JP4688004B2 - Article conveying device - Google Patents

Article conveying device Download PDF

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JP4688004B2
JP4688004B2 JP2008111627A JP2008111627A JP4688004B2 JP 4688004 B2 JP4688004 B2 JP 4688004B2 JP 2008111627 A JP2008111627 A JP 2008111627A JP 2008111627 A JP2008111627 A JP 2008111627A JP 4688004 B2 JP4688004 B2 JP 4688004B2
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article
mounting
control
storage
support
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JP2009263035A (en
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俊人 上田
博史 坂田
健輔 池永
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株式会社ダイフク
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  According to the present invention, a traveling carriage that can travel along a traveling path set on the front side of a storage shelf in which storage units for storing articles are provided vertically and horizontally, and an elevating mast standing on the traveling carriage. An article mounting body that can be moved up and down and that can be moved back and forth between a protruding position that protrudes toward the storage shelf and a retracted position that retracts toward the traveling path, and an article stored in the storage portion are taken out. Control means for controlling the lifting and lowering operations of the article placing body to perform the take-out process and the storage process for storing the article in the storage section, and the control means as the take-out process includes the article The article to be retracted to the retraction position after being raised from the ascending start position to the ascending end position in a state where the mounting body is projected to the projecting position and located in a lower space of the article stored in the storage unit. Raising and lowering the mounting body An article transport device is configured to perform a scooping control for controlling the movement and extending and retracting operation.

  Such an article conveying device causes the traveling carriage to travel along a traveling path set on the front side of the storage shelf, raises and lowers the article mounting body in the vertical direction along a lifting mast standing on the traveling carriage, and Taking out the article from the storage unit and storing the article in the storage unit by retracting the mounting body over the protruding position protruding to the storage shelf side and the retreat position retreating to the traveling path side Is supposed to do.

  In the storage process, the control means causes the traveling carriage and the article placement body to travel and raise and lower on the front side of the storage shelf, and the article placement body is stored corresponding to the storage unit in which the article to be stored is to be stored. The storage unit space for storing the article placed on the article placement body by causing the article placement body to project to the projecting position by placing the control unit at the processing position and executing the wholesale control. In this state, after lowering from the lowering start position to the lowering end position, the article mounting body is retracted to the retraction position. While the article mounting body is lowered from the lowering start position to the lowering end position, the article is transferred from the article mounting body to a support member that forms a storage section, and the article is stored in the storage section.

  In the take-out process, the control means causes the traveling carriage and the article placement body to travel and raise / lower on the front side of the storage shelf, and corresponds to the storage unit in which the article placement object is stored. In the state where the article mounting body protrudes to the protruding position and is positioned in the lower space of the article stored in the storage portion, by the control means performing scooping control. After raising from the ascent start position to the ascent end position, retreat to the retirement position. While the article placement body is raised from the rise start position to the rise end position, the article is transferred from the support member forming the storage unit to the article placement body, and the article is placed on the article placement body.

  There are various articles conveyed by the article conveying apparatus. For example, there is an article that conveys a glass substrate container that stores a glass substrate or the like used for a liquid crystal display or a plasma display in a laminated state as an article. When the glass substrate container is to be transported as an article, the article transport apparatus is installed in a clean room configured to maintain the storage unit in a dust-free environment by purified air ventilation means (for example, a patent) Reference 1).

JP 2000-16518 A

  By the way, when the weight of the article is heavy, the article is transferred from the article support member in the storage unit to the article placement body while the article placement body is raised from the rise start position to the lift end position in the extraction process. As a result, the load on the article mounting body increases, the lifting mast and the traveling carriage standing on the traveling carriage are slightly tilted toward the storage shelf, and the article placing body at the protruding position protrudes in the retracting direction. There may be a slight displacement in the back of the storage unit.

  And since the tilting phenomenon of the article conveying device occurs in the process of shifting the weight of the article stored in the storage unit from the article support member of the storage shelf to the article mounting body, at the moment when the tilting phenomenon occurs, A part of the weight of the article is supported by the article mounting body, and the remaining weight of the article is supported by the article support member of the storage shelf. Therefore, when the article placement body is displaced to the back side of the storage section due to the tilting phenomenon of the article transport device, a push to push the article into the back side of the storage section with respect to the article stored in the storage section Operating force is applied. Further, at the moment when the tilt phenomenon occurs, the weight of the article applied to the article support member of the storage shelf that supports the article in the storage unit is reduced, so that the friction holding force against the external force in the horizontal direction by the article support member is reduced. Is in a lowered state.

  Therefore, when the article transport device tilts and the article mounting body is displaced to the back side of the storage unit by an amount corresponding to the tilt amount of the article transport device, the pushing operation to the back side of the storage unit acting on the article is performed. The force exceeds the friction holding force with respect to the operation force in the depth direction of the storage unit by the article support member of the storage shelf, and the article is rubbed with the article support member of the storage shelf and integrated with the article mounting body in an integrated state of the storage unit. It will move toward the back side.

  The occurrence of rubbing due to movement of such articles causes wear of storage shelves and articles, and dust is generated due to mutual rubbing, which is an undesirable phenomenon in terms of quality assurance especially in those installed in clean rooms. It is.

  Therefore, in the conventional article transport apparatus, when the control unit executes scooping control and takes out the article stored in the storage unit in the take-out process, the load on the article mounting body at the protruding position increases. In order to prevent the article mounting body from being displaced from the protruding position as much as possible, measures such as increasing the rigidity of the lifting mast, strengthening the mounting structure of the lifting mast, and improving the grounding stability of the traveling carriage are taken. ing.

  However, with such measures, the tilting amount of the article transporting device cannot be completely eliminated by setting the tilting amount to zero, so that the article mounting body at the protruding position is not displaced to the protruding side in the retracting direction. It cannot be done, and rubbing occurs between the article and the storage shelf. Especially when it is installed in a clean room, it is necessary to secure the air flow of purified air from the ceiling side to the floor side, so the upper end side of the lifting mast is connected to the ceiling side with a ceiling guide rail etc. Since the lower and upper masts are supported by the traveling carriage and are projected in a cantilevered manner, the upper end side of the upper and lower mast is centered on the lower end. Therefore, it is difficult to suppress the occurrence of the tilt phenomenon, so that it is difficult to suppress the rubbing that occurs between the article and the storage shelf.

  Moreover, in the case of transporting the glass substrate container as an article as described above, the article has become larger and heavier in order to cope with the recent increase in the screen of liquid crystal displays and plasma displays, and it is difficult to suppress the tilting phenomenon. Since it is installed in a clean room, the problem of dust generation due to rubbing between articles and storage shelves is becoming prominent.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to prevent the rubbing between the storage shelf and the article as much as possible when taking out the article stored in the storage unit of the storage shelf. The point is to provide a transfer device.

In order to achieve this object, an article transporting apparatus according to the present invention includes a traveling carriage that can travel along a traveling path that is set on the front side of a storage shelf in which storage units for storing articles are provided vertically and horizontally; An article mounting body that can be moved up and down along a lifting mast erected on the traveling carriage and that can be moved back and forth between a protruding position protruding toward the storage shelf and a retracted position retracting toward the traveling path. And a control means for controlling the raising / lowering operation and the withdrawal operation of the article mounting body to perform an extraction process for taking out an article stored in the storage unit and a storage process for storing the article in the storage unit. From the ascent start position to the ascent end position in the state in which the control means causes the article placement body to project to the projecting position and is positioned in the lower space of the article stored in the storage section as the take-out process. Said after raising It is configured to execute scooping control for controlling the lifting and lowering operations of the article mounting body to retreat to the retracted position, and the first characteristic configuration is that the control means includes the control unit In the scooping control, the article placement body is retracted by a set distance to the retraction position side at a specific timing while the article placement body is raised from the ascent start position to the ascent end position. It is configured to control the raising / lowering operation and the withdrawal operation of the placing body, and in the scooping control, the withdrawal speed when the article placing body is retracted by the set distance at the specific timing, Elevating and lowering operation of the article mounting body so as to be faster than the exit / retreat speed when the article mounting body is raised to the lift end position and then retracted to the retraction position When the control means is configured to control the lifting / lowering operation, and the elevating speed of the article placing body at the specific timing raises the article placing body from the ascent start position in the scooping control. The lifting / lowering operation of the article mounting body is controlled to be lower than the lifting / lowering speed .

  That is, in the take-out process for taking out the article stored in the storage unit, the control unit performs scooping control, so that the article placement is performed at a specific timing while the article placement body is raised from the rise start position to the lift end position. The body can be retracted by a set distance to the retirement position side.

  When the tilting phenomenon of the article transport device occurs in the take-out process, the article placing body is displaced to the protruding side in the withdrawal / retracting direction. However, at a specific timing, the article placing body is retracted to the retraction position side by a set distance. Thereby, the displacement amount by which the article mounting body is displaced toward the projecting side in the retracting direction can be offset by the retraction amount for retreating the set distance. Then, by appropriately selecting the specific timing, the period during which the article placement body is retreated can be made to correspond to the period during which the article placement body tends to be displaced to the protruding side due to the tilt phenomenon.

  Therefore, even if the article conveying device tilts, the article placing body is retracted from the storage unit by the tilting phenomenon of the article conveying device by retracting the article placing body toward the retraction position side by a set distance. Even if it is going to be displaced to the protruding side in the direction, the amount of actual displacement is suppressed, and the change in the position in the withdrawing / retracting direction with respect to the storage part of the article mounting body is suppressed.

  In short, the amount of displacement of the article mounting body due to the tilt of the article conveying device is offset by the retraction amount of the set distance at a specific timing, and the position of the article mounting body in the retracting direction changes as much as possible. By avoiding this, it is possible to prevent the article from moving in the storage unit as much as possible in the direction in which the article placement body is withdrawn.

  Therefore, even if the article transport device tilts in the take-out process, the displacement of the article placement body in the withdrawal direction is suppressed by the retraction operation of the set distance at a specific timing, so that the article is stored. It is possible to prevent the movement to the back side of the storage unit while rubbing against the shelf as much as possible.

  The set distance for retracting the article mounting body at the specific timing of the scooping control is generally in the range of about 3 [mm] to 8 [mm], the weight of the article to be taken out, and the storage shelf of the storage unit in which the article is stored May be set differently according to the amount of tilt of the article conveying device in the take-out process predicted from various conditions such as the height of the item, or a fixed value in the above range may be set.

  As the specific timing, as the article mounting body rises by scooping control, the weight of the article stored in the storage unit starts to shift from the storage shelf to the article mounting body, so that the tilting phenomenon of the article transporting device may occur. It is preferable to select a timing corresponding to the time when the article is generated and the article moves to the back side of the storage unit.

  The problem of the article moving to the back side of the storage section due to the tilting phenomenon of the article transport device is that the friction holding force between the article and the storage shelf gradually decreases as the article placement body rises, Since the body is considered to be generated by lowering the pushing operation force that pushes the article into the storage shelf, the timing at which the friction holding force falls below the pushing operation force or the timing immediately before it is selected as the start timing of the specific timing. It is preferable to do.

  For example, when the article placement body is positioned at a specific position that is located a specific distance above the lift start position after the article placement body abuts the bottom of the article and the article is pushed into the storage shelf. You may select as a start time of a timing, and you may select the time when the elapsed time after an article mounting body started a raise from a raise start position reached a specific time as a start time of a specific timing. Further, load detection means for detecting the load of the article on the article placement body may be provided, and when the detection information of the load detection means exceeds the specific load, the start timing of the specific timing may be selected. Note that the optimum values of parameters such as the specific position, specific time, and specific load can be experimentally obtained.

  As described above, according to the first characteristic configuration of the present invention, when an article stored in the storage unit of the storage shelf is taken out, an article transport device that can prevent the storage shelf and the article from rubbing as much as possible has been obtained. .

Further , when scooping control is executed by the control means, the article placement body retreats by the set distance at a specific timing, but the exit / retreat speed at that time raises the article placement body to the ascent end position. Since this is a speed different from the exit / retreat speed when retreating to the retirement position after that, each exit / retreat speed can be set to a suitable exit / retreat speed.

  For example, after raising the article placement body to the lift end position, the article is completely separated from the storage shelf and completely placed and supported by the article placement body. It is in a situation that is truly affected. Therefore, the article mounting body is lifted and finished, assuming that an excessively high speed of withdrawal and rapid acceleration / deceleration should be avoided so that the article can maintain a stable state on the article mounting body. After raising to the position, the exit / retreat speed when retreating is set to a relatively low speed. Thus, when the article placement body is retreated after being raised to the lift end position, the behavior of the article on the article placement body becomes stable.

  On the other hand, when the article placement body is retracted at a specific timing, the article is not completely separated from the storage shelf, and a part of its weight is supported by the storage shelf. The effect of this is mitigated, and the retirement operation at a specific timing is completed in a very short time. Therefore, it is acceptable that the article placement body temporarily changes suddenly, and it is necessary to make the article placement body at a specific timing at a specific timing. Set the exit / exit speed for retirement to a relatively high speed. Thus, when the article placement body is retired at a specific timing, the behavior of the article is less likely to rub against the storage shelf.

  Therefore, when the article placement body is retreated in the take-out process, the behavior of the article can be made in accordance with the purpose of performing the retraction action.

As described above, according to the first characteristic configuration of the present invention, when the article placement body is retreated in the take-out process, the retreat operation is performed by setting the retreat speed to a retreat speed suitable for the retreat operation situation. The behavior of the article can be adapted to the purpose of the retirement operation.

  In the take-out process, when the scooping control is executed by the control means, the article mounting body rises from the ascent start position to the ascent end position. During this time, the article placement body abuts on and supports the articles stored in the storage section. The load of the article is gradually increased while the load of the article is completely supported.

  In order to shorten the time required for the article take-out process, it is necessary to increase the ascending / descending speed of the article mounting body as much as possible, but when it is uniformly raised from the ascent start position to the ascent end position, The time from when the article placement body abuts on the article until it changes to a state that fully supports the load of the article is shortened, and the period during which the article placement body moves due to the tilting phenomenon of the article transport device is shortened. End up. Therefore, even if the article placement body is retracted by a set distance at a specific timing, the timing when the article placement body is retracted is not synchronized with the timing when the article moves due to the tilting phenomenon of the article transport device, and the article and the storage shelf. There is a high possibility that the occurrence of rubbing with the material cannot be suppressed.

  Therefore, the load of the article is placed from the storage shelf by lowering the lifting speed when raising the article placement body at a specific timing than the lifting speed when raising the article placement body from the rising start position. Since it can be moved slowly to the body, the period during which the movement of the article due to the tilting phenomenon of the article conveying device occurs can be lengthened.

  Accordingly, in order to offset the movement of the article placing body due to the tilting phenomenon of the article transporting device by the movement of the article placing body at a specific timing, the timing when the article placing body moves due to the tilting phenomenon of the article transporting device, and at the specific timing It becomes easy to synchronize with the time when the article placement body is retracted by a set distance, and the occurrence of a situation where it is not possible to prevent the article supported by the article placement body from rubbing against the storage shelf can be minimized.

As described above, according to the first characteristic configuration of the present invention, it is possible to minimize the occurrence of a situation in which an article cannot be prevented from rubbing against the storage shelf while increasing the lifting speed in the take-out process as much as possible to shorten the take-out process. It came to obtain the goods conveyance apparatus which can do.

The second characteristic configuration of the article transport apparatus according to the present invention, the first Japanese Cho構Oite for forming, said control means, in that it is configured to change the set distance according to the weight of the article .

  That is, as the weight of the article becomes heavier, it is considered that the amount of inclination of the article conveying device that is inclined in the take-out process also increases, so when the retraction operation amount at a specific timing is constant, when the weight of the article is large, The amount of displacement of the article mounting body toward the protruding side due to the inclination of the article transporting device increases, and the retraction amount at a specific timing is sufficient to sufficiently cancel the amount of displacement of the article mounting body in the protruding direction. If the article placement body is displaced to the protruding side and the article moves to the protruding side in the retracting direction and the article rubs against the storage shelf or the weight of the article is small, the article due to the inclination of the article transport device The amount of displacement of the mounting body toward the protruding side becomes smaller, and the retraction operation amount at a specific timing is more than the retraction amount that appropriately offsets the amount of displacement of the article mounting body in the protruding direction. Becomes, there is a fear that a situation where an article by the article mounting body is displaced to retire side article moved to the retired side projecting and retracting direction or rubbing the housing shelf occurs.

  Therefore, the control means changes the set distance according to the weight of the article.For example, when the article is heavy, the set distance is lengthened to increase the retraction operation amount, and when the article is light, the set distance is set. The set distance can be set to a value suitable for the weight of the article, such as shortening the retraction operation amount and shortening the retraction operation amount, so that an appropriate retirement operation amount according to the weight of the article can be obtained. When the article placement body is retreated by a set distance, it can be retreated by a distance suitable for the weight of the article.

  Therefore, even if the weight of the article is different, the retraction operation amount at the specific timing corresponds to the amount of displacement of the article mounting body according to the weight of the article, and even when taking out an article with a different weight from the storage unit, It is possible to prevent rubbing between the article and the storage shelf as much as possible.

As described above, according to the second characteristic configuration of the present invention, even when the weight of an article taken out from the storage unit is different, an article transport apparatus that can prevent the storage shelf and the article from rubbing as much as possible has been obtained.

The third characteristic configuration of the article transport apparatus according to the present invention, the first or second feature Oite the configuration, the article mounting body is a mounting body body is projecting and retracting operation, placing support articles The support body is configured such that the support body is movable along the retracting direction of the mounting body main body, and is provided in a state in which it is urged to return to the initial position in the moving direction.

  That is, since the support provided on the mounting body main body of the article mounting body is movable along the retracting direction of the mounting body main body and is urged to return to the initial position in the moving direction. When the article placement body in the protruding position is lifted from the lower space of the article and brought into contact with the article in performing the take-out process for taking out the article stored in the storage section, the article is positioned at the initial position in the placement body main body. The support can be brought into contact with the article.

  And since a support body can move along the withdrawing / retracting direction of a mounting body main body, even if the mounting body main body is retracted by a set distance at a specific timing, the set distance moves to the protruding side due to the tilting phenomenon of the article transport device. If there is an excess or deficiency with respect to the amount of displacement, or if the retraction operation timing at a specific timing and the displacement timing in the exit / retraction direction of the article mounting body due to the tilting phenomenon of the article transporting device deviate, Even if the article placement body is displaced from the protruding position in the retracting direction of the article placement body, the support body is placed on the placement body main body from the initial position by an amount corresponding to the amount of displacement from the projection position of the article placement body. By moving along the direction in which the main body is withdrawn / retracted, the position of the support relative to the storage portion can be prevented from changing as much as possible.

  Therefore, the set distance and timing for retracting the article mounting body at a specific timing in the scooping control are deviated from the optimum values for offsetting the displacement of the article mounting body to the protruding side due to the inclination of the article transporting device. Even if the deviation amount is larger than the allowable limit, the support for supporting the article moves by an appropriate amount in the withdrawal direction with respect to the mounting body main body, so It is possible to prevent the position in the storage unit from being changed as much as possible. For this reason, the timing of the specific timing in the scooping control and the setting allowable range of the set distance for retracting the article mounting body at the specific timing are expanded.

In other words, it is ideal to synchronize with the timing when the article transport device tilts due to the load of the article as the specific timing while raising the article placement body from the rising start position to the lifting end position. However, since the timing of the article by tilting phenomenon of the article transport device is moved to the rear side of the retract and portion is very short, in reality, it is difficult to set such a timing. In this respect, the article mounting body is movable on the mounting body main body to be withdrawn / retracted, and the support body for placing and supporting the article can be moved along the retracting direction of the mounting body main body, and the movement thereof. When the article placement body is retracted, the support body supporting the article is moved to the projecting side with respect to the placement body main body. Since only the placing body main body can be retreated, the article placing body can be retreated at an earlier time than the ideal timing without moving the article to the retreating side.

  Therefore, by retracting the article mounting body in advance earlier than the ideal timing, when the placing body main body is displaced to the protruding side due to the tilt of the article transporting device, the initial operation is performed by a previously performed retraction operation. By appropriately moving the support located on the projecting side from the position to the initial position side or the position on the retreating side from the initial position, it is possible to appropriately avoid the movement of the article to the projecting side due to the tilt of the article conveying device. Can do.

  In addition, by retracting the article mounting body in advance at an earlier time than the ideal timing, the support body is moved from the initial position to the protruding side position relative to the mounting body main body, and is returned to the initial position. Even if the mounting body main body is displaced to the projecting side, the return-biased support body moves toward the initial position in the retracting direction, so that the position of the support body in the storage unit is changed. Can be maintained. Therefore, for example, as the support body is fixedly attached to the upper surface portion of the elastic member that is elastically deformable provided in a fixed state on the article mounting body and has a thickness in the vertical direction, Corresponding to the displacement speed of the support body to the projecting side even if the mounting body body is displaced to the projecting side in a very short time if the support body moves back to the initial position side by the restoring force of the elastic member By moving back to the initial position side at a speed, the support body moves relative to the mounting body body while maintaining the position in the storage section while the mounting body body is displaced to the protruding side in the retracting direction. Therefore, it is possible to more accurately suppress the article from moving to the protruding side.

  In this way, the timing that is earlier than the ideal timing is set as the specific timing without strictly synchronizing the specific timing with the tilting phenomenon of the article transport device, and it is possible to appropriately avoid the movement of the article in the exit / retreat direction. can do.

  Also, the set distance to be retired at the specific timing is ideally set to a distance corresponding to the tilt amount of the article transporting device. However, since the tilting amount of the article conveying device changes due to various factors, the ideal distance is not limited to one value. In that respect, by configuring the support so as to move in the direction in which the article placement body moves, the movement of the support can be performed even if the set distance is not a distance that exactly corresponds to the tilt amount of the article transport device. Therefore, the excess and deficiency is absorbed, and it is possible to accurately avoid the movement of the article in the exit / retreat direction.

As described above, according to the third characteristic configuration of the present invention, it is easy to set the timing of the specific timing in the scooping control and the set distance for retracting the article mounting body at the specific timing, and the article moves in the exit / retreat direction. This has led to the provision of an article transport device that can accurately avoid this.

A fourth characteristic configuration of the article transporting apparatus according to the present invention is that, in the third characteristic configuration, a plurality of the support bodies are provided on the mounting body main body in a state of being dispersedly arranged in a plan view.

  That is, since the plurality of supports are distributed and arranged on the mounting body main body in a plan view, the weight of the articles may be shared by the plurality of supports so that the weight of the articles shared by each support can be reduced. can do. Therefore, by reducing the size of each of the plurality of supports and distributing them according to the plan view shape of the mounting body main body, the plan view shape of the article mounting body is changed to the plan view shape of the mounting body main body. As close as possible.

  Then, by bringing the planar shape of the article mounting body as close as possible to the planar shape of the mounting body main body, for example, in the article transporting apparatus installed in a downflow clean room, the mounting body main body from the ceiling side In the case of being configured in a plan view shape that does not block the flow of purified air toward the floor as much as possible, the area where the flow of purified air is blocked increases by providing a support on the mounting body. By providing the support so that the inconvenience can be avoided, it is possible to avoid the inconvenience due to the plan view shape of the article mounting body changing from that of the mounting body main body.

  In addition, by placing the shape of the article placement body in plan view as close as possible to the shape of the placement body main body in plan view, the support area of the article when the support supports the article is placed on the conventional article placement that does not include the support body. Since it can be as close as possible to the support area of the article when the article is supported by the body, the article is placed on the article placing body without changing the conditions such as balance when the article is placed on the article placing body as much as possible. It can be supported.

Thus, according to the fourth characteristic configuration of the present invention, the inconvenience of providing the support by reducing the size of the support and bringing the shape of the article mounting body in plan view as close as possible to the shape of the mounting body main body in plan view. An article conveying apparatus that can be avoided has been obtained.

According to a fifth characteristic configuration of the article transporting apparatus according to the present invention, in the third or fourth characteristic configuration, the support is elastically deformable provided in a fixed state on the mounting body main body and is thick in the vertical direction. It exists in the point attached to the upper surface part of the elastic member which has these.

  That is, the support is fixedly attached to the upper surface portion of the elastic member provided in a fixed state on the mounting body, and the elastic member is elastically deformable and has a thickness in the vertical direction. When the elastic member having a thickness in the vertical direction is elastically deformed in the direction in which the article placement body is withdrawn, the support moves on the placement body main body along the withdrawal direction of the placement body main body. In addition, when the force acting between the mounting body main body that elastically deforms the elastic member and the support disappears, the elastic deformation of the elastic body recovers and the support returns to the initial position. .

  Therefore, when the article stored in the storage unit is taken out, as the article placement body rises, the tilting phenomenon of the article transport device occurs after the support at the initial position starts supporting the article, and the protruding position When the article mounting body is displaced to the rear side of the storage shelf, the elastic member is elastically deformed, so that the support body moves from the initial position with respect to the mounting body main body, and the position relative to the storage section while supporting the article. To maintain. In this way, it is possible to prevent the article from being pushed into the storage portion back side in the storage portion.

  The elastic member is provided in a fixed state on the mounting body main body, and since the support body is provided in a fixed state on the upper surface portion, the support member supports the article supported by the storage shelf in the storage portion. Since the mounting body main body is elastically deformed due to the tilting phenomenon of the article conveying device with respect to the body, no special driving means for moving the support body with respect to the mounting body main body is required, The configuration can be simplified.

  Further, since the support body is moved by elastic deformation of the elastic member, the member is not rubbed between the mounting body main body side and the support body side when the support body is moved, and dust is generated on the article mounting body. There is little possibility to do.

As described above, according to the fifth characteristic configuration of the present invention, there is little risk of dust generation, and the storage shelf and the article are removed when the article stored in the storage unit of the storage shelf is taken out with a simple configuration. It came to obtain the article conveyance apparatus which can prevent rubbing as much as possible.

According to a sixth characteristic configuration of the article transporting apparatus according to the present invention, in any one of the first to fifth characteristic configurations, the elevating mast is supported at the lower end portion by the traveling carriage and protrudes upward in a cantilever manner. It is in the point provided with the form.

  That is, since the lifting mast is provided in such a manner that its lower end is supported by the traveling carriage and protrudes upward in a cantilevered manner, the upper end of the lifting mast is easy to swing around the lower end. Even when the mounting structure of the mast with respect to the carriage is strengthened and the rigidity of the lifting mast is improved, when the article stored in the storage portion located at the high position of the storage shelf is taken out, the article mounting body is Since the upper and lower masts are likely to swing up and down, the article conveying device tends to tilt.

  For example, when the article transport device is installed in a downflow clean room, it is necessary to secure the air flow of purified air from the ceiling side to the floor side, so the upper end side of the lifting mast is connected to the ceiling guide rail, etc. Since the lower and upper masts are supported by the traveling carriage and are projected in a cantilevered manner, the article conveying device The tilt phenomenon is likely to occur.

  Then, in the case where the article transport device is prone to tilting in this way, when performing the take-out processing for taking out the article, the article transporting device tilts and the article that supports a part of the weight of the article is supported. Even if the mounting body is displaced to the back side of the storage unit, it is possible to prevent the article from being pushed into the back side of the storage unit in the storage unit, and thus the effect of the present invention appears remarkably.

Thus, according to the sixth characteristic configuration of the present invention, a preferred embodiment in which the effects of the present invention are remarkably exhibited has been obtained.

DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of an article conveying apparatus according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, a stacker crane V as an article transport device according to the present invention is provided in an article storage facility W. The article storage facility W is provided in a downflow type clean room 1 in which purified purified air flows downward from the ceiling side to the floor side. For example, a glass substrate used for a liquid crystal display or a plasma display Etc. are stored in an environment with little dust.

  The downflow type clean room 1 will be described. The side wall suction part 2 is formed near the floor of the side wall 18 of the clean room 1, the ceiling outlet part 3 is formed on the ceiling of the clean room 1, and suction is performed through the side wall suction part 2. Clean room circulation ventilation means F for circulating the purified air to the clean room 1 in a form in which the sucked air is blown out from the ceiling blowing section 3 is provided. The floor of the clean room 1 is made of non-porous concrete.

  The circulation ventilation means F for the clean room is provided with a side wall fan filter unit 4 in the side wall suction part 2, an air filter 5 made of a HEPA filter or the like is provided side by side in the ceiling blowing part 3, and air is provided above the ceiling blowing part 3. A chamber chamber 6 is provided, and the lower portion of the clean room 1 and the air chamber chamber 6 are connected in communication with each other through a connection flow path 7. Further, a circulation fan 8 is provided in the connection flow path 7 so as to suck the clean room 1, and a pre-filter 9 is provided in a portion of the connection flow path 7 on the air discharge side of the circulation fan 8.

  The air in the clean room 1 is sucked into the connection channel 7 by the ventilation action of the side wall fan filter unit 4 and the circulation fan 8, and the sucked air flows through the connection channel 7 and passes through the prefilter 9. After being cleaned, the air flows into the air chamber chamber 6, further passes through the air filter 5, and is then cleaned and blown downward from the ceiling blowing portion 3 into the clean room 1. It is.

  Accordingly, the air in the clean room 1 is circulated through the above-mentioned path while passing through the side wall fan filter unit 4, the pre-filter 9 and the air filter 5, so that the purified air is always blown downward from the ceiling blowing portion 3. In this state, the clean room 1 is supplied to the clean room 1 and the clean room 1 is maintained in a highly clean state.

  Furthermore, an outside air intake passage 10 is connected to a portion of the connection passage 7 on the suction side of the circulation fan 8, and an outside air intake amount adjusting damper 11 is provided in the outside air intake passage 10, and the connection passage 7, an exhaust passage 12 is connected to a portion of the circulation fan 8 on the discharge side, and an exhaust amount adjusting damper 13 is provided in the exhaust passage 12. A predetermined amount of the purified air in the clean room 1 circulated by the clean room circulation ventilation means F by adjusting the opening degree of the outside air intake amount adjusting damper 11 and the exhaust amount adjusting damper 13. Is configured to be replaced with fresh air.

Next, the article storage facility W will be described.
The article storage facility W is supported by the article storage shelf S including the storage unit 14, the traveling carriage 44 that travels on the floor in the traveling path 15 in front of the article storage shelf S, and the traveling carriage 44 so as to be movable up and down. A stacker crane V including an article transfer device 46, and purified air is flowed from the back side of the storage unit 14 toward the travel path 15 so as to pass through the storage unit 14, and downward in the travel path 15 The purified air ventilation means B that flows to the exhaust section 22 and then flows so as to be exhausted from the exhaust section 22 and the storage section 14 in the article storage shelf S are partitioned in a state incapable of air flow and the travel path 15 is air. An air flow space 20 formed over the entire length or substantially the entire length of the article storage shelf S below the storage portion 14 in a form communicating with the flowable state, and the stacker When viewed in the traveling direction of lane V, the traveling vehicle 44 is located at or above the height of the upper portion of the end side portion of the traveling carriage 44 in the width direction of the shelf, and the traveling on the upper end side of the air flow space 20. An air guide body 17 formed so as to protrude from the end on the path 15 side into the travel path 15 and extending over the entire length or substantially the entire length of the article storage rack S in the width direction of the rack, The article storage facility W is provided in the clean room 1.

  In this embodiment, in the vehicle lateral direction of the travel path 15, the article storage shelves S are arranged with their front sides facing each other and spaced apart to form the travel path 15 therebetween. (Same direction as the shelf depth direction) It is provided on both floors, and in each of these article storage shelves S, a storage part 14 for storing containers C as articles is arranged in the shelf width direction and the shelf vertical direction. There are several side by side. The storage unit 14 is provided on the left and right sides of the bottom of the container C with support bases 14D as article support members provided so as to be paired at the left and right at a plurality of columns of the article storage shelf S along the height direction of the shelf. The container C is accommodated in a state where the portion is received and supported.

  The pair of article storage shelves S provided in this way is surrounded by a rectangular cylindrical peripheral wall 16 that is open at both ends in the vertical direction on the side, and the opening at the lower end of the peripheral wall 16 is used as a floor. The openings at the upper end of the peripheral wall 16 are closed by a plurality of storage shelf fan filter units 21. Further, a flow space 19 for guiding the purified air blown from the ceiling blow-out part 3 of the clean room 1 to the storage part 14 is provided at the rear part of each article storage shelf S.

  Next, the stacker crane V will be described. As shown in FIGS. 1 to 3, the stacker crane V is configured to transfer the article to the traveling carriage 44 that travels on the traveling rail 48 laid on the floor surface of the traveling path 15 along the lateral width direction of the shelf. A pair of front and rear central column bodies 45 are provided upright to guide and support both ends of the transfer device 46 in the vehicle running direction (the same direction as the shelf width direction). Each of the pair of front and rear central column bodies 45 is formed in a curved shape in which both surfaces in the vehicle traveling direction are bulged in the vehicle traveling direction, and the upper ends of the pair of front and rear central column bodies 45 are connected to the upper frame 47. It is connected with.

  As shown in FIGS. 1 and 2, the auxiliary strut body 49 as a rectifying plate having a shape along the vehicle traveling direction and the length in the vertical direction being the same as or substantially the same as the central strut body 45 is provided as the center strut. An outer surface facing the side opposite to the side where the central column body 45 is located bulges in the vehicle width direction in plan view at a location away from the body 45 toward the side where the article storage shelf S is present in the vehicle width direction. It is provided in a state of being formed into a curved shape.

  When the explanation is added, the auxiliary support column 49 is separated from the central support column 45 erected at the center in the vehicle width direction of the support portion 44a of the traveling carriage 44 to the side where the article storage shelf S exists in the vehicle width direction. In the traveling carriage 44, the support portion 44a is erected at both ends in the vehicle lateral width direction so as to be provided at the locations.

  Further, the auxiliary support column 49 has a curved surface in which the inner surface is formed as a flat surface along the vehicle traveling direction and the vertical direction, and the outer surface is bulged in an arc shape on the side where the article storage shelf S in the vehicle width direction is located in plan view. It is formed in a shape and has a tapered shape that gradually decreases toward the end in the vehicle traveling direction in plan view, and is formed in a flat shape along the vehicle traveling direction and the vertical direction.

  A pair of front and rear central pillars 45 are provided so as to guide and support both ends of the article transfer device 46 in the vehicle traveling direction so as to be movable up and down separately. Further, the auxiliary strut bodies 49 are provided on both side portions away from the central strut body 45 in the vehicle lateral width direction, and the auxiliary strut bodies 49 on both the left and right sides are respectively provided on the pair of front and rear central strut bodies 45. Correspondingly, a pair of front and rear is provided. The central column body 45 and the left and right side auxiliary column bodies 49 are connected by a plurality of rod-shaped coupling bodies 50, and the central column body 45, the left and right side auxiliary column bodies 49 and the plurality of coupling bodies 50 are connected. The lifting mast of the present invention is configured. Thus, in this embodiment, the raising / lowering mast is provided in the form which the lower end part is supported by the traveling cart 44, and protrudes upwards in a cantilever shape.

  Incidentally, the auxiliary column body 49 is formed longer in the vehicle traveling direction than the central column body 45, and the inner side end portion of the auxiliary column body 49 in the vehicle traveling direction is the inner side of the central column body 45 in the vehicle traveling direction. It is located on the inner side in the vehicle traveling direction from the end portion, and the outer side end portion in the vehicle traveling direction of the auxiliary column body 49 is closer to the vehicle traveling direction than the outer side end portion in the vehicle traveling direction of the central column body 45. It is provided to be located on the outer side.

  As shown in FIG. 3, the article transfer device 46 is configured to be able to transfer the container C between the storage unit 14 and itself, and is provided with a lifting platform 55 that is guided and supported by a central column body 45, The fork-type transfer device includes a turntable 56 that can turn around an axis, and a link mechanism 58 that supports a mounting body 57 provided on the turntable 56 so that it can be freely moved in and out. .

  Then, the article transfer device 46 can turn the placement body 57 by turning the turntable 56, and retracts the placement body 57 to the retraction position P 0 on the lifting table 55 by expansion and contraction of the link mechanism 58. The state (see FIG. 3A) and the state where the mounting body 57 is protruded to the protruding position P1 on the storage unit 14 side (see FIG. 3B) can be switched.

  Incidentally, as shown in FIG. 2, by turning the swivel base 56 so that the moving direction of the mounting body 57 is made to be along the traveling direction of the traveling carriage 44, the moving direction of the mounting body 57 is changed. Since the width of the article transfer device 46 (particularly, the link mechanism 58 and the placement body 57) in the vehicle width direction is smaller than that in the vehicle width direction, the article transfer device 46 is mounted on the placement body 57. The stacker crane V is configured to travel in a state where the exit / retreat direction is aligned with the vehicle traveling direction.

  The link mechanism 58 includes an operation link 53 in which a base end side is rotatably connected around an axis 50 in the vertical direction of the transport device at two places arranged in the horizontal width direction of the mounting body 57 on the upper surface side of the swivel base 56. A pair of swing links 54 are provided, each having a free end side of the pair of operation links 53, 53 linked to the lower surface side of the base end portion of the mounting body 57.

  The pair of operation links 53 and 53 are configured to swing around the shaft core 50 in conjunction with an electric motor M3 provided on the lower surface side of the swivel base 56. Each swing link 54 is around an axis 51 that is vertically oriented with respect to the conveying device with respect to the free end side of the operation link 53, and around an axis 52 that is vertically oriented with respect to the base end side of the mounting body 57. Are connected to each other so as to be relatively rotatable.

  As a result, the link mechanism 58 swings around the respective shaft cores 50 by interlocking the pair of operation links 53 and 53 with the retractable electric motor M3, and the pair of swinging operation links 53 and 53 By pushing or pulling the base end side of the mounting body 57 via the swing links 54, 54, the mounting body 57 is moved in and out of the swivel base 56 in the longitudinal direction of the mounting body 57. To do. That is, the orientation of the mounting body 57 with respect to the lifting table 55 is adjusted so that the front end side of the mounting body 57 faces the one article storage shelf S or the other article storage shelf S by the turning operation of the turntable 56. After that, as shown in FIG. 3B, a protruding attachment state for article storage and article removal that protrudes long from the swivel base 56 toward the article storage shelf S so that the front end side of the mounting body 57 reaches the storage unit 14. As shown in FIG. 3 (a), the entire mounting body 57 is switched to a retraction attachment state for conveying an article that has been retreated toward the swivel base 56 rather than the protrusion attachment state.

  As described above, the mounting body 57 can move up and down along the central column body 45 and the auxiliary column body 49 provided on the traveling carriage 44a, and the projecting position P1 and the traveling path project toward the article storage shelf S side. It is configured to be able to move out and retract over a retreat position P0 that retreats to the 15 side, and corresponds to the article placement body of the present invention.

  As shown in FIG. 4, the mounting body 57 includes a base portion 31 on the base end side to which the link mechanism 58 is coupled, and a pair of left and right fork bodies 32 (left fork) connected to the left and right end portions of the base portion 31. Body 32L and right fork body 32R), intermediate connecting body 33M for connecting left fork body 32L and right fork body 32R at two locations in the longitudinal direction of fork body 32, and left fork body at the tip of fork body 32 The mounting body main body 30 is connected to the tip connecting body 33T that connects the 32L and the right fork body 32R. Then, the mounting body 57 is provided with a stainless plate 34 as a support body for mounting and supporting the article on the mounting body main body 30 along the direction in which the mounting body main body 30 is withdrawn as described below. It is configured to be movable and provided in a state of being biased back to the initial position Pn in the moving direction.

  The stainless steel plate 34 is in a state of being dispersedly arranged in a plan view at 12 attachment points in total, 6 on the left and right sides from the front end to the rear end on the upper surface of the left fork body 32L and the right fork body 32R of the mounting body main body 30. Is provided.

  As shown in FIG. 5, each stainless steel plate 34 is formed of a stainless steel flat plate, and the back surface thereof is fixed to an upper surface portion 35U of urethane rubber 35 as an elastic member by an adhesive. The urethane rubber 35 is elastically deformable and is formed in a square plate shape in plan view having a thickness Tw (in this embodiment, 15 [mm]) in the vertical direction. Then, the recessed fittings 36 in which recessed portions for attaching urethane rubber are formed by outer edges 36E having a square shape in plan view, each side being slightly longer than the lateral width of the fork body 32, are provided on the left and right forks of the mounting body 30. It is welded to the upper surface of the body 32, and the concave fitting 36 is bonded to the concave fitting 36 with an adhesive in a state where gaps are formed at the front and rear, left and right portions of the outer edge 36 E of the concave fitting 36 and the outer peripheral portion of the urethane rubber 35. The bottom surface of the urethane rubber 35 is surface bonded. In addition, a resin sheet 37 is attached to the upper surface of the stainless steel plate 34 as a non-slip so as not to easily slip between the bottom of the container C.

  Then, the urethane rubber 35 is elastically deformed in the retracting direction of the mounting body main body 30, whereby each stainless steel plate 34 can be moved along the retracting direction of the mounting body main body 30, and the deformed urethane rubber 35. It returns to the initial position Pn in the moving direction by the elastic force of.

  In this way, the stainless steel plate 34 as a support for placing and supporting the container C as an article is placed on the placement body main body 30 where the placement body 57 is operated to be withdrawn / retracted. And is provided in a state in which it is urged to return to the initial position Pn in the movement direction. Further, the stainless steel plate 34 as a support is provided in the mounting body main body 30 in a state of being dispersedly arranged in a plan view, and further, urethane rubber as an elastic member provided in a fixed state on the mounting body 57. It is attached to the upper surface portion 35U of 35 in a fixed state.

  As shown in FIG. 6, the stacker crane V includes a traveling motor M1 that travels and drives the traveling carriage 44, a lifting motor M2 that drives the lifting platform 55 up and down, a turning motor M3 that drives the swiveling platform 56, and An exit / retreat motor M4 that drives the mounting body 57 to move in and out is provided. The operation of these motors is distributed and arranged in a control box mounted on the traveling carriage 44 and a control box mounted on the lifting platform 55. It is controlled by the constructed crane controller H.

  The crane controller H includes a travel controller H1 that controls the travel operation of the travel carriage 44, a lift controller H2 that controls the lift operation of the lift base 55, a swing controller H3 that controls the swing operation of the swivel base 56, and a mounting body 57. It is comprised from the exit controller H4 which controls exit / exit operation | movement of this. These controllers are connected to each other so that they can communicate with each other, and wireless communication using infrared rays can be performed by an upper management computer (not shown) and a communication controller H5.

  Then, based on the distance measurement information of the travel laser range finder S1, the travel controller H1 measures the distance between the travel vehicle 44 and the reference position set at the end of the travel route 15 in the travel direction of the travel vehicle 44. The traveling operation of the traveling carriage 44 is controlled, and the elevation controller H2 moves up and down based on the distance measurement information of the elevation laser distance meter S2 that measures the distance between the elevation platform 55 and the traveling carriage 44 in the elevation direction of the elevation platform 55. The turning controller H3 controls the raising / lowering operation of the pedestal 55, and the turning controller H3 is moved forward and backward from the turning origin position of the turning pedestal 56 (the turning state in which the moving direction of the mounting body 57 is along the traveling direction of the traveling carriage 44) Based on the detection information of the turning rotary encoder S3 that detects the turning amount, the turning operation of the turntable 56 is controlled, and the withdrawal controller H4 moves from the retracted position of the mounting body 57 to the protruding position. Based on the detection information output retraction rotary encoder S4 for detecting the projecting and retracting position, controls the projecting and retracting operation of the mounting body 57.

Each motor uses a servo motor, and each of the controllers is a servo amplifier corresponding to each servo motor that locally controls the operation of each servo motor (travel motor servo amplifier SA1, lift motor servo amplifier). SA2, swing motor servo amplifier SA3, the servo amplifier SA4) for extending and retracting the motor, speed command cycle target speed (e.g., in the present implementation mode is set to 10 [μs].) by the command for each The servo motor can be operated at the target speed.

  The crane controller H includes a ROM that stores a control program and a microcomputer that executes the control program. When the crane controller H is activated by turning on the power, the control program is loaded into the microcomputer or the attached RAM. Then, the microcomputer is configured to control the operation of the stacker crane V by executing a control program.

  Specifically, when a storage command and a take-out command commanded by the host management computer are commanded, the crane controller H causes the traveling cart 44 to travel to a travel position corresponding to the transfer location designated by the command. Traveling control, elevating control for elevating the elevating platform 55 to the elevating position corresponding to the transfer location specified by the command, and being placed and supported by the mounting body 57 at the transfer location specified by the command The container C is unwound to the storage unit 14, and the scooping control is performed to place and support the container C stored in the storage unit 14 on the mounting body 57 at the transfer location designated by the command. The container C is stored and taken out by controlling the operation of the traveling motor M1, the lifting motor M2, the turning motor M3, and the exit / retreat motor M4.

That is, when performing the taking-out process of taking out the container C, the crane controller H executes traveling control, elevation control, and scooping control. Thereby, the swivel base 56 moves horizontally and vertically along the front surface of the article storage shelf S by the traveling of the traveling carriage 44 and the raising and lowering of the elevator base 55, and the storage unit 14 from which the article 57 should be taken out. By turning the swivel base 56, the mounting body 57 is set to a predetermined position and mounting direction corresponding to the storage unit 14 from which the article is to be taken out. Next, the mounting body 57 is protruded to the protruding position P <b> 1 by the link mechanism 58, and the front end side of the mounting body 57 enters the lower side of the container C stored in the storage unit 14. Next, the platform 55 is moved up from the ascent start position P btm and the swivel platform 56 is moved up to bring the mounting body 57 closer to the container C, and the stainless plate 34 (more accurately) After the resin sheet 37) affixed to the upper surface of the stainless steel plate 34 comes into contact with the lower surface of the container C, the swivel base 56 is further raised by further raising the lift base 55 to the lift end position P top , The container C is placed on the stainless plate 34 of the mounting body 57 by pushing up and floating the container C from the support base 14 </ b> D of the storage unit 14 by the mounting body 57. Next, by retracting the mounting body 57 to the retraction position P0 by the link mechanism 58, the container C is taken out from the storage unit 14, and the container C is placed on the mounting body 57 and held. Then, the placing body 57 is turned by the turntable 56 to the mounting direction for raising and lowering and traveling to complete the article take-out process.

  Further, when the container C is stored, the crane controller H executes traveling control, lifting control, and wholesale control. Accordingly, the swivel base 56 is moved to the front surface of the article storage shelf S by the traveling of the traveling carriage 44 and the elevation of the lifting platform 55 while the container C is placed and held on the mounting body 57 at the retreat position P0. The mounting body 57 is moved in the horizontal and vertical directions, and the mounting body 57 is transferred to the storage section 14 in which the container C is to be stored. Use the mounting orientation for the transfer. Next, the mounting body 57 is caused to protrude to the protruding position P <b> 1 by the link mechanism 58, and the tip end side of the mounting body 57 enters the storage portion 14. Next, the platform 55 is moved downward and the swivel platform 56 is lowered to bring the mounting body 57 closer to the storage unit 14, and the bottom of the container C placed on the mounting body 57 is placed in the storage unit 14. Even after coming into contact with the support base 14D, the mounting base 57 is separated downward from the container C by further lowering the lift base 55 and slightly lowering the swivel base 56. Accordingly, the container C is placed on the support base 14 </ b> D of the storage unit 14, and the container C is stored in the storage unit 14. Next, the placing body 57 is retreated to the retreat position P0 by the link mechanism 58, and the placing body 57 is turned by the swivel base 56 in the mounting direction for moving up and down and the article storage process is completed.

As described above, the crane controller H performs the lifting operation and the retracting operation of the mounting body 57 in order to perform the take-out process of taking out the container C stored in the storage unit 14 and the storage process of storing the container C in the storage unit 14. In addition, as the take-out process, the ascending start position P btm to the ascending end position P top in a state where the placing body 57 is projected to the projecting position P1 and positioned in the lower space of the article stored in the storage unit 14. After being raised to the retreat position P0, scooping control for controlling the raising / lowering operation and the withdrawal operation of the mounting body 57 is executed. Therefore, the crane controller H functions as the control means of the present invention.

The crane controller H, in the scoop control, in particular the timing T during raising the mounting body 57 to the raised end position P top from the raised starting position P btm, sets the mounting body 57 to the retracted position P0 side distance The raising / lowering operation and the withdrawal operation of the mounting body 57 are controlled so as to be retracted by L pull .

Further, in the scooping control, the crane controller H moves the mounting body 57 to the lift end position P top when the retracting speed −Vh2 when the mounting body 57 is retracted by the set distance L pull at the specific timing T. The raising / lowering operation and the withdrawal operation of the mounting body 57 are controlled so as to have a speed different from the withdrawal / retraction speed -Vh1 when the seat is later retracted to the withdrawal position P0.

Furthermore, the crane controller H, in the scoop control, so that the lifting speed + Vv2 the mounting body 57 at a specific timing T, a slower than lifting speed + Vv1 when raising the mounting body 57 from the raised starting position P btm The raising / lowering operation of the mounting body 57 is controlled.

  Hereinafter, the scooping control performed by the crane controller H will be described in detail based on the flowchart of FIG.

In the scooping control, the crane controller H first projects the mounting body 57 to the projecting position P1 in Step # 1 to Step # 3. In this process, the exit / retreat controller H4 outputs a speed command corresponding to the exit / retreat speed + Vh1 (the direction in which the mounting body 57 projects is positive). This is performed by continuously outputting the detection information of the exit / retreat rotary encoder S4 until the detection information reaches a value corresponding to the preset protrusion position P1. In the present embodiment, the exit / retreat speed + V h 1 is set to about +1500 [mm / sec].

  When the mounting body 57 protrudes to the protruding position P1, the protruding operation of the mounting body 57 is stopped, and the raising operation of the mounting body 57 is started in step # 4. In this process, the exit / exit controller H4 transmits an exit / exit completion signal to the elevator controller H2, and the elevator controller H2 that has received this signal sends the elevator motor servo amplifier SA2 the elevator speed + Vv1 (the mounting body 57 is This is done by starting to issue a speed command corresponding to the direction in which the ascending operation is positive.

In step # 5 and step # 6, if the mounting body 57 is positioned at the deceleration rising position P slow while the mounting body 57 is rising at the lifting speed + Vv1, the lifting speed is reduced to + Vv2. In this process, the lift controller H2 monitors the distance measurement information of the lift laser range finder S2, and after the distance measurement information matches the preset value indicating the deceleration increase position P slow , the lift motor This is done by instructing the servo amplifier SA2 with a speed command corresponding to the lifting speed + Vv2 instead of a speed command corresponding to the lifting speed + Vv1. In this embodiment, the ascending / descending speed + Vv1 is set to about +12 [mm / sec], and the ascending / descending speed + Vv2 is set to about +4 [mm / sec].

In step # 7 to step # 9, if the mounting body 57 is positioned at the fork correction rising position P pull while the mounting body 57 is rising at the lifting speed + Vv2, the mounting body 57 is mounted for the set distance L pull at the withdrawal / retraction speed −Vh2. The body 57 is retired. In this process, the lift controller H2 monitors the distance measurement information of the lift laser distance meter S2, and when the distance measurement information matches a preset value indicating the fork correction rising position P pull , the lift controller H2 The fork correction position arrival signal is transmitted to the exit / exit controller H4, and the exit / exit controller H4 receiving the signal outputs a speed command corresponding to the exit / exit speed -Vh2 to the exit / exit motor servo amplifier SA4. This is performed by continuously outputting the detection information of the rotary encoder S4 until the detection information changes from the value corresponding to the protruding position P1 to the retraction side by a value corresponding to the set distance L pull . In the present embodiment, the fork correction ascent position P pull is set to a position 60 [mm] above the ascent start position P btm and the exit / retreat speed −Vv2 is about −2000 [mm / sec. ], The set distance L pull is set to 6 [mm].

Since the fork body 32 of the mounting body 57 is attached in a natural state so that the tip is higher than the base portion 32, the bottom surface of the mounting body 57 is raised until the mounting body 57 rises to the fork correction rising position P pull. First, the tip of the fork body 32 in the mounting body 57 comes into contact with the bottom of the container C stored in the storage section 14 in a horizontal posture, and then the fork body 32 is raised as the mounting body 57 rises. The base side of the fork body 32 in the mounting body 57 comes into contact with the bottom portion of the container C by shifting the posture toward the horizontal. Therefore, during the period until the container C is supported by the mounting body 57 and floats (the contact time t t to the floating time t u described later), the tip of the fork body 32 in the mounting body 57 is the bottom of the container C. The height does not change while abutting on. Therefore, by the container mounting body 57 is raised to increase the end position P top C is in a state of being floated from the support base 14D of the housing part 14, the vertical position of the mounting body 57 is changed but placed There is a period in which the height of the tip of the fork body 32 in the body 57 does not change while contacting the bottom of the container C (see FIG. 9).

In step # 11 and step # 12, the mounting body 57 while the mounting body 57 is increased at a lifting speed + Vv2 is located raised end position P top, stops the lifting operation of the mounting body 57. In this process, the lift controller H2 monitors the distance measurement information of the lift laser distance meter S2, and when the distance measurement information matches a preset value indicating the lift end position P top , the lift motor servo. This is performed by instructing the amplifier SA2 to issue a speed command corresponding to the lifting speed 0 instead of the speed command corresponding to the lifting speed + Vv2.

In step # 13 to step # 15, the mounting body 57 is retracted to the retraction position P0. In this process, the lift controller H2 monitors the distance measurement information of the lift laser range finder S2, and when the distance measurement information matches a preset value indicating the lift end position P top , the lift controller H2 outputs. The exit controller H4 that has transmitted the completion completion signal to the exit controller H4 and that has received the command outputs a speed command corresponding to the exit / exit speed -Vh1 to the exit / exit motor servo amplifier SA4. This is performed by continuously outputting the detection information in S4 until it reaches a value corresponding to the preset retraction position P0.

  In the above scooping control, the timing chart of the speed command commanded by the lift controller H2 to the lift motor servo amplifier SA2 and the speed command commanded by the pull-out controller H4 to the pull-out motor servo amplifier SA4 are respectively shown in FIGS. As shown in b).

From time t A to time t B , the exit / exit controller H4 outputs a speed command corresponding to the exit / exit speed + Vh1 to the exit / exit motor servo amplifier SA4, and from time t B to time t C the elevator controller H2 changes to the elevator speed + Vv1. A corresponding speed command is output to the lift motor servo amplifier SA2, and from time t C to time t D , the lift controller H2 outputs a speed command corresponding to the lift speed + Vv2 to the lift motor servo amplifier SA2, and from time t D. Until time t E , the exit / exit controller H4 outputs a speed command corresponding to the exit / exit speed -Vh1 to the exit / exit motor servo amplifier SA4.

The distance measurement information of the lift laser range finder S2 coincides with the value indicating the fork correction lift position P pull within the period when the lift controller H2 commands the lift command from time t C to time t D. When it is determined, elevator controller H2 is transmitted fork correction position detection information to the extending and retracting controller H4, projecting and retracting controller H4 which received this output a speed command corresponding to the projecting and retracting speed -Vh2 from the time t 1 When the detection information of the exit / retreat rotary encoder S4 starts to be output to the retract motor servo amplifier SA4 and changes to the retract side by a value corresponding to the set distance L pull from the value corresponding to the protrusion position P1, the exit / retreat speed Stops the output of the speed command corresponding to -Vh2. This time is shown as time t 2 in the figure.

The tip portion of the fork body 32 in the mounting body main body 30 when the mounting body 57 is lifted and retracted by the lifting controller H2 and the withdrawal controller H4 outputting these speed commands to the corresponding servo amplifiers. As shown in FIG. 9, the locus of point A (time t A ) → point B (time t B ) → point C (time t C ) → point D (time t D ) → point E (time t E ) Follow.

  In FIG. 9, the left side of the paper surface is the travel path 15 side of the stacker crane V, and the right side of the paper surface is the storage shelf S side where the storage unit 14 storing the articles to be taken out is stored. Also, the exit / retreat direction (projection direction) from the left to the right of the page corresponds to the exit / retreat direction by a positive value speed command, and the up / down direction (upward direction) from the bottom to the top of the page by a positive value speed command. It corresponds to the up and down direction.

The tip portion of the fork member 32 at time t t is the mounting body main body 30 in FIGS. 8 and 9 are in contact time is in the bottom of the container C, time t u is floating vessel C from the support base 14D of the housing part 14 It is time to do. Between time t t and time t u , the mounting body 57 is rising (the lifting platform 55 is rising), but the tip of the fork body 32 in the mounting body main body 30 of the mounting body 57 is a container. This is a period in which the bottom of C does not rise while abutting.

A point A in FIG. 9 corresponds to the time when the process of step # 1 in FIG. 7 is performed, and is the position of the tip of the fork body 32 when the mounting body 57 is positioned at the retraction position P0 before the scooping control is performed. Point B corresponds to the time of execution of processing steps # 3 and step # 4 in FIG. 7, the position of the tip of the fork member 32 when the mounting body 57 is positioned at the raised starting position P btm. Point C corresponds to the time when the process of step # 6 in FIG. 7 is executed, and is the position of the tip of the fork body 32 when the mounting body 57 is positioned at the deceleration rising position P slow . Point D corresponds to the time of process execution step # 12 and step # 13 in FIG. 7, the position of the tip of the fork member 32 when the mounting body 57 is positioned in the raised end position P top. Point E corresponds to the time when the process of step # 15 in FIG. 7 is executed, and is the position of the tip of the fork body 32 when the mounting body 57 is positioned at the retracted position P0 after the scooping control is executed.

As can be seen from FIGS. 8 and 9, the crane controller H loads the mounting body 57 during the period from the rising start position P btm to the rising end position P top (period from time t B to time t D ). As a specific timing T for retracting the mounting body 57 by the set distance L pull at the exit / retreat speed −Vh2, a period starting from time t 1 when the ascending / descending height of the mounting body 57 is located at the fork correction rising position P pull (time t 1 to a time t 2 ) is set. Note that the length of the specific timing T is the time required for the mounting body 57 to move in and out at the moving speed −Vh2 by the set distance L pull .

Moreover, advancing and retracting speeds -Vh2 from time t 1 at which to retire the mounting body 57 by a set distance L pull at time t 2, the words, advancing and retracting speeds -Vh2 in particular timing T is raised ends mounting body 57 The speed is higher than the withdrawal speed −Vh1 from time t D to time t E when the position is raised to the position P top and then retracted to the retirement position P0.

