JP5278744B2 - Goods storage equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article storage facility capable of always stably placing and storing an article relative to a storage part of an article storage shelf at a constant position regardless of light or heavy weight of the article. <P>SOLUTION: The article storage facility is provided with: the article storage shelf provided with the storage part 4 provided in vertical and horizontal direction; a stacker crane provided with a traveling truck traveled along a traveling route by a traveling drive means, a lifting base lifted along a lifting mast by al lifting drive means and an article support fork 12 provided on the lifting base advanceably/retreatably by an in-and-out drive means; and a control means for controlling operation of the traveling drive means, the lifting drive means and the in-and-out drive means. In the article storage facility, a weight information obtaining means for obtaining weight information of the article B stored in the storage part 4 is provided, and the control means determines a projection position when the fork 12 in the article support state is projected to the article storage shelf side so as to store the article B in the storage part 4 based on the weight information of the article B obtained by the weight information obtaining means. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention includes an article storage shelf in which storage units for storing articles are provided vertically and horizontally, a traveling carriage that is traveled by a traveling drive unit along a traveling path set on the front side of the article storage shelf, and the traveling carriage A stacker crane provided with a lifting platform that is lifted and lowered by a lifting drive means along a lifting mast that is erected on the top, and a fork for supporting an article that is provided on the lifting table so as to be freely withdrawn / retracted by a withdrawal drive means And an article storage facility provided with control means for controlling the operation of the travel drive means, the elevation drive means, and the exit / retreat drive means.

  As such an article storage facility, there are conventionally known various configurations, but in the conventionally known article storage facility, an article is supported by a fork in order to store the article in the storage section of the article storage shelf. In this state, when the fork is protruded to the storage shelf side, the fork is always set to protrude to a certain protruding position (see, for example, Patent Document 1).

JP 2007-99424 A

However, the articles stored in the storage unit of the article storage shelf may be heavy or light in weight, so that when the article is supported by the fork, the amount of flexion of the fork is caused by the heavy article and the light article. In contrast, there is a problem that articles cannot always be placed and stored in a fixed position in the storage unit.
In this regard, as will be described with reference to FIGS. 7A and 7B, when the weight of the article B is light and the fork 12 hardly bends, as shown in FIG. When the article B is placed and stored in the portion 4, the tip of the article B is located on the alternate long and short dash line P.
However, if the weight of the article B is heavy, the fork 12 is bent and the lower end of the tip of the article B is positioned on the alternate long and short dash line P1 that is shifted from the alternate long and short dash line P by the distance α, as shown in FIG. Therefore, when the elevator B is lowered and the article B is placed and stored in the storage unit 4, the tip of the article B is stored on the alternate long and short dash line P1 shifted from the alternate long and short dash line P, and is always placed at a fixed position. In some cases, it may not be possible to store the article stably.

  The present invention pays attention to such conventional problems, and its purpose is to stably place the article stably at a fixed position with respect to the storage part of the article storage shelf regardless of the weight of the article. The object is to provide an article storage facility that can be stored.

In the first characteristic configuration of the present invention, an article storage shelf in which storage units for storing articles are provided vertically and horizontally, and a travel drive unit travels along a travel route set on the front side of the article storage shelf. A traveling carriage, a lifting platform that is lifted and lowered by a lifting drive means along a lifting mast erected on the traveling carriage, and an article support provided on the lifting platform so as to be freely withdrawn and retracted by a withdrawal drive means An article storage facility provided with a stacker crane provided with a fork, and control means for controlling the operation of the travel drive means, the elevating drive means, and the exit / retreat drive means, which is stored in the storage section Weight information acquisition means for acquiring weight information of an article to be provided is provided, and the control means sets a protruding position when the fork in an article supporting state protrudes toward the article storage shelf in order to store the article in the storage section. Based on the obtained weight information of the article by the weight information acquisition means, so that the position of the lower end of the tip portion of the article that is supported by the fork at a predetermined position of the housing unit in the projecting and retracting direction of the fork It is in place as stipulated in.

  According to the first characteristic configuration of the present invention, the weight information acquisition means for acquiring the weight information of the articles stored in the storage section of the article storage shelf is provided, and the exit / retreat drive means for retracting and retracting the article support fork, etc. Based on the weight information of the article acquired by the weight information acquisition means, the control means for controlling the operation of the projector causes the fork in the article support state to protrude toward the article storage shelf so as to store the article in the storage section. Therefore, the protruding position of the fork is changed in accordance with the amount of bending of the fork due to the weight of the article, and as a result, the storage section of the article storage shelf regardless of the weight of the article. On the other hand, it is possible to stably place and store articles at a fixed position.

  According to a second characteristic configuration of the present invention, the weight information acquisition unit includes a deflection amount detection unit that detects a deflection amount of the fork in a state where an article is supported.

According to the second characteristic configuration of the present invention, the weight information acquisition means is constituted by the deflection amount detection means for detecting the deflection amount of the fork in a state of supporting the article. A strain gauge or the like can be used as the deflection amount detection means, and the deflection amount of the fork can be reliably detected with a relatively simple configuration.
That is, it is also possible to measure the weight of the article in advance and store it in the control means, and detect the amount of bending of the fork based on the weight information stored in the control means. However, in that case, it is necessary to measure and store and manage the weight of each article stored in the article storage shelf, but such a complicated process is not required by using the deflection amount detecting means. In addition, since the actual amount of bending of the fork can be reliably detected, the article can be more securely and stably placed and stored at a certain position.

  According to a third characteristic configuration of the present invention, the control means is based on detection information of the deflection amount detection means when the fork is caused to protrude toward the article storage shelf by the retracting and driving means. It is where it is comprised so that a protrusion position may be defined.

According to the third characteristic configuration of the present invention, the fork protrusion position based on the detection information of the deflection amount detection means when the control means causes the fork to protrude toward the article storage shelf by the withdrawal / retraction drive means. Therefore, the fork can be quickly projected.
That is, when the fork is protruded toward the article storage shelf, it is also possible to detect the amount of bending of the fork by the amount of bending detection means in a state where the protrusion operation of the fork is once stopped. However, in that case, the fork protrusion operation must be temporarily stopped, and it takes time for the fork protrusion operation. However, the fork protrusion operation is quickly detected by detecting the amount of bending during the fork protrusion operation. Thus, the efficiency of the article storage work can be improved.

  According to a fourth characteristic configuration of the present invention, the weight information indicates the amount by which the control means raises the fork in an article non-supported state that is protruded toward the article storage shelf so as to take out an article from the storage section. It is configured to be determined based on the weight information of the article acquired by the acquisition means.

  According to the fourth characteristic configuration of the present invention, the amount of rise when the control means raises the fork in the article non-supported state that is protruded toward the article storage shelf so as to take out the article from the storage section is used as the weight information acquisition means. Therefore, when the article is light, it is possible to improve the efficiency of taking out the article by reducing the amount of lift of the fork positioned at the protruding position when the article is light. If the article is heavy, the fork positioned at the protruding position is increased, for example, when the fork is retracted from the protruding position when taking out the article, the bottom of the article slides against the storage section. By avoiding this, the article can be reliably taken out.

Schematic perspective view of automated warehouse Side view of stacker crane Fork side view Automatic warehouse control block diagram A graph showing the relationship between fork speed and time Flow chart showing fork protrusion control operation Explanatory drawing showing the protrusion operation of the fork

An embodiment of an article storage facility according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, an automatic warehouse that is an example of an article storage facility includes, for example, two article storage shelves 1 that are installed at an interval so that the loading and unloading directions of articles B face each other. The stacker crane 3 is configured to automatically travel along a traveling route 2 set between two article storage shelves 1, in other words, along a traveling route 2 set on the front side of each article storage shelf 1. Yes.
Each article storage shelf 1 has a plurality of a pair of front and rear support columns 1a standing in the horizontal direction, and a pair of front and rear support columns 1a each having a horizontal supporting support portion 1b spaced in the vertical direction. A plurality are arranged. The storage section 4 in each article storage shelf 1 is configured to store the article B in a form in which the article B is mounted and supported by the mounting support section 1b, and a plurality of the storage sections 4 are provided side by side. Yes.

In the travel route 2, a travel rail 5 is installed on the floor side along the longitudinal direction of the travel route 2, and a guide rail 6 is installed on the ceiling side along the longitudinal direction of the travel route 2. Then, on one end side of the traveling rail 5, a ground-side controller 7 that constitutes a control means H that controls the operation of the entire automatic warehouse including the stacker crane 3 is provided, and a mounting table 8 for transferring the article B is provided. A pair of travel rails 5 are provided.
As shown in FIG. 2, the stacker crane 3 includes a traveling carriage 9 that travels along a traveling rail 5 installed in the traveling path 2, and an elevating mast 10 that stands on the traveling carriage 9. And a fork 12 for placing and supporting the article B is provided on the lift 11 so as to be freely retractable.

A pair of front and rear masts 10 are provided at the front end and the rear end of the traveling carriage 9 in the traveling direction of the traveling carriage 9, and both upper and lower lifting masts 10 are provided at the upper end of the pair of front and rear lifting masts 10. An upper frame 13 for connecting the upper ends of the mast 10 is provided.
The upper frame 13 includes a pair of guide rollers 14 that are rotatable around the vertical axis while sandwiching the guide rail 6 from the left and right, and is provided so as to be guided along the guide rail 6.
The elevator 11 is guided and supported by a pair of front and rear masts 10 erected on a traveling carriage 9 so as to be movable up and down, and supported by a lift chain 15 connected to the left and right sides thereof. It is configured to be.

The elevating chain 15 is wound around a guide sprocket 16 provided on the upper frame 13 and a guide sprocket 17 provided on one elevating mast 10, and a take-up drum 18 provided at one end of the traveling carriage 9. It is connected to. Then, the take-up drum 18 is rotated in the forward and reverse directions by an elevating electric motor 19 as an elevating drive means that is an inverter type motor, and the elevating platform 11 is moved by a feeding operation and a winding operation of the elevating chain 15. It is configured to move up and down.
The lifting platform 11 is provided with a lifting rotary encoder 20 that detects the lifting position of the lifting platform 11 in the vertical direction. Although not shown in the drawings, the rotary shaft of the lifting rotary encoder 20 includes a lifting mast 10. A sprocket that meshes with a chain provided along the longitudinal direction is provided. Then, the lift rotary encoder 20 outputs a pulse by rotating the sprocket by the lift of the lift 11 with reference to the lift reference position installed at the lower end of the lift path, and the lift 11 from the lift reference position. The raising / lowering position of the raising / lowering stand 11 in the up-down direction is detected from the raising / lowering distance.

The traveling carriage 9 is provided with two front and rear wheels 21 that rotate on the traveling rail 5, and one of the two wheels 21 on one end side in the vehicle body front-rear direction is an inverter motor. As a driving wheel 21a for propulsion that is rotationally driven by the traveling electric motor 22 as described above, the wheel on the other end side is configured as a freely rotatable driven wheel 21b. The traveling carriage 9 is configured to travel along the traveling rail 5 by rotating the drive wheels 21 a by the operation of the traveling electric motor 22.
The traveling carriage 9 is provided with a traveling rotary encoder 23 for detecting the traveling position of the traveling carriage 9 in the horizontal direction. Although not shown, the rotating shaft of the traveling rotary encoder 23 includes a traveling rail 5. A sprocket that meshes with a chain provided along the longitudinal direction is provided. The traveling rotary encoder 23 outputs a pulse by rotating the sprocket by traveling of the traveling carriage 9 with reference to the horizontal reference position installed at one end of the traveling path 2, and the traveling carriage from the horizontal reference position is output. The travel position of the travel cart 9 in the horizontal direction is detected from the travel distance of 9.

