer memory).
Thus, when the operation completion information cannot be received even after 500 msec (an example of the second predetermined time) has elapsed, the transmission buffer memory is once cleared and the operation command is retransmitted.

By clearing the transmission buffer in this way, if a communication failure occurs due to a part of the command message remaining in the transmission buffer, the failure can be removed. The operation of the side arm type transfer device 29 can be continued by transmission.
(3-3)

In the above embodiment, the servo circuit 802 feeds back the detection result of the sensor 801 to the drive motor 414a.
Thus, by using the servo circuit 802 and feeding back the detection result of the sensor 801 to the drive motor 414a, the operation of the drive motor 414a can be appropriately controlled.

(3-4)
In the side arm type transfer device 29 of the above embodiment, the right front end hook 114a, the left front end hook 114b, the right center hook 115a, the left center hook 115b, the right rear end hook 116a, A left rear end hook 116b is provided. The right front end hook 114a, the left front end hook 114b, the right center hook 115a, the left center hook 115b, the right rear end hook 116a, and the left rear end hook 116b are brought to the luggage side by the drive motors 414a, 414b, 415a, 415b, 416a, and 416b. It is possible to leave and exit. Hook (right front end hook 114a, left front end hook 114b, right center hook 115a, left center hook 115b, right rear end hook 116a, left rear end hook 116b), drive motor (drive motors 414a, 414b, 415a, 415b, 416a, 416b), a plurality of sensors 801 and servo circuits 802 are provided. Wireless communication is performed by the wireless modem 77 and the wireless modem 78. The transfer control unit 81c transmits a state confirmation command and identifies which of the plurality of drive motors 414a, 414b, 415a, 415b, 416a, and 416b is the state confirmation command. Node information (an example of identification information) is transmitted. The transfer controller 81 c receives a response to the drive motor state confirmation command specified by the identification information via the wireless modem 77.

As described above, node information (an example of identification information) for specifying which of the plurality of drive motors 414a, 414b, 415a, 415b, 416a, and 416b is the state confirmation command is also transmitted together with the state confirmation command. The
Therefore, even if a plurality of drive motors are provided, the state of the drive motor can be confirmed for a specific drive motor.

Further, when wireless communication is performed using the wireless modem 77 and the wireless modem 78, buffering by other radio waves can be suppressed by repeatedly transmitting the state confirmation command.
<4. Other embodiments>
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.

(A)
In the above-described embodiment, the configuration including the three arms has been described as the side arm transfer device 29. However, the side arm transfer device may be configured to include only one pair of arms. Also, a side arm transfer device having two pairs of arms may be used.

Further, the arm provided in the side arm type transfer device of the above embodiment is a single reach type in which the length in the extended state is about twice the length before the extension, but the length in the extended state It may be a double reach type that is about three times the length before the stretch.
When trying to drive by providing a hook at the tip of such a double reach type arm, it was difficult to pass the cable through the arm, so it was necessary to do it wirelessly, but with conventional wireless communication control, The operation was delayed due to interference of other radio waves. For this reason, it has been difficult to drive the hook provided at the tip of the double reach arm. However, in this embodiment, stable operation can be realized even when wireless is used. It is more useful for a mounting device.

Further, the present invention is not limited to the side arm type, and can be applied to a transfer device having a configuration in which a movable member is provided at the tip of a member that expands and contracts.
(B)
In the above embodiment, the communication between the transfer control unit 81c and the drive motors 414a, 414b, 415a, 415b, 416a, and 416b is performed wirelessly, but not limited to wireless and may be wired.

(C)
In the above embodiment, the hooks of the right arm 100, the central arm 110, and the left arm 120 are all controlled via radio. For example, only the hook of the central arm 110 is controlled via radio. The hooks of the right arm 100 and the left arm 120 may be controlled by wire.

(D)
In the above embodiment, the command type servo motor unit is provided. However, the present invention is not limited to this, and a DC motor and a pick microcomputer may be used in combination.
(E)
In the above embodiment, the side arm type transfer device, which is an example of the transfer device, is provided on the stacker crane and can be moved in the vertical direction, and the load is placed on the lifting platform 27. Is not something For example, a side arm type transfer device may be arranged at each stage of the front rack 2a and the rear rack 2b. In this case, the side arm transfer device has a shuttle carriage on which a load is placed, and the arm is arranged on the shuttle carriage. The side arm type transfer device is configured to be movable in the left-right direction at each stage by the shuttle carriage.
Thus, when the side arm type transfer device is provided in the stacker crane, the lifting platform 27 is used as a mounting table on which a load is placed, but the side arm type transfer device is arranged in each stage. In this case, a lift platform is not provided unlike a stacker crane, and a shuttle cart is used as a mounting table.