Furthermore, the lifting speed + Vv2 at time t 2 from time t 1 at which to the mounting body 57 and lowering in a particular timing T, the time from the time t B when raising the mounting body 57 from the raised starting position P btm t C Ascending / descending speed at + Vv1.

As shown in FIG. 10 (b), if not retire mounting body 57 in a particular timing T, as shown in FIG. 10 (a), the bottom of the tip container C of the fork member 32 at time t t those After contact, as the weight of the container C shifts to the mounting body 57, the stacker crane V starts to tilt, and when the amount of tilting exceeds a certain amount, the mounting body 57 and the container C are displaced to the back side of the storage unit 14. Thus, the container C begins to rub against the support base 14D. Then, when the container C rises from the support table 14D at time t u , the fork body 32 is actuated by combining the rising of the mounting table 57 and the displacement of the mounting table 57 to the protruding side due to the tilt of the stacker crane V. Draw a trajectory. Thereafter, the projecting side rising operation of mounting displacement of the rise operation of the mounting body 57 with the progress to the projecting side of the table 57 mounting by tilting of the stacker crane V also proceed, placing at time t d mounting body 57 is completed The fork body 32 reaches the point D0.

As described above, if the mounting body 57 is not retreated at a specific timing by the scooping process, the fork body 32 has a fork body when the mounting body 57 rises right above while maintaining the protruding position P1. The mounting table 57 is positioned more on the protruding side than the tip end position 32 (point D in the figure) by the amount the mounting table 57 is displaced to the back side of the storage portion 14 by the tilt of the stacker crane V. Then, in order for the tip of the fork body 32 to be positioned at the point D when the mounting body 57 rises to the lift end position P top , the displacement amount of the mounting body 57 to the protruding side due to the inclination of the stacker crane V is increased. It has been shown that the corresponding set distance L pull must be moved out and on the retreat side.

As shown in FIG. 11B, when the time t 1 at which the mounting body 57 starts to be retracted by the set distance L pull is too early, that is, the fork correction raised position P pull is set lower than the appropriate position. In this case, for example, as shown in FIG. 11A, the front end of the fork body 32 comes into contact with the bottom of the container C at time t t , and then the stacker moves as the weight of the container C shifts to the mounting body 57. Prior to the crane V tilting and the mounting body 57 displaced to the protruding side, the mounting body 57 starts to retract in the retraction direction. That is, after the mounting body 57 starts to be retracted at time t 1 , the retraction operation force by the mounting body 57 acting on the container C exceeds the friction holding force between the container C and the support 14D of the storage unit 14. Then, the mounting body 57 and the container C start to be displaced toward the front side of the storage portion 14 (retracted side in the retracting direction), and thereby the container C begins to rub against the support base 14D. Then, when the container C rises from the support base 14D at time t u , the tip of the fork body 32 is caused by a combined operation of the raising operation and the retraction operation of the mounting table 57 until the retraction operation is completed at time t 2. Draw a trajectory. Around this time, the stacker crane V starts to tilt, so that the mounting table 57 starts to be displaced to the back side (the protruding side in the retracting direction) of the storage unit 14. Therefore, the tip of the fork body 32 reaches the point D at time t d while drawing a trajectory by an operation in which the raising operation of the mounting table 57 and the displacement to the protruding side are combined.

As shown in FIG. 12B, when the time t 1 at which the mounting body 57 starts to be retracted by the set distance L pull is too late, that is, the fork correction raised position P pull is set higher than the appropriate position. In this case, for example, as shown in FIG. 12 (a), the fork body 32 comes into contact with the bottom of the container C at time t t and then the weight of the container C shifts to the mounting body 57. The stacker crane V tilts and the mounting body 57 is displaced to the protruding side before the mounting body 57 starts to retract in the retraction direction. That is, when the stacker crane V starts to tilt and exceeds a certain tilting amount, the mounting body 57 and the container C begin to move to the back side of the storage unit 14, and thus the container C begins to rub against the support base 14D. Thereafter, since the mounting body 57 starts to be retracted at time t 1 , the distance by which the container C is displaced toward the protruding side while rubbing against the support base 14D is suppressed. After that, when the container C rises from the support table 14D at time t u , the tip of the fork body 32 is caused by the retraction operation and the lifting operation of the mounting table 57 and the inclination of the stacker crane V until the retraction operation is completed at time t 2. and displacement of the protruding side length to move to draw a locus by actuation combined, after the retracting operation is completed at time t 2, the to protruding side by tilting of the raised operative and stacker crane V of the mounting body 57 The point D is reached at time t d while drawing a trajectory due to the operation combined with the displacement. FIG. 12 shows an example in which the specific timing T is later than the appropriate time so that the time t d at which the mounting body 57 is located at the rising end position P top coincides with the time t 2 at which the retraction operation is completed. Yes.

As described above, when the time t 1 at which the mounting body 57 starts to be retracted by the set distance L pull is too early, as shown in FIG. If it is too late, as shown in FIG. 12, the container C moves to the retraction side in the protruding direction of the mounting body 57 while rubbing against the support base 14D. Further, even when the set distance L pull is too long or too short than an appropriate distance, the retraction operation amount during the raising operation is excessive or insufficient with respect to the displacement amount of the mounting body 57 due to the inclination of the stacker crane V. The container C moves to the retraction side in the protruding direction of the mounting body 57 while rubbing against the support base 14D.

In the present embodiment, the plurality of stainless steel plates 34 as supports that support the container C are movable in the retracting direction of the mounting body 57 by the elastic deformation of the urethane rubber 35 and are urged to return to the initial position Pn. In this state, since the pair of fork bodies 32 are provided in a distributed manner at a plurality of locations in plan view, the timing of the specific timing T and the set distance L pull are not optimal values. However, even when the amount of displacement of the mounting body 57 due to the inclination of the stacker crane V is excessive or insufficient, the retraction operation amount that is excessive or insufficient due to the stainless steel plate 34 moving in the retracting direction on the mounting body main body 30. Can be absorbed and supplemented.

That is, as shown in FIG. 13A, the mounting body 57 is set to the protruding position P1, and the mounting body 57 is positioned in the lower space of the container C stored in the storage unit 14, and then mounted. When the body 57 starts to rise, the tip of the fork body 32 comes into contact with the bottom of the container C at time t t . At this time, the stainless steel plate 34 at the initial position Pn contacts the bottom of the container C.

Then, since the time t 1 at which the mounting body 57 starts to be retracted by the set distance L pull is too early or too late than that at the appropriate specific timing T, the mounting body 57 is moved to the protruding side or the retracting side in the retracting direction. Even if the displacement L is displaced, the urethane rubber 35 corresponding to the plurality of stainless steel plates 34 is elastically deformed by an amount corresponding to the displacement L as shown in FIG. The mounting body main body 30 can be allowed to move toward the rear side of the storage portion 14 toward the displacement position P1 ′ while maintaining the support position with respect to the container C. Incidentally, FIG. 13B shows that when the mounting body 57 is retracted after the tip of the fork body 32 of the mounting body main body 30 contacts the container C in the mounting body 57, the retraction operation amount is insufficient. In addition, since the timing of the retraction operation is not optimal, the case where the mounting body 57 is displaced by the displacement amount L in the protruding and retracting direction due to the tilting of the stacker crane V is shown.

Accordingly, since the timing of the specific timing T and the set distance L pull are not optimal values, the retraction operation amount at each time during the ascending operation is excessive or insufficient with respect to the displacement amount of the mounting body 57 due to the inclination of the stacker crane V. Even in this case, the stainless steel plate 34 moves in the retracting direction on the mounting body main body 30, so that an excessive or insufficient retraction operation amount can be absorbed and complemented, so that the container C is rubbed with the support base 14D in the retracting direction. It can prevent moving as much as possible.

  In addition, it is difficult to precisely match the specific timing to the ideal timing, and the speed at which the mounting body 57 is retracted is faster than the speed at which the container C is pushed in by the tilt of the stacker crane V. Considering that it is slower and slower than the speed at which the stainless steel plate 34 is moved toward the initial position Pn in the retracting direction due to the elastic return of the urethane rubber 35, the specific timing is consciously earlier than the ideal timing. It is desirable to make the state shown in FIG. 13B appear by setting the time.

  That is, since the stainless plate 34 is provided so as to be movable in the retracting direction with respect to the mounting body main body 30, when the mounting body 57 is raised from the state shown in FIG. In the process in which the weight of the container C is gradually shifted to the mounting body 57 as the mounting body 57 located at the protruding position P1 rises, the stacker crane V stores the article in which the storage unit 14 is provided. It tilts slightly with respect to the shelf S, and the mounting body 57 is displaced to the protruding side as shown in FIG. At the initial stage where the tilting phenomenon of the stacker crane V occurs, the pushing operation force to the back side of the storage unit 14 acting on the container C via the stainless plate 34 is less than the friction holding force by the support 14D of the storage unit 14. Therefore, the urethane rubber 35 is elastically deformed, so that only the mounting body main body 30 is displaced to the protruding side while the stainless plate 34 holds the position where the container C is mounted and supported.

Then, when performing the take-out process, the mounting body 57 is moved to the retracted position P0 side at the set distance L pull at an early stage while the mounting body 57 protruded to the protruding position P1 is raised from the ascent start position to the ascent end position. When only the retraction is performed, the urethane rubber 35 is elastically deformed, so that the stainless steel plate 34 is moved from the retraction side position to the protrusion side position with respect to the mounting body main body 30 from the retraction side position. As a result, as shown in FIG. 13C, the urethane rubber 35 is elastically deformed in the direction opposite to that in FIG. 13B, and moved from the initial position Pn to the protruding side with respect to the mounting body 30. The container C can be supported by the stainless plate 34 in the state.

  Thereafter, when the push-in operation force to the back side of the storage portion 14 acting on the container C as the mounting body 57 is raised exceeds the friction holding force by the support base 14D of the storage portion 14, the stacker crane V is at once. It tilts and the mounting body 57 is displaced to the protruding side in the retracting direction at a very short time. At substantially the same time, the restoring force of the elastically deformed urethane rubber 35 causes the stainless steel plate 34 to return to the initial position Pn side at a speed corresponding to the displacement speed of the mounting body 57 to the protruding side. As shown in FIG. 14 (d), the stainless steel plate 34 moves relative to the mounting body main body 30 while the mounting body main body 30 is displaced toward the protruding side in the retracting / retracting direction. The position is maintained, and as shown in FIG. 14E, the position of the container C in the storage portion 14 in the retracting direction can be maintained at the position shown in FIG. Therefore, it is possible to appropriately prevent the container C from being pushed into the back side of the storage unit 14 due to the inclination of the stacker crane V and causing friction with the support base 14D of the storage unit 14.

As described above, by retracting the mounting body 57 by an appropriate set distance L pull at an appropriate specific timing T, as shown in FIGS. The mounting body 57 is raised without moving the container C in the shelf depth direction as much as possible, and the container C can be taken out from the storage unit 14 while preventing the container C from rubbing against the support base 14D.

In the present embodiment, an appropriate specific timing T and an appropriate set distance L pull in the scooping control in the extraction process for the containers C having a weight of 800 [kg] and 600 [kg] are determined based on the experimental results. ing.

That is, for the container C having a weight of 800 [kg], the set distance L pull is set while changing the fork correction rising position P pull which is the lifting position of the mounting body 57 that starts the retraction operation for correction by 10 [mm]. Measure the sliding distance of the container C (the distance moved while rubbing against the support base 14D) when the -4 [mm] is moved out and out and -6 [mm] is moved out, and the weight For a container C of 600 [kg], the set distance L pull is −6 while the fork correction rising position P pull that is the lifting position of the mounting body 57 that starts the retraction operation for correction is varied by 10 [mm]. When the sliding distance of the container C in the case of moving out and out by [mm] was measured, the results shown in the table of FIG. 15 were obtained.

Based on the experimental results shown in FIG. 15, in this embodiment, the fork correction ascent position P pull is set to a position 60 [mm] above the ascent start position P btm , and the set distance L pull is −6 [mm]. ] Is set. By setting in this way, the sliding distance of the container C in the extraction process is suppressed as much as possible regardless of whether the weight of the container C is 800 [kg] or the weight of the container C is 600 [kg]. It was confirmed that

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above-described embodiment, the control means raises and lowers the article placement body at the specific timing so that the article placement body is retracted to the retreat position side by the same set distance regardless of the weight of the article. In the above example, the control unit is configured to control the retreat operation, but instead, the control unit is configured to retract the set object body at a specific timing by a different set distance according to the weight of the product. It may be configured to control the lifting operation and the withdrawal operation.

  In this case, for example, a storage state management unit that manages the weight of the articles stored in the storage unit is provided, and the control unit acquires article weight information about the articles to be taken out from the storage state management unit, and A configuration in which a set distance corresponding to the weight of the article is obtained by a table reference method or the like is conceivable.

( 2 ) In the above-described embodiment, the article conveying apparatus is exemplified as a container that conveys a container for storing a glass substrate or the like used for a liquid crystal display or a plasma display in a stacked state. However, another article is conveyed as an article. You may do.

( 3 ) In the above-described embodiment, the elastic member is illustrated as being made of urethane rubber having a rectangular shape in plan view and a thickness of 15 [mm]. However, the material of the elastic member is not limited to urethane rubber. In this case, it can be appropriately selected according to the amount by which the article placement body is displaced from the protruding position to the back side of the storage section and the weight of the article. As the shape of the elastic member, various shapes such as a circular shape, an elliptical shape, and a triangular shape in a plan view are conceivable.

( 4 ) In the said embodiment, although the support body comprised what was comprised with the stainless steel plate, it is not restricted to this, The material and shape of a support body can be variously selected.

( 5 ) In the above embodiment, the article placement body is illustrated as having a fork body. However, the configuration is not limited to this, and various specific configurations of the article placement body can be selected.

( 6 ) In the above-described embodiment, the two elevating masts are provided as a pair of front and rear in the traveling direction of the traveling carriage. However, the present invention is not limited to this, and one elevating mast may be provided. .

( 7 ) In the above embodiment, the support is mounted in a fixed state on the upper surface of an elastic member that is elastically deformable and fixed in the vertical direction on the mounting body main body. An example is shown in which the mounting body main body to be moved out and out is movable along the moving direction, and is provided in a state where it is urged to return to the initial position in the moving direction. For example, the article mounting body is moved along the slide-out direction of the mounting body main body via a bearing or the like on the slide base provided in a fixed state on the mounting body main body and the upper part of the slide base. A slide table as a free support may be provided, and the slide base and the slide table may be connected by a biasing spring that biases the slide table back to the initial position.

( 8 ) In the above embodiment, the article conveying apparatus is illustrated as being installed in a clean room, but may be installed in an indoor environment that is not a clean room.

Longitudinal front view of goods storage equipment Top view of stacker crane (A) When in the retracted position (b) When the mounting body is in the protruding position and the storage shelf Plan view of the mounting body (A) Top view (b) Side view showing stainless steel plate mounting structure Control block diagram Ugly control flowchart Ugly control timing chart Trajectory of fork body tip by scooping control (A) Movement trajectory of fork body tip when there is no retraction operation for correction (b) Timing chart (A) Fork body tip trajectory (b) Timing chart when correction retraction operation is too early (A) Movement trajectory of the fork body tip when the retraction operation for correction is too slow (b) Timing chart The figure which shows the mode of a movement of the support body in a mounting body main body. The figure which shows the mode of a movement of the support body in a mounting body main body. Experimental results verifying specific timing and set distance

Explanation of symbols

C Article S Storage shelf T Specific timing Tw Thickness P0 Retraction position P1 Projection position Pn Initial position Pbtm Lifting start position Ptop Lifting end position Lpull Setting distance H Control means 14 Storage part 15 Travel path 30 Mounting body main body 34 Supporting body 35 Elasticity Member 35U Upper surface 44 Traveling carriage 45, 49 Lifting mast 57 Article placing body

Claims (6)

  1. A traveling carriage capable of traveling along a traveling route set on the front side of a storage shelf in which storage units for storing articles are provided vertically and horizontally;
    An article mounting body that can be moved up and down along a lifting mast erected on the traveling carriage and that can be moved back and forth between a protruding position protruding toward the storage shelf and a retracted position retracting toward the traveling path. When,
    Control means for controlling the lifting and lowering operation and the withdrawal operation of the article mounting body to perform an extraction process for taking out the article stored in the storage unit and a storage process for storing the article in the storage unit;
    The control means ascends from the ascending start position to the ascending end position in the state where the article mounting body is projected to the projecting position and positioned in the lower space of the article stored in the storage unit as the take-out process. An article conveying device configured to perform scooping control for controlling the lifting and lowering operations of the article mounting body to retreat to the retraction position after being moved,
    In the scooping control, the control means retracts the article placement body toward the retraction position side by a set distance at a specific timing while raising the article placement body from the ascent start position to the ascent end position. So as to control the raising and lowering operation and the withdrawal operation of the article mounting body ,
    In the scooping control, the retreating speed when the article placing body is retracted by the set distance at the specific timing is the retreating speed after the article placing body is raised to the ascent end position. It is configured to control the lifting and lowering operation and the withdrawal operation of the article mounting body so as to be faster than the withdrawal speed when retreating to a position,
    In the scooping control, the control means is configured so that the ascending / descending speed of the article placing body at the specific timing is lower than the ascending / descending speed when the article placing body is lifted from the ascent start position. An article conveying apparatus configured to control the lifting operation of the article placing body .
  2. The article transport apparatus according to claim 1, wherein the control unit is configured to change the set distance according to a weight of the article.
  3. The support body for mounting and supporting the article is movable along the retracting direction of the mounting body main body, and the moving direction of the mounting body is moved in and out of the mounting body main body. 3. The article conveying apparatus according to claim 1, wherein the article conveying apparatus is provided in a state of being biased back to the initial position.
  4. The article transporting apparatus according to claim 3, wherein the plurality of support bodies are provided on the placement body main body in a state of being dispersedly arranged in a plan view.
  5. The said support body is attached to the upper surface part of the elastic member which is elastically deformable provided in the said object mounting body in the fixed state, and has thickness in an up-down direction in the fixed state. Article conveying device.
  6. The article conveying apparatus according to any one of claims 1 to 5, wherein the elevating mast is provided in a form in which a lower end portion thereof is supported by the traveling carriage and protrudes upward in a cantilever manner.
JP2008111627A 2008-04-22 2008-04-22 Article conveying device Active JP4688004B2 (en)

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JP5321913B2 (en) * 2009-12-07 2013-10-23 株式会社ダイフク Goods storage facility
JP5636849B2 (en) * 2010-09-30 2014-12-10 村田機械株式会社 Transfer system
US9056719B2 (en) * 2011-03-29 2015-06-16 Murata Machinery, Ltd. Automatic storage system
JP2012212746A (en) * 2011-03-31 2012-11-01 Tokyo Electron Ltd Substrate transfer device and substrate transfer method
JP5161335B2 (en) * 2011-04-06 2013-03-13 中外炉工業株式会社 Substrate transport apparatus and substrate processing apparatus provided with the same
JP5800193B2 (en) * 2011-11-07 2015-10-28 株式会社ダイフク Goods storage equipment
CN102849386B (en) * 2012-08-15 2014-08-06 杭州扬果科技有限公司 Lift type touch screen intelligent warehouse
CN102795442A (en) * 2012-09-06 2012-11-28 深圳市华星光电技术有限公司 Automatic material transporting system
JP6276090B2 (en) * 2014-03-31 2018-02-07 株式会社ダイヘン Transport device, transport system
CN106477226B (en) * 2016-11-15 2018-10-30 西安建筑科技大学 It is a kind of intelligence express delivery dress take transport vehicle

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