As shown in FIG. 3, the fork 12 has a fixed fork portion 12a fixed to the lifting / lowering base 11, a secondary fork portion 12b that can be moved back and forth with respect to the fixed fork portion 12a, and a secondary fork portion 12b. 3, a three-stage fork comprising a primary fork part 12c that can be freely moved, and when the article B is transferred, the article B is placed and supported on the primary fork part 12c as indicated by the dotted line in FIG. To be transferred.
The exit / retreat drive means 24 for retracting and retracting the three-stage fork 12 with respect to the lifting / lowering base 11 includes a rack gear 25 provided in the secondary fork portion 12b, a pair of pinion gears 26 meshed with the rack gear 25, and a pair thereof. The pinion gear 26 is composed of two chains 28 that connect the electric motor 27, which is an inverter type motor that rotates and drives the pinion gear 26 with a gear 27a, and one end of the fixed fork 12a and one end of the primary fork 12c. Has been.

The pinion gear 26 and the retracting electric motor 27 are provided in the fixed fork portion 12a, and the two chains 28 are idle pulleys 29 that are rotatable around the horizontal axis provided at the end of the secondary fork portion 12b. It is wrapped around Then, when the pinion gear 26 is driven to rotate in the forward and reverse directions by the electric motor 27 for moving in and out, the secondary fork portion 12b moves back and forth with respect to the fixed fork portion 12a due to the engagement of the pinion gear 26 and the rack gear 25. The chain 28 moves the primary fork portion 12c with respect to the secondary fork portion 12b due to the movement of the idle pulley 29 accompanying the withdrawal movement.
In this way, by rotating the exit / exit electric motor 27 in the forward and reverse directions, the three-stage fork 12 has a direction perpendicular to the traveling direction of the traveling carriage 9 as an article transfer direction. 3 (a) and a retreat position between the retraction position to the article storage shelf 1 side shown in FIG. 3 (b).

In the three-stage fork 12, a deflection amount detection for detecting a deflection amount of the primary fork portion 12c in a state where the article B is placed and supported under the tip of the primary fork portion 12c that places and supports the article B. An acceleration sensor 30 is provided as means.
The acceleration sensor 30 functions as a weight information acquisition unit that acquires the weight information of the article B stored in the storage unit 4 by detecting the amount of deflection of the primary fork unit 12c. The amount of vertical displacement of the weight held at the neutral position in the vertical direction by the urging tool is measured by a piezoelectric element or capacitance, and the amount of bending in the vertical direction of the primary fork portion 12c is detected.
The deflection amount detection means that functions as the weight information acquisition means is not limited to the acceleration sensor 30 described above, and various strain gauges such as a foil strain gauge, a linear strain gauge, and a semiconductor strain gauge can also be used. .

As shown in FIG. 4, the stacker crane 3 is provided with a crane control device 31 that constitutes the control means H together with the ground-side controller 7, and based on a command from the ground-side controller 7, The operation of the lifting and lowering electric motor 19 and the electric motor 27 for moving in and out of the driving means 24 is controlled.
Therefore, the crane control device 31 controls the operation of the traveling control unit 31 a that controls the operation of the traveling electric motor 22, the lifting control unit 31 b that controls the operation of the lifting electric motor 19, and the operation of the exit / exit electric motor 27. Detection information from the traveling rotary encoder 23, the lifting rotary encoder 20, the acceleration sensor 30, and the like is input.
The crane control device 31 controls the operation of the traveling electric motor 22 and the lifting electric motor 19 based on the detection information of the traveling rotary encoder 23 and the lifting rotary encoder 20, and moves the lifting platform 11 to the article transfer. In the state where the elevator 11 is stopped at the target position, the operation of the electric motor 27 is controlled based on the detection information of the acceleration sensor 30, and the fork 12 is extended and retracted. Let

