JