JP5212730B2 - Goods transport equipment - Google Patents

Description

  The present invention provides a storage shelf provided with storage units for storing articles in the shelf width direction and the vertical direction, and an article support provided on the front side of the storage shelf, on which the articles can be placed and supported. An article transfer device capable of moving in and out of a retracted posture that protrudes toward the side and a retracted posture that is retracted toward the self side so that an article can be transferred between the storage portion and the article transfer device; A movement operation device for moving the shelf width direction and the vertical direction, a movement command means for commanding a movement command for moving the article transfer device in the shelf width direction and the vertical direction, and the article support of the article transfer device A projection command means for commanding a projection command for projecting the body from the retraction position; and controlling the operation of the movement operation device based on the movement command and controlling the operation of the article transfer device based on the projection command. Control means configured as An article transport facility is provided.

  Such an article transporting facility moves the article transfer device in the horizontal direction and the vertical direction of the shelf by using the moving operation device so as to store the article transferred to the loading position in the storage unit. In addition, the article is transported so that the article is transported to the unloading portion and the article taken out from the storage unit is transported to the unloading location.

  In such an article transport facility, a position detecting means for detecting the position in the shelf width direction and the vertical direction of the article transfer device, and a management means for instructing a scooping instruction and a wholesale instruction are provided. The storage unit designated by the scooping command is picked up based on the scooping command from the managing means and the detection information of the position detecting means, and the wholesale command is made based on the wholesale command from the managing means and the detection information of the position detecting means. The operation of the article transfer device and the movement operation device is controlled so as to wholesale the article to the designated storage unit. The scooping command and the wholesale command include a movement command for moving the article transfer device in the width direction of the shelf and a projection command for projecting the article support from the retracted position. The management means commands the movement command. It functions as a movement command means or a protrusion command means for instructing a protrusion command.

  In addition, when a scooping command is instructed from the management means, based on the scooping command and the detection information of the position detection means, an article transfer device in which no article is present on the article support is After moving to the scooping position for the specified storage unit, the article support is protruded from the retracted position to the protruding position, the article transfer device is moved up by a set amount, and the article support is retracted from the protruding position to the retracted position. Thus, the articles stored in the storage section are received by the article support.

  Further, when a wholesale command is instructed by the management means, an article transfer device in which an article is present on the article support is designated by the wholesale command based on the wholesale command and the detection information of the position detection means. After moving to the wholesale position for the storage unit, the article support is protruded from the retracted position to the protruding position, the article transfer device is moved downward by a set amount, and the article support is retracted from the protruding position to the retracted position. Articles supported by the article support are wholesaled to the storage unit.

  In other words, in the conventional article transport facility, the control means moves the article transfer device on which the article exists on the article support to the scooping position based on the movement command included in the scooping command and the detection information of the position detecting means. Later, the article support was made to protrude from the retracted posture based on the protrusion command included in the scooping instruction. In addition, the management means is included in the wholesale command after moving the article transfer device having no article on the article support to the wholesale position based on the movement command included in the wholesale command and the detection information of the position detection means. The article support is configured to protrude from the retracted posture based on the protrusion command (see, for example, Patent Document 1).

JP-A-7-285615

  In the above-described conventional article transport equipment, the article transfer apparatus in which an article exists on the article support is stopped at the scooping position, or the article transfer apparatus in which no article exists on the article support is in the wholesale position. When the relationship between the presence state of the article on the article support and the stop position of the article transfer device is improper, as in the stopped state, a protrusion command is issued regardless of the presence or absence of the article on the article support. If commanded, the article support may protrude from the retracted posture.

  In other words, when an operator places an article on the article support while moving the article transfer device in which no article is present on the article support to the scooping position for the storage unit specified by the scooping command In addition, it is conceivable that the article transfer device in which an article exists on the article support is stopped at the scooping position. In such a state, when the protrusion command causes the article support to protrude from the retracted position based on the instruction and the article is continuously conveyed, the article on the article support is stored in the storage shelf or the storage unit. Problems such as contact with goods occur.

  In addition, if an article on the article support is dropped while moving the article transfer device on which the article exists on the article support to the wholesale position for the storage unit specified by the wholesale command, the article It is conceivable that the article transfer device in which no article exists on the support is stopped at the wholesale position. In such a state, if the protrusion command causes the article support to protrude from the retracted position based on the instruction and the article is continuously conveyed, inventory management of the articles stored in the storage shelf cannot be performed properly. The problem occurs.

  Accordingly, the article transfer device in which the article is present on the article support is stopped at the scooping position, or the article transfer device in which the article is not present on the article support is stopped at the wholesale position. In addition, when the relationship between the presence state of the article on the article support and the stop position of the article transfer device is inappropriate, it is necessary to prevent the article support from protruding from the retracted posture.

  In addition, an automatic mode in which the control means controls the operation of the article transfer device and the movement operation device based on the scooping command and the wholesale command from the management means as described above, and a movement command from the manually operated manual operation means. When the maintenance work is performed, the control means is switched to the manual mode, and the operator manually operates the manual operation means. There are some which are operated manually to operate the article transfer device and the movement operation device.

  In the manual mode, when the article transfer device and the movement operation device are operated based on the movement command from the manual operation means, the operator determines whether or not there is an article on the article support. Therefore, an article transfer device having an article on the article support erroneously determines that no article is present on the article support, and it should be moved to the wholesale position by mistake. In the case of an article transfer device in which no article exists on the article support, it is erroneously determined that an article exists on the article support, and it should be moved to the scooping position by mistake. May end up. As in these cases, when the article support is protruded from the retracted posture in a state where the relationship between the presence / absence of the article on the article support and the stopping device of the article transfer device is not appropriate, Problems such as contact of the supported article with the storage shelf or with the article stored in the storage unit occur. Accordingly, even when the article transfer device and the movement operation device are operated based on the movement command from the manual operation means, the relationship between the state of the article on the article support and the stop position of the article transfer device is inappropriate. In such a state, it is necessary to prevent the article support from protruding from the retracted posture.

  The present invention has been made in view of the above circumstances, and its object is to provide an article support in a state where the relationship between the state of the article on the article support and the stop position of the article transfer device is inappropriate. It is in the point which provides the article conveyance equipment which can prevent the malfunction by making it protrude from a retirement attitude | position beforehand.

The article transport facility according to the present invention includes a storage shelf provided with storage sections for storing articles in the shelf width direction and the vertical direction, and an article support that is provided on the front side of the storage shelf and is capable of placing and supporting articles. An article transfer device capable of moving in and out of the storage section in a projecting posture in which the body protrudes toward the storage section and a retraction position in which the body is retracted to the self-side, and capable of transferring articles to and from the storage section; A movement operation device for moving the article transfer device in the shelf width direction and the vertical direction, a movement command means for instructing a movement command for moving the article transfer device in the shelf width direction and the vertical direction, and the article transfer A projection command means for commanding a projection command for projecting the article support of the apparatus from the retracted position; and controlling the operation of the movement operation device based on the movement command and the article transfer device based on the projection command. To control the operation of Be those with made control means is provided, its first feature structure,
Position detecting means for detecting the position in the shelf width direction and the vertical direction of the article transfer device, and presence / absence detecting means for detecting the presence / absence of an article on the article support, are provided, and the control means includes the position Based on the detection information of the detection means and the presence / absence detection means, the article transfer device stops at a predetermined scooping position for each of the plurality of storage units in a state where no article is present on the article support. Or in an appropriate stop state where the article transfer device is stopped at a wholesale position higher than the scooping position set in advance for each of the plurality of storage units in a state where an article is present on the article support. When it is determined whether or not it is in the proper stop state, when the protrusion command is instructed, it is determined that the article support is protruded from the retracted position and is not in the proper stop state. The case is that a the be projected instruction command is configured the article support so as not to protrude from the retirement posture.

  That is, the management means is based on the detection information of the position detection means and the presence / absence detection means, and the article transfer device is stopped at the scooping position in a state where no article is present on the article support, and the article support. In the state where the article transfer device is stopped at the wholesale position with the article on top, the relationship between the presence / absence state of the article on the article support and the article transfer device is appropriate. Judged as stopped. And when it determines with it being a suitable stop state, based on the protrusion command of a protrusion command means, an article transfer apparatus is operated and an article support body is made to protrude from a retraction posture.

  Further, the management means is based on the detection information of the position detection means and the presence / absence detection means, in a state where the article transfer device is out of the scooping position and is stopped when there is no article on the article support, In the state where the article transfer device is out of the wholesale position and stopped while the article on the body is present, the relationship between the presence / absence state of the article on the article support and the stop position of the article transfer device is inappropriate. Yes, it is not determined as an appropriate stop state. If the proper stop state is not determined, the article transfer device is not operated and the article support is not projected from the retracted position even if a projection command is commanded by the projection command means.

  Therefore, the state where the article transfer device having the article on the article support is stopped at the scooping position, or the article transfer apparatus having no article on the article support is stopped at the wholesale position. In addition, when the relationship between the state of the article on the article support and the stop position of the article transfer device is inappropriate, the article support can be prevented from protruding from the retracted posture. Problems caused by protruding the article support from the retracted posture can be prevented in advance.

  Therefore, an article transporting facility that can prevent problems caused by projecting the article support from the retracted position in an inappropriate state between the presence state of the article on the article support and the stop position of the article transfer device. It came to be able to provide.

  The second feature configuration of the article transporting facility according to the present invention is the first feature configuration, wherein the movement command means specifies any one of the plurality of storage units as an article transfer target location. The command is configured as a manipulative operation type that can be commanded freely, the protrusion commanding means is configured as a manipulative operation type that allows the commanding operation of the protrusion command, and the control means is commanded by an upper management means. Alternatively, an automatic mode in which the article transfer device and the movement operation device are operated based on a delivery command, and the movement command is operated based on the movement command by the movement command means and the protrusion command of the protrusion command means On the basis of the manual transfer mode for operating the article transfer device, and when the movement command is commanded in the manual mode, When the presence of an article on the article support is not detected, the article is moved to the scooping position with respect to the storage portion specified by the movement command, and the article is detected by the presence / absence detecting means. When the presence of the article on the support is detected, the article transfer device is moved to the wholesale position for the storage unit designated by the movement command.

  That is, in the automatic mode, the operations of the article transfer device and the movement operation device are controlled based on the warehousing command or the warehousing command that is instructed from the upper management means. Further, in the manual mode, the operation of the moving operation device is controlled based on a movement command instructed by the operator manually operating the movement operation means, and the operation is instructed by the operator manually operating the protrusion command means. The operation of the article transfer device is controlled based on the protrusion command.

  In the manual mode, when the operator manually operates the movement operation device so as to designate a storage unit as an article transfer target, based on the movement command from the movement operation device and the detection information of the presence / absence detection means. The article transfer device in which no article is present on the article support is moved to the scooping position of the storage unit designated by the movement command, and the presence of the article is detected on the article support. The operation of the moving operation device is controlled so as to move the storage unit designated by the movement command to the wholesale position.

  That is, the article transfer device is ugly depending on whether or not the article is present on the article support by simply manually operating the manual operation device so as to designate the storage unit as the article transfer target location. The position or wholesale position is automatically selected and moved. Therefore, the operation of the manual operation device by the operator in the manual mode is simple and does not require an operation for designating the scooping position or the wholesale position, and the operator determines whether or not the article exists on the article support. By misrecognizing, the article transfer device is moved to the scooping position when the article is present on the article support, or the article transfer device is moved to the wholesale position when no article is present on the article support. Can be prevented.

  Therefore, in the manual mode, the operator can easily operate the manual operation device, and the article transfer device can be moved to a scooping position when an article is present on the article support. It is now possible to provide an article transport facility that can prevent the article transfer device from being moved to the wholesale position when no article is present.

  According to a third feature configuration of the article transport facility according to the present invention, in the second feature configuration, the article support by the presence / absence detecting means before the control means starts to move the article transfer device based on the movement command. If the presence / absence state of the article on the body is different from the detection state of the article on the article support by the presence / absence detecting means before starting the protrusion of the article support based on the protrusion instruction, the protrusion instruction Is configured such that the article support is not protruded from the retracted position even if the command is issued.

  That is, whether the article on the article support is present or not by the presence / absence detection means before and after starting the movement of the article transfer device based on the movement command and before starting the protrusion of the article support based on the protrusion command. Detected. And the detection state of the article on the article support by the presence / absence detecting means is different between before the movement of the article transfer device based on the movement command is started and before the protrusion of the article support is started based on the protrusion command. Even if a protrusion command is instructed, the article support is not protruded from the retracted posture.

  In other words, if the detection state is different between before the movement of the article transfer device based on the movement command is started and before the protrusion of the article support is started based on the protrusion command, for example, there is an article on the article support. It is conceivable that the article on the article support moves or collapses while the article transfer device to be moved is moved to the wholesale position for the storage unit designated by the wholesale command. When the article support is protruded from the retracted position while the article on the article support is moved or collapsed, the protrusion may cause the article to fall from the article transfer device, or the article may contact the storage shelf. There is a fear. In this regard, according to the present invention, when the detection state is different between before starting the movement of the article transfer device based on the movement command and before starting the protrusion of the article support based on the protrusion command, the protrusion command Since the article support is not protruded from the retracted position even when the command is issued, it is possible to prevent the collapsed article from falling from the article support and the collapsed article from coming into contact with the storage shelf.

  Accordingly, it has become possible to provide an article transport facility that can prevent the article from falling from the article support and the article from coming into contact with the storage shelf.

  According to a fourth feature configuration of the article transport facility according to the present invention, in any one of the first to third feature configurations, a stored article detection unit that detects presence or absence of an article in the storage unit is provided, and the control unit includes The presence / absence detection means detects the presence of the article on the article support and the storage part corresponding to the wholesale position is located by movement based on the movement command. When the presence is detected, the article support is configured not to protrude from the retracted position even if the protrusion command is instructed.

  That is, before projecting the article support from the retracted position based on the projection command, the presence / absence detecting means detects the presence / absence of the article on the article support, and the stored article detecting means detects the presence of the article corresponding to the wholesale position. When the presence / absence of an article is detected and the article is present on both the article support and the corresponding storage unit, the article support is not projected from the retracted position even if a projection command is issued.

  In other words, when an article is present on both the article support and the storage unit to be transferred, even if the article transfer device is in a proper stop state, by protruding the article support from the retracted posture, The article support and the article placed and supported on the article support come into contact with the article stored in the storage unit. In this regard, according to the present invention, when an article is present on both the article support and the storage unit to be transferred, the article support is not protruded from the retracted posture even if a projection command is issued. It is possible to prevent the support and the article placed and supported thereon from coming into contact with the article stored in the storage unit.

  Accordingly, it has become possible to provide an article transport facility that can prevent the article support and the article placed and supported thereon from coming into contact with the article stored in the storage unit.

Perspective view of goods transport equipment Top view of the goods storage facility Side view of stacker crane Top view of manual operation device Control block diagram Diagram showing wholesale position and scooping position Crane control flowchart Semi-automatic movement process flowchart Flow chart of exit / exit processing

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the article transport facility includes a storage shelf 1 in which storage units 1 a for storing articles are arranged in the horizontal direction and the vertical direction of the shelf, and the front side of the storage shelf 1 in the horizontal direction of the shelf. A stacker crane 2 that travels along and a carry-in / out conveyance device 3 that is located laterally of the storage shelf 1 are provided.

The storage shelf 1 and the stacker crane 2 are provided in the peripheral wall 4. An entrance / exit 5 for entry / exit of the worker is formed in the peripheral wall 4, and an operator can enter / exit the travel path of the stacker crane 2 from the entrance / exit 5.
The peripheral wall 4 is formed with a carry-in / out entrance 6 for carrying in / out the article W. The carry-in / out transfer device 3 carries the article W into the peripheral wall 4 through the carry-in / out entrance 6. The article W is carried out from the inside 4 through the carry-in / out entrance 6.

  The carry-in / out carrying device 3 includes a roller-type carry-in / out conveyor 9 and a pair of carry-in / out supports 10 that are provided at the ends of the carry-in / out conveyors and support the both ends of the article W in the width direction. It is configured. Then, by moving the pair of loading / unloading supports 10 up and down, the article W can be transferred between the loading / unloading conveyor 9 and the pair of loading / unloading supports 10. In the state where the body 10 is raised, the article W on the loading / unloading support 10 can be picked up by the stacker crane 2, and the article W can be wholesaled on the loading / unloading support 10 by the stacker crane 2. It is like that.

A pair of storage shelves 1 are installed in a state of being spaced apart from each other. As shown in FIGS. 1 and 2, each of the storage portions 1 a includes a pair of article support tools 7 in a state of being spaced apart in the width direction, and the pair of article support tools 7 uses the pair of article support tools 7 in the width direction. It is comprised so that the articles | goods W may be accommodated in the form which mounts and supports both ends.
As shown in FIGS. 1 and 2, the stacker crane 2 is provided so as to travel between the pair of storage shelves 1, and the storage unit 1 a of the pair of storage shelves 1 and the carry-in / out transfer device 3. The article W is configured to be conveyed between the carrying-in / out support 10.

Next, the stacker crane 2 will be described.
As shown in FIG. 3, the stacker crane 2 includes a traveling carriage 11 that can travel along the width of the shelf, a lifting platform 13 that can move up and down along a column 12 that stands on the traveling carriage 11, and a lifting platform. 13 is provided with an article transfer device 14 placed and supported by 13 and a control means h (see FIG. 5) for controlling the operation of the stacker crane 2.

  Then, the traveling wheel 11 that rolls on the guide rail 15 provided along the traveling route is rotationally driven by the traveling electric motor M1, thereby causing the traveling carriage 11 to travel along the lateral width direction of the shelf, and the lifting platform. The take-up drum 13 around which the wire 17 connected to 13 is wound is rotated by an elevating electric motor M <b> 2, whereby the elevating platform 13 is raised and lowered along the vertical direction. In this way, the stacker crane 2 moves the traveling carriage 11 along the shelf width direction and moves the lifting platform 13 up and down along the vertical direction, thereby moving the article transfer device 14 in the shelf width direction and the vertical direction. It is comprised so that it may move, and is equivalent to the movement operation apparatus 19 which moves the article transfer apparatus 14.

The article transfer device 14 has a protruding attitude (indicated by phantom lines in FIG. 6) in which an article support 14a on which the article W can be placed and supported is protruded toward the storage section, and a retracted attitude (in FIG. 6) in which the article W is retracted. (Shown by a solid line) and a fork that is provided so as to be freely retractable and retractable, and the article W can be transferred to and from the storage portion 1a. Further, the article transfer device 14 is configured so that the article support 14a can be selectively protruded to the side where one of the pair of storage shelves 1 is located or the side where the other is located. The article W is configured to be freely transferred to and from each of the storage units 1a.
Incidentally, the article transfer device 14 is provided on the front side of the storage shelf 1 in a form provided in the stacker crane 2 that travels along the width direction of the shelf on the front side of the storage shelf 1.

  As shown in FIG. 3, the stacker crane 2 detects a traveling laser range finder 21 as a traveling position detecting means for detecting a position of the traveling carriage 11 in the width direction of the shelf and a vertical position of the lifting platform 13. An elevating laser range finder 22 is provided as elevating position detecting means. The travel laser range finder 21 and the lift laser range finder 22 constitute position detecting means 23 for detecting the position of the article transfer device 14 in the horizontal and vertical directions of the shelf. The traveling laser range finder 21 and the lifting laser range finder 22 are provided on the traveling carriage 11.

The traveling laser range finder 21 projects distance measuring beam light horizontally in the width direction of the shelf, and reflects the beam light reflected by the reflecting plate 28 for traveling position provided at the end of the moving path. It is configured to receive light and detect the distance from itself to the reflector 28 for the travel position.
Further, the lifting laser range finder 22 projects a beam for distance measurement in the horizontal direction of the shelf, is bent by vertical information by the mirror 24 on the traveling carriage 11, and is provided on the lower surface of the lifting platform 13. The beam light reflected by the raised / lowered position reflecting plate 29 is received, and the distance from itself to the raised / lowered position reflecting plate 29 is detected.

As shown in FIGS. 3 and 6, the elevator 13 of the stacker crane 2 has a presence / absence detection sensor 26 as presence / absence detecting means for detecting the presence / absence of the article W on the article support 14 a, An article detection sensor 27 is provided as a stored article detection means for detecting the presence / absence of the article W on the carry-in / out support 10.
The presence / absence detection sensor 26 is configured to detect the presence / absence of the article W by being pressed when the article W is placed at an appropriate position on the article support 14a. The article detection sensor 27 is in the state where the article transfer device 14 is positioned at a scooping position and a wholesale position, which will be described later, and whether or not there is an article W on the storage unit 1a or the loading / unloading support 10 corresponding to the scooping position and the wholesale position. It is provided so that it can be detected.

As shown in FIG. 5, detection information of the traveling laser rangefinder 21 and detection information of the lifting laser rangefinder 22 are input to the control means h, and detection information of the traveling laser rangefinder 21 is input. The position of the article transfer device 14 in the horizontal width direction of the article is determined based on the above, and the position of the article transfer device 14 in the vertical direction is determined based on the detection information of the lifting laser range finder 22. .
Further, the detection information of the presence / absence detection sensor 26 and the detection information of the article detection sensor 27 are input to the control device h, and the presence / absence of the article W on the article support 14a is determined based on the detection information of the presence / absence detection sensor 26. Based on the detection information of the article detection sensor 27, the presence / absence of the article W on the storage unit 1 a and the loading / unloading support 10 is determined.

  The control unit h controls the automatic mode in which the stacker crane 2 is operated based on the warehousing command or the leaving command commanded by the upper management unit H, and the stacker crane 2 based on the command of the manually operated manual operation device 31. The automatic mode and the manual mode are configured to be switchable by a mode switching command of the manual operation device 31.

  As shown in FIGS. 1 and 2, a connecting portion 33 for connecting the manual operation device 31 to the lateral side of the entrance 5 in the peripheral wall 4 is provided. As shown in FIG. A connection terminal 34 connected to the connection unit 33 is provided. The connecting portion 33 is provided outside the peripheral wall 4, and the operator manually operates the manual operation device 31 outside the peripheral wall 4.

  When the manual operation device 31 is connected to the connection unit 33, the mode switching command for switching between the automatic mode and the manual mode, the manual movement command for moving the article transfer device 14 by a set distance in the state of specifying the movement direction, the article Semi-automatic movement command to move the article transfer device 14 in a form that designates a plurality of storage units 1a or carry-in / out support 10 as transfer target locations of W, a plurality of storage units 1a or support for carry-in / out as projection target locations Articles in a form in which a plurality of storage portions 1a or loading / unloading supports 10 are designated as retraction target locations, and a protrusion command for causing the article support 14a of the article transfer device 14 to protrude from the retraction posture in a form in which the body 10 is designated A retraction command for retreating the article support 14a of the transfer device 14 from the protruding posture can be commanded. The manual operation device 31 is configured to be capable of commanding operation of a mode switching command, a manual movement command, a semi-automatic movement command, a protrusion command, and a retraction command by operating the operation key 35.

The manual operation device 31 is an operation for moving the article transfer device 14 to one side or the other side in the shelf width direction, or to the upper side or the lower side in the vertical direction, as an operation to instruct a manual movement command. A manual movement command for moving the article transfer device 14 in the designated movement direction only while the operation key 35 is operated is instructed. Is done.
In addition, the manual operation device 31 performs an operation of inputting shelf number information (bank, bay, level) and specifying one storage unit 1a as a semi-automatic movement command, or an operation of specifying the carry-in / out support 10. The semi-automatic movement command is instructed by performing an operation for designating one storage section 1a or an operation for designating the loading / unloading support 10.

  In other words, the manual operation device 31 includes an artificially operated mode command means 31a for instructing a mode switching command, an artificially operated manual movement command means 31b for instructing a manual movement command, and an artificially operated semiautomatic command of a semiautomatic movement command. The movement command means 31c and the manually operated projection command means 31d for commanding the projection command are also used. The semi-automatic command means 31c (manual operation device 31) corresponds to the movement command means 32 that commands a movement command for moving the article transfer device 14 in the shelf width direction and the vertical direction.

  As shown in FIG. 4, the manual operation device 31 is provided with a display unit 36 that displays the position information of the storage unit 1a designated by the semi-automatic movement command in characters. The mode specified by the switching command, information indicating that a protrusion command or retirement command has been commanded, and error information are also displayed in characters.

Next, the automatic mode will be described.
As shown in FIG. 7, the control unit h performs the scooping process and the wholesale process and conveys the article W when the warehousing instruction or the leaving instruction is instructed by the upper management unit H in the automatic mode. That is, when the warehousing instruction is instructed, a scooping process for scooping up the article W on the loading / unloading support 10 is executed, and the scooping-off article W is wholesaled in the storage unit 1a to execute a wholesale process. Is stored in the storage unit 1a. Further, when a delivery command is issued, a scooping process for scooping out the articles W stored in the storage section 1a is executed, and a wholesale processing for stocking the scooped goods W on the carrying-in / out support 10 is executed. Thus, the article W stored in the storage unit 1a is unloaded on the loading / unloading support 10.
Thus, in the automatic mode, the control means h is configured to control the operation of the stacker crane 2 based on the warehousing command or the warehousing command instructed by the upper management means H.

Next, a description will be given of scooping processing and wholesale processing in the automatic mode.
When executing the scooping process and the wholesale process, the control means h has a scooping position in which the position in the shelf width direction and the vertical direction is determined for each of the plurality of storage portions 1a and the loading / unloading support 10 (FIG. 6 ( b)) and a wholesale position (see FIG. 6A) higher than the scooping position by a set amount are preset and stored. The scooping position and the wholesale position may be collectively referred to as a transfer position.

  When the scooping process is performed on the storage unit 1a, first, the traveling carriage 11 is moved and the lifting platform 13 is moved up and down based on the delivery instruction and the detection information of the position detection means 23, and the delivery is performed. The article transfer device 14 is positioned at a scooping position for the target storage unit 1a. Then, after the article support 14a of the article transfer device 14 protrudes from the retracted posture to the protruding posture, the lifting platform 13 is moved up so that the article transfer device 14 is located at the wholesale position, and the storage unit 1a The article W stored in the container is picked up, and the article support 14a of the article transfer device 14 is retracted from the protruding attitude to obtain a retracted attitude.

  In addition, when performing wholesale processing for the storage unit 1a, first, based on the warehousing command and the detection information of the position detection means 23, the traveling carriage 11 is moved and the lifting platform 13 is moved up and down to enter the warehouse. The article transfer device 14 is positioned at the wholesale position for the target storage unit 1a. Then, after the article support 14a of the article transfer device 14 is protruded from the retracted posture to the protruding posture, the lifting platform 13 is moved down so that the article transfer device 14 is located in the scooping position to store the article W. The article supporter 14a of the article transfer device 14 is retired from the projecting posture to the retired posture.

  The scooping process and the wholesale process for the carry-in / out support 10 are the scooping process and the wholesale process for the storage unit 1a except that the scooping process is performed based on the warehousing command and the wholesale process is performed based on the warehousing command. Since it is the same as that, description is abbreviate | omitted.

Next, the manual mode will be described.
As shown in FIG. 7, when a manual movement command is commanded by the manual operation device 31 in the manual mode, the control unit h transfers the article by a distance designated in the direction designated by the manual movement command. When a manual movement process for operating the stacker crane 2 is performed so that the apparatus 14 moves, and a semi-automatic movement command is commanded by the manual operation device 31, the storage unit 1a or unloading designated by the semi-automatic movement command is performed. A semi-automatic movement process for operating the stacker crane 2 is executed so that the article transfer device 14 is positioned at the transfer position for the incoming support 10.
Further, as shown in FIGS. 7 and 9, in the manual mode, when a protrusion command is instructed by the manual operation device 31, the stacker crane 2 is moved so that the article support 14a protrudes from the retracted position to the protruding position. When the retraction command to be operated is executed and a retraction command is instructed by the manual operation device 31, a retraction process for operating the stacker crane 2 is executed so that the article support 14a is retreated from the retraction posture to the retraction posture.

As shown in FIG. 8, when semi-automatic processing is performed, the presence / absence detection sensor 26 detects the presence / absence of the article W on the article support 14a, and the semi-automatic movement command, the position detection means 23, and the presence / absence detection sensor 26 Based on the detection information, when the presence / absence detection sensor 26 does not detect the presence of the article W on the article support 14a, the storage unit 1a or the loading / unloading support 10 designated by the semi-automatic movement command is scooped. When the presence / absence detection sensor 26 detects the presence of the article W on the article support 14a, the storage unit 1a designated by the semi-automatic movement command or the loading / unloading support is moved to the position. The article transfer device 14 is moved to the wholesale position for the body 10. Then, as shown in FIG. 7, after the movement of the article transfer device 14 by the semi-automatic movement process to the transfer position of the scooping position or the wholesale position is completed (after the semi-automatic movement process is completed), the discrimination flag is set. Set to 1.
In this way, when a semi-automatic movement command is issued in the manual mode, the article transfer device 14 is determined according to the presence / absence of the article W on the article support 14a without the operator specifying a scooping position or a wholesale position. Is automatically moved to the scooping position or the wholesale position.
Incidentally, in the protruding posture in which the article support 14a protrudes from the retracted posture, the semi-automatic processing is not executed even if a semi-automatic movement command is commanded, and the stacker crane 2 is not operated.

When performing the manual movement process, the stacker crane 2 is operated so that the article transfer device 14 moves only while the manual movement command is instructed in the direction specified by the manual movement instruction. Then, after the movement of the article transfer device 14 by the manual movement process is completed (after the manual movement process is completed), the determination flag is set to 0.
Incidentally, in the protruding posture in which the article support 14a protrudes from the retracted posture, the manual movement process is not executed even if a manual movement command is issued, and the stacker crane 2 is not operated.

Also, when executing the exit / retreat process, the protrusion process is executed when a protrusion command is issued, and the retirement instruction is executed when a retirement instruction is issued, but if the conditions are not satisfied, the protrusion command or the retirement instruction is executed. Even if the command is issued, the protrusion process and the retirement process are not executed. Then, after the protrusion from the retracted posture to the protruding posture of the article support 14a by the protrusion processing is completed (after the protrusion processing is completed), the determination flag is set to 0.
Hereinafter, a condition in which the protrusion process and the retirement command are not executed even when the protrusion command and the retirement command are issued will be described. Incidentally, if the protrusion process or the retraction instruction is not executed even if the protrusion instruction or the retraction instruction is issued, it is displayed on the display unit 36 of the manual operation device 31 that an error has occurred.

  As for the protrusion processing, “the manual movement process or the semi-automatic movement process is not executed”, “the storage part 1a instructed by the semi-automatic movement instruction, or the loading / unloading support 10 and the storage part 1a specified by the protrusion instruction. Or, the loading / unloading support 10 is coincident ”,“ the determination flag is 1 ”,“ is in an appropriate stop state ”,“ the projecting target storage portion 1a or the loading / unloading support 10 and the article support. It is a condition that the article W does not exist on at least one of the upper side 14a. If all of these conditions are satisfied, the protrusion process is executed when the protrusion command is issued. If any of these conditions is not satisfied, the protrusion process is executed even if the protrusion instruction is specified. It is supposed not to.

  As for the retraction process, “the manual movement process or the semi-automatic movement process is not executed”, “the storage unit 1a instructed by the semi-automatic movement command or the loading / unloading support 10 and the storage designated by the retraction command” The part 1a or the loading / unloading support 10 is matched ". If all of these conditions are satisfied, the retirement process is executed when a retirement command is issued. If either of these conditions is not satisfied, the retirement process is performed even if a retirement command is issued. Do not run.

Next, each condition will be described.
A description will be added regarding “the manual movement process and the semi-automatic movement process are not executed”.
While the manual movement process or the semi-automatic movement process is being executed, the protrusion process is not executed even if a protrusion command is issued, and the retraction process is not executed even if a retirement instruction is issued. While the manual movement process and the semi-automatic movement process are not executed, if other conditions are satisfied, the protrusion process is executed when the protrusion command is instructed, and the retirement is performed when the retirement instruction is instructed. Execute the process.

About "the storage unit 1a or the loading / unloading support body 10 specified by the semi-automatic movement command and the storage unit 1a or the loading / unloading support body 10 specified by the protrusion command (or retraction command) match" Add a description.
The manual operation device 31 commands the projection command and the retraction command by performing the operation of designating the storage portion 1a or the loading / unloading support 10 in addition to the operation of commanding the projection command and the retraction command by the operation key 35. It is configured as follows. In other words, in addition to instructing a semi-automatic movement command, the storage portion 1a or the loading / unloading support 10 is also designated when instructing a protrusion command or a retraction command.

When the storage unit 1a or the loading / unloading support 10 commanded by the semi-automatic movement command is the same as the storage unit 1a or the loading / unloading support 10 specified by the protrusion command, other conditions are satisfied. If the protrusion command is instructed, the protrusion processing is executed. If different, the protrusion processing is not executed even if the protrusion command is instructed. If the storage unit 1a or the loading / unloading support body 10 specified by the semi-automatic movement command is the same as the storage unit 1a or the loading / unloading support body 10 specified by the retraction command, other conditions are satisfied. If so, the retirement process is executed when the retirement command is instructed, and if different, the retirement process is not executed even if the retirement instruction is instructed.
Incidentally, the semi-automatic movement command referred to here is a semi-automatic movement command for moving the article transfer device 14 to the scooping position or the wholesale position where the article is currently located.

A description will be added regarding “the determination flag is 1”.
Since the determination flag is 1 after the movement of the article transfer device 14 by the semi-automatic movement process is completed, after the movement of the article transfer device 14 by the semi-automatic movement process is completed, other conditions are satisfied. The protrusion process is executed as the protrusion command is issued. Since the determination flag is 0 after the movement of the article transfer device 14 by the manual movement process is completed, even if the protrusion command is instructed after the movement of the article transfer device 14 by the manual movement process is completed. The protrusion process is not executed.

  Then, by combining the condition “the determination flag is 1” with the condition “the manual movement process or the semi-automatic movement process is not executed” described above, the movement of the article transfer device 14 by the semi-automatic movement process is performed. After completion, since the determination flag is 1 and the manual movement process or the semi-automatic movement process is not executed, the protrusion process is executed when the protrusion command is instructed if other conditions are satisfied. Become. Further, after the movement of the article transfer device 14 by the manual movement process is started and until the movement of the article transfer device 14 by the semi-automatic movement process is completed, the determination flag is 0 or the manual movement process and the semi-automatic movement process are executed. Since the projecting process is in progress, the projecting process is not executed even when the projecting command is issued.

  Further, the discrimination flag becomes 0 even after the protrusion of the article support 14a by the protrusion process is completed. Therefore, after the movement of the article transfer device 14 by the semi-automatic movement process is completed, if other conditions are satisfied, the first protrusion process is executed when a protrusion command is issued, but the second and subsequent protrusions are performed. The process is not executed even if a protrusion command is issued. That is, when the protrusion process is executed based on the protrusion command after the movement of the article transfer device 14 by the semi-automatic movement process is completed, the protrusion command is continued until the movement of the article transfer device 14 by the next semi-automatic movement process is completed. Even if a command is issued, the protrusion process is not executed.

A description will be added regarding “appropriate stop state”.
When performing the protrusion process, the presence / absence detection sensor 26 detects the presence / absence of the article W on the article support 14a. And based on the detection information of the position detection means 23 and the presence / absence detection sensor 26, the article transfer device 14 is stopped at the scooping position in a state where the article W is not present on the article support 14a, or the article support. When it is determined whether the article transfer device 14 is in an appropriate stop state where the article W is stopped at the wholesale position in the state where the article W is present on 14a, If the condition is satisfied, the article support body 14a is projected from the retracted position to the protruding position when the protrusion command is instructed. The body 14a is not protruded from the retracted posture.

  In addition, if the condition that “the determination flag is 1” is satisfied, in the semi-automatic movement process, if the article W exists on the article support 14a, the article transfer device 14 is moved to the wholesale position. When the article W does not exist on the article support 14a, the article transfer device 14 is moved to the scooping position, so that normally the condition of “appropriate stop state” is also satisfied, but during the semi-automatic movement process The article W on the article support 14a by the presence / absence detection means before the movement of the article transfer device 14 by the movement process is started, for example, when the article W on the article support 14a collapses or the operator places the article W on the article W. If the presence / absence state of the article W and the detection state of the article W on the article support 14a by the presence / absence detection means before starting the projection of the article support 14a based on the projection command are different, the state is “appropriate stop state”. Conditions referred to are not met. In such a case, the article support 14a is not protruded from the retracted posture even if a protrusion command is issued.

An explanation will be given for “the article W does not exist in at least one of the storage unit 1a to be projected or the carry-in / out support 10 and the article support 14a”.
When performing the protrusion process, the presence / absence detection sensor 26 detects the presence / absence of the article W on the article support 14a, and the article detection sensor 27 detects the article W of the storage unit 1a to be projected or the loading / unloading support 10. The presence or absence of is detected. Then, the presence / absence detection sensor 26 detects the presence of the article W on the article support 14a, and the article detection sensor 27 detects the presence of the article W on the storage unit 1a to be projected or the loading / unloading support 10. When the protrusion command is issued, the protrusion process is not executed. In addition, the presence / absence detection sensor 26 and the article detection sensor 27 detect either or both of the article W on the article support 14a and the article W of the storage unit 1a to be projected or the loading / unloading support 10. If not, if other conditions are satisfied, the protrusion process is executed when the protrusion command is issued.

  In short, with regard to the protrusion process, “the manual movement process or the semi-automatic movement process is not executed”, “the storage part 1a instructed by the semi-automatic movement command or the loading / unloading support 10 and the storage designated by the protrusion command. Part 1a or carry-in / out support 10 ”,“ determination flag is 1 ”,“ appropriate stop state ”,“ projection target storage part 1a or carry-in / out support 10 and article ” On the condition that there is no article W on at least one of the supports 14a, the article support 14a is projected when a projection command is issued.

  In particular, under the condition that “the determination flag is 1”, the article transfer device 14 is automatically moved to the scooping position or the wholesale position by the semi-automatic movement process. Is appropriately positioned at the scooping position or the wholesale position, and if other conditions are satisfied, the protrusion process is executed when the protrusion command is instructed. In the state of being manually moved, the article transfer device 14 is often out of the scooping position or the wholesale position, so that the protrusion processing is not executed even if the protrusion command is instructed.

[Another embodiment]
(1) In the above embodiment, in the manual mode, if the stop command is in the proper stop state, the article support 14a is protruded from the retracted position when the protrusion command is instructed. Also, the article support 14a is not protruded from the retracted position, but even in the automatic mode, if the protrusion command is instructed in the proper stop state, the article support 14a is protruded from the retracted position in the proper stop state. Otherwise, the article support 14a may not be protruded from the retracted posture even if a protrusion command is issued. Incidentally, in this case, the management means H functions as a movement command means and a protrusion command means.

(2) In the above embodiment, the semi-automatic movement command means 31c (movement command means 32) is designated as a semi-automatic movement command (movement command) by designating one of the plurality of storage units 1a as the transfer target location of the article W. When the semi-automatic movement command is commanded, and the presence detection sensor 26 does not detect the presence of the article W on the article support 14a, the storage designated by the semi-automatic movement command is configured. When the article transfer device 14 is moved to the scooping position of the part 1a and the presence detection sensor 26 detects the presence of the article W on the article support 14a, the storage part 1a designated by the semi-automatic movement command Although the article transfer device 14 is moved to the wholesale position for the item W, the movement command means 31c designates any of the plurality of storage units 1a as the transfer target location of the article W and is in a scooping position. Alternatively, a semi-automatic movement command can be freely commanded in the form of specifying the wholesale position, and when the semi-automatic movement command is commanded, it is requested by the semi-automatic movement command for the storage portion 1a specified by the semi-automatic movement command. The article transfer device 14 may be moved to a position, or the article transfer device 14 may be moved to a wholesale position designated by a semi-automatic movement command for the storage unit 1a designated by the semi-automatic movement command. .

(3) In the above embodiment, the detection state of the article W on the article support 14a by the presence / absence detection sensor 26 before starting the movement of the article transfer device 14 by the semi-automatic movement process and the article support portion 14a based on the protrusion command If the detection state of the article W on the article support 14a by the presence / absence detection sensor 26 before the start of projection is different, the article support 14a is prevented from projecting from the retracted posture even if a projection command is issued. However, regardless of the detection state of the article W on the article support 14a by the presence / absence detection sensor 26 before starting the movement of the article transfer device 14 by the semi-automatic movement process, a protrusion command is commanded if it is in an appropriate stop state. Then, the article support 14a may be protruded from the retracted posture.

(4) In the above embodiment, the presence / absence detection sensor 26 detects the presence of the article W on the article support 14a and the article detection sensor 27 detects the article W on the projecting storage unit 1a or the loading / unloading support 10. When the presence is detected, the article support 14a is not protruded from the retracted posture even if a protrusion command is issued, but the article W on the storage unit 1a to be protruded or the loading / unloading support 10 is not provided. Regardless of whether or not there is an appropriate stop state, the article support 14a may be protruded from the retracted posture when a protrusion command is issued. Incidentally, in this case, the stored article detection means may not be provided.

(5) Although the article detection sensor 27 is provided in the stacker crane 2 in the above embodiment, the article detection sensor 27 may be provided in the article storage shelf 1 or the carry-in / out conveyance device 3.

(6) In the above embodiment, the moving operation device 19 is the stacker crane 2, but the moving operation device 19 can be moved up and down on the front side of the storage shelf 1 and the article transfer device 14 can be moved in the width direction of the shelf. You may comprise by the conveying apparatus to support.

DESCRIPTION OF SYMBOLS 1 Storage shelf 1a Storage part 14 Article transfer apparatus 14a Article support body 19 Movement operation apparatus 23 Position detection means 26 Presence / absence detection means 27 Stored article detection means 31d Protrusion command means 32 Movement command means h Control means H Management means W Goods

Claims (4)

A storage shelf provided with storage units for storing articles in the shelf width direction and the vertical direction;
Provided on the front side of the storage shelf, and is provided with a retractable posture in which an article support body on which an article can be placed and supported is protruded toward the storage section and a retracted position in which the article support is retracted to the self side. An article transfer device capable of transferring articles to and from the storage unit;
A moving operation device for moving the article transfer device in the shelf width direction and the vertical direction;
A movement command means for commanding a movement command for moving the article transfer device in the shelf width direction and the vertical direction;
A projection command means for commanding a projection command for projecting the article support of the article transfer device from the retracted position;
Control means configured to control the operation of the movement operation device based on the movement command and to control the operation of the article transfer device based on the protrusion command. And
Position detecting means for detecting the position of the shelf width direction and the vertical direction of the article transfer device;
Presence / absence detecting means for detecting the presence / absence of an article on the article support is provided,
The control means is
Based on the detection information of the position detection means and the presence / absence detection means, the article transfer device stops at a predetermined scooping position for each of the plurality of storage units in a state where no article is present on the article support. A proper stop in which the article transfer device is stopped at a wholesale position higher than the scooping position set in advance for each of the plurality of storage units in a state where an article is present on the article support. In the case where it is determined whether or not it is in the proper stop state, when the protrusion command is instructed, the article support is protruded from the retracted position and is not in the proper stop state. An article transport facility configured to prevent the article support from projecting from the retracted posture even when the projection command is commanded. The movement command means is configured as an artificially operated type that can freely command the movement command in a form that designates any of the plurality of storage units as a transfer target location of an article,
The protrusion command means is configured to be an artificially operated type that can freely command the protrusion command.
The control means is
An automatic mode in which the article transfer device and the moving operation device are operated based on a warehousing command or a leaving command instructed by an upper management means, and the movement operation device based on the movement command by the movement command means. It is configured to be able to be switched to a manual mode for operating and operating the article transfer device based on the protrusion command of the protrusion command means,
In the manual mode, when the movement command is commanded, the presence / absence detection means detects the presence of the article on the article support when the storage unit designated by the movement command is not detected. When the presence of the article on the article support is detected by the presence / absence detection means by moving the article transfer device to a scooping position, the wholesale position for the storage unit designated by the movement command The article transfer facility according to claim 1, wherein the article transfer device is configured to move the article transfer device.   Presence / absence state of the article on the article support by the presence / absence detection means and the protrusion of the article support based on the protrusion command before the control means starts moving the article transfer device based on the movement command. The article support is configured not to project from the retracted position even if the projection command is instructed, if the presence / absence detection means before the start is different from the detection state of the article on the article support. The article conveying facility according to claim 2. A stored article detection means for detecting the presence or absence of an article in the storage section is provided,
The stored article detection means for the storage section corresponding to the wholesale position in which the presence / absence detection means detects the presence of an article on the article support and is located by movement based on the movement command. In any one of Claims 1-3 comprised so that the said article support body may not be protruded from the said retracted attitude, even if the said protrusion instruction | command is instruct | indicated when presence of the article | item is detected. The article conveying facility as described.

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