  The transfer device of the present invention has an effect capable of stable operation, and is useful as a transfer device used for a stacker crane of an automatic warehouse.

1: Automatic warehouse 2a: Front rack 2b: Rear rack 3: Stacker crane 5: Traveling passage 7: First strut 9: Second strut 10: Lifting unit 11: Luggage storage shelf 17: Warehousing station 19: Unloading station 21a: Top Guide rail 21b: Lower guide rail 22: Traveling carriage 23a: Left traveling wheel 23b: Right traveling wheel 23c: Front guide roller 23d: Rear guide roller 25a: Left mast 25b: Right mast 27: Lift platform 29: Side arm transfer Equipment (an example of transfer equipment)
77: Wireless modem (example of second communication device)
77a: buffer memory 77b: buffer memory 78: wireless modem (an example of a first communication device)
78a: buffer memory 78b: buffer memory 79: RS485 converter 80: control panel 81: crane control unit 81a: travel control unit 81b: lift control unit 81c: transfer control unit (an example of a controller)
81ca: command message generation unit 81cb: state monitoring unit 82: control unit 85: transmission unit 85c: buffer memory 86: reception unit 86c: buffer memory 87: travel motor 88: rotary encoder 89: lift motor 90: rotary encoder 99 : Opening and closing motor 100: Right arm 101: Right base member 101a: Connecting portion 101b: Protruding portion 101c: Guide rail 102: Right middle member 102a: Roller 102b: Roller 103: Right top member 103a: Roller 103c: Guide rail 104: Front end Hook 104e: Upper end 105: Center hook 106: Rear end hook 110: Center arm 111: Center base member 112: Center middle member 113: Center top member 114a: Right front end hook 114ae: Upper end 114b: Left front end Hook 114be: Upper end portion 115a: Right center hook 115b: Left center hook 116a: Right rear end hook 116b: Left rear end hook 120: Left arm 121: Left base member 122: Left middle member 123: Left top member 124: Front end hook 124e: upper end portion 125: central hook 126: rear end hook 130: right side guide 141: first central guide 142: second central guide 150: left side guide 160: right side drive motor 161: gear portion 161a: gear 161b: shaft 163: Gear portion 163a: Gear 165: Drive motor 170: Left drive motor 180a: Front guide rail 180b: Rear guide rail 181a: Front guide rail 181b: Rear guide rail 200: Conveyor 210: Front conveyor 211: Belt 212 Motor 213a: Roller 213b: Roller 220: Rear conveyor 221: Belt 222: Motor 223a: Roller 223b: Roller 230: Front conveyor 231: Belt 232: Motor 233a: Roller 233b: Roller 240: Rear conveyor 241: Belt 242: Motor 243a: Roller 243b: Roller 404: Drive motor 405: Drive motor 406: Drive motor 414: Drive motor 414a: Drive motor (an example of an actuator)
414b: Drive motor (an example of an actuator)
415a: Drive motor (an example of an actuator)
415b: Drive motor (an example of an actuator)
416a: Drive motor (an example of an actuator)
416b: Drive motor (an example of an actuator)
424: Drive motor 425: Drive motor 426: Drive motor 701: Command type motor unit 702: Command type motor unit 703: Command type motor unit 704: Command type motor unit 705: Command type motor unit 706: Command type motor unit 801: Sensor 802: Servo circuit (an example of a control circuit)
803: Buffer memory 804: Message creation unit 805: Status confirmation unit

Claims (4)

A load transfer device,
An actuator,
A sensor for detecting the operation of the actuator;
A control circuit connected to the actuator and the sensor;
A first communication device connected to the control circuit;
A second communication device connectable to the first communication device;
A controller that repeatedly transmits a state confirmation command for confirming the state of the actuator via the second communication device,
After the controller transmits the operation command for operating the actuator via the second communication device, the completion information of the operation of the actuator as a response to the state confirmation command even after the first predetermined time has elapsed. If the command is not received, the operation command is retransmitted.
Transfer device. The controller is
The operation command is repeatedly retransmitted until a second predetermined time elapses, and if the actuator operation completion information is not received even after the second predetermined time elapses, the transmission buffer memory is cleared, Re-send operation command,
The transfer device according to claim 1. The control circuit is a servo circuit,
The servo circuit feeds back a detection result of the sensor to the actuator;
The transfer apparatus according to claim 1 or 2. An arm that advances and retracts to the side of the luggage,
A hook provided on the arm and retractable to the side of the load by the actuator;
A plurality of the hook, the actuator, the sensor, and the control circuit are provided,
Communication between the first communication device and the second communication device is performed wirelessly,
The controller transmits the state confirmation command, and transmits identification information for identifying which actuator among the plurality of actuators the state confirmation command is,
Receiving a response to the state confirmation command of the actuator specified by the identification information via the second communication device;
The transfer device according to claim 1.

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