The ground-side controller 7 is stored in any of the plurality of storage units 4 with respect to the crane control device 31, and a storage instruction for storing the article B on the mounting table 8 in any of the plurality of storage units 4. A delivery command for delivering the article B to the mounting table 8 is instructed, and at that time, a target position for article transfer corresponding to the storage unit 4 or the mounting table 8 to be transferred is also instructed.
The target position for the article transfer is determined corresponding to each of the plurality of storage units 4 and the pair of mounting tables 8, and the scooping target position for taking out the article B and the wholesale for storing the article B There is a target position for. The target position for scooping is a target position for scooping up the article B from the storage unit 4 or the mounting table 8 with the fork 12, and the target position for wholesale is the item B from the fork 12 to the storage unit 4 or the mounting table 8 The target position for scooping is different from the target position for scooping in the vertical direction in the state where the target position for wholesale is located on the upper side.

In the control means H, the crane control device 31 executes a scooping transfer process for taking out the article B on the mounting table 8 based on the warehousing command from the ground-side controller 7, and then becomes a transfer target. A wholesale transfer process for storing the article B in the storage unit 4 is executed. Moreover, based on the delivery instruction | command from the ground side controller 7, the transfer process for scooping for taking out the articles | goods B accommodated in the accommodating part 4 used as a transfer object is performed, and an article | item is mounted on the mounting base 8 after that. The wholesale transfer process for storing B is executed. In these scooping transfer process and wholesale transfer process, the fork 12 exit / retreat control is executed.
Next, the fork 12 exit / retreat control, scooping transfer processing, and wholesale transfer processing by the control means H will be described.

  In the above-described exit / exit control, the exit / exit control unit 31c increases the exit / exit speed to a steady speed at a set acceleration at the initial stage in each of the protrusion operation and the retraction operation of the fork 12, as shown in FIG. Then, when the steady start timing comes, the drive current supplied to the exit / exit electric motor 27 is adjusted to control the operation of the exit / exit electric motor 27 so that the exit / retreat speed is maintained at the steady speed. After that, the driving current supplied to the electric motor 27 is adjusted so as to decelerate the exit / exit speed at the set deceleration at the deceleration start timing and maintain the exit / exit speed at the stop speed at the creep start timing. Then, the operation of the exit / retreat electric motor 27 is controlled, and the protrusion operation of the fork 12 is stopped between the temporary stop timing and the longest stop timing.

Therefore, the exit / retreat control unit 31c includes a timer that measures an elapsed time from the start of the fork 12 protrusion operation or retraction operation, and based on the elapsed time of the timer, a steady start timing, a deceleration start timing, and a creep start timing. Then, it is determined whether or not the temporary stop timing and the longest stop timing have been reached, and the operation of the electric motor 27 is controlled.
Although not shown, a contact-type protruding position detection sensor that detects that the fork 12 is positioned at the longest protruding position, and a contact-type retracted position detection sensor that detects that the fork 12 is positioned at the retracted position. Are set such that when the fork 12 is stopped at the longest stop timing, the protruding position of the fork 12 becomes the longest protruding position.

In the transfer process for scooping, first, the elevator 11 is placed at a scooping target position corresponding to the storage unit 4 or the mounting table 8 (hereinafter, the mounting table 8 is omitted and only the storage unit 4 will be described). The traveling control unit 31a performs traveling control and the elevation control unit 31b performs elevation control. Then, when the lifting platform 11 stops at the scooping target position, the withdrawal control unit 31c operates to project the fork 12 in the article non-supporting state where the article B is not placed and supported according to the withdrawal / retraction speed curve shown in FIG. The fork 12 is positioned below the article B in the storage portion 4 by stopping the protruding operation at the temporary stop timing.
Thereafter, the lifting control unit 31b controls the operation of the lifting electric motor 20 to raise the lifting platform 11, thereby lifting the fork 12 in the article non-supporting state and scooping up the article B. However, the acceleration sensor Based on the detection information of the amount of bending of the fork 12 by 30, the amount of rise of the fork 12 is determined.
Specifically, the weight of the article B is heavier and the amount of rise of the fork 12 is larger, and the amount of rise is larger. The weight of the article B is lighter and the amount of deflection of the fork 12 is smaller, and the amount of rise is smaller. In order to control the rising amount of 12, the rising amount of the lifting platform 11 is controlled.
In this way, after picking up the article B with the fork 12 and placing and supporting the article B on the fork 12, the withdrawal control unit 31c retracts the fork 12 while placing and supporting the article B.

In the wholesale transfer process, first, the traveling control unit 31a performs traveling control and the lifting control unit 31b performs lifting control so that the lifting platform 11 is positioned at the wholesale target position corresponding to the storage unit 4. Do. When the lifting platform 11 stops at the wholesale target position, the fork 12 is placed on the article storage shelf 1 while the article control unit 31c places and supports the article B according to the exit / retreat speed curve shown in FIG. Protrusively act to the storage section 4 side.
As shown in FIG. 6, when the fork 12 protrudes toward the storage unit 4 side of the article storage shelf 1, as shown in FIG. Based on the deflection amount detection information of the fork 12 from the previous acceleration sensor 30 (S1 and S2), the projecting position of the fork 12 when projecting to the storage unit 4 is determined (S3), and the fork is determined at the determined projecting position. 12 is controlled to stop (S4 and S5).

More specifically, for example, when the bending amount of the fork 12 is equal to or less than the set amount (a state in which the fork 12 is hardly bent), the operation of the electric motor 27 for withdrawal is stopped when the temporary stop timing is reached. At this time, assuming that the protruding position of the fork 12 is the position shown in FIG. 7A, when the article B is stored in the storage section 4, the tip end of the article B is positioned on the alternate long and short dash line P.
However, when the bending amount of the fork 12 exceeds the set amount, when the operation of the electric motor 27 for withdrawal is stopped at the temporary stop timing, as shown in FIG. Therefore, the lower end of the tip of the article B is located on the alternate long and short dash line P1 that is shifted from the alternate long and short dash line P by the distance α. Therefore, when the article B is stored in the storage section 4 as it is, the tip of the article B is positioned on the one-dot chain line P1 and deviates from the predetermined one-dot chain line P.

Therefore, in the present invention, the protruding position of the fork 12 when protruding to the storage portion 4 is determined based on the detection information of the bending amount of the fork 12 from the acceleration sensor 30. For example, FIG. In the case shown, the projecting position is determined so that the lower end of the front end of the article B is positioned on the alternate long and short dash line P, and the operation of the electric motor 27 for withdrawal is stopped when the temporary stop timing is exceeded.
Thereafter, the lifting control unit 31b controls the operation of the lifting electric motor 19 so as to lower the lifting platform 11 by a set distance, and stores the article B in the storage unit 4 so that the article B has its tip portion. Is stored in a state where it is positioned on the alternate long and short dash line P. Next, the withdrawal control unit 31c retracts the fork 12 in an article non-supporting state in which the article B is not placed and supported.

In this way, by controlling the operation of the electric motor 27 for exit and withdrawal based on the deflection amount detection information from the acceleration sensor 30, and stopping the projecting operation of the fork 12 between the temporary stop timing and the longest stop timing, Regardless of the amount of bending of the fork 12 caused by the weight of the article B, the tip of the article B can be stored at a predetermined position, and the longest stop timing (the longest protruding position of the fork 12). Is set based on the maximum weight of the article B that can be stored in the storage section 4 of the article storage shelf 1.
Note that the relationship between the amount of bending of the fork 12 and the protruding position of the fork 12 is determined in advance as a continuous diagram by actual measurement or calculation, and the diagram is stored in the crane control device 31 and the like. It will be. However, it is not limited to a continuous diagram, for example, the amount of bending of the fork 12 is set in a plurality of stages for each specific range, and the protruding position of the fork 12 is set in accordance with the amount of bending set in the plurality of stages. A plurality of stages can be set and stored in the crane control device 31 or the like.

[Another embodiment]
(1) In the previous embodiment, the example in which the deflection amount detection unit, which is an example of the weight information acquisition unit, is configured by the acceleration sensor 30 or the strain gauge is shown. However, for example, the article B stored in the article storage shelf 1 For all, the weight of each article B can be measured in advance, and the weight data can be stored in the ground-side controller 7. In this case, the ground-side controller 7 functions as weight information acquisition means. become.

(2) In the previous embodiment, the fork 12 has been exemplified by a three-stage fork. However, any one or more forks can be applied.
In the previous embodiment, the protruding position of the fork 12 is determined based on the deflection amount detection information from the acceleration sensor 30 during the protruding operation in which the fork 12 is protruded toward the storage unit 4 side of the article storage shelf 1. Although the example which comprised so that it showed was shown, the protrusion operation | movement of the fork 12 to the accommodating part 4 side is once stopped, and the protrusion of the fork 12 is based on the deflection amount detection information from the acceleration sensor 30 in the stopped state. It can also be configured to determine the position.

(3) In the previous embodiment, the example in which each control timing such as the steady start timing and the temporary stop timing is detected based on the time measurement by the timer provided in the exit control unit 31c is shown. The protrusion amount of the fork 12 may be detected by means other than time measurement, and the fork 12 may be stopped at the protrusion position based on the detected protrusion amount of the fork 12.
For example, an encoder for detecting the rotation speed of the electric motor 27 for exit / exit is provided, or the electric motor 27 for exit / exit is configured by a servo motor so that the drive amount of the electric motor 27 for exit / exit is detected. It is also possible to detect the amount of protrusion of the fork 12 from the drive amount of the retraction electric motor 27 and stop the fork 12 at the protruding position.
Further, a contact-type or non-contact-type exit / retreat position detecting means may be provided, and the fork 12 may be stopped at the projecting position by directly detecting the protrusion amount of the fork 12 by the exit / retreat position detecting means. it can.

DESCRIPTION OF SYMBOLS 1 Article storage shelf 2 Traveling path 3 Stacker crane 4 Storage part 7 Ground side controller as weight information acquisition means 9 Traveling carriage 10 Elevating mast 11 Elevating platform 12 Fork 19 Elevating drive means 22 Traveling drive means 24 Egress / retreat drive means 30 Weight Deflection amount detection means as information acquisition means H control means B article

Claims (4)

An article storage shelf in which storage units for storing articles are provided vertically and horizontally;
A traveling cart that is traveled by travel driving means along a traveling path set on the front side of the article storage shelf, and a lifting platform that is lifted and lowered by a lifting drive means along a lifting mast that is erected on the traveling carriage. And a stacker crane provided with a fork for supporting an article provided on the lifting platform so as to be freely withdrawn / retracted by a retreat drive means,
An article storage facility provided with control means for controlling the operation of the travel drive means, the elevating drive means, and the exit / retreat drive means,
Weight information acquisition means for acquiring weight information of articles stored in the storage unit is provided,
Based on the weight information of the article acquired by the weight information acquisition means, the control means makes the protruding position when the fork in the article support state protrudes toward the article storage shelf to store the article in the storage section. Te, the housing portion of the predetermined position and so as to define Ru those goods storage facility located at the lower end of the tip portion of the article being supported is in the projecting and retracting direction of the fork to the fork.   The article storage facility according to claim 1, wherein the weight information acquisition unit includes a deflection amount detection unit that detects a deflection amount of the fork in a state where the article is supported.   The control means is configured to determine the protruding position based on detection information of the deflection amount detecting means when the fork is caused to protrude toward the article storage shelf by the retracting and driving means. The article storage facility according to claim 2.   Weight information of the article obtained by the weight information obtaining means when the control means raises the fork in an article non-supported state protruding to the article storage shelf to take out the article from the storage section. The article storage facility according to any one of claims 1 to 3, wherein the article storage facility is configured to be determined on the basis of the above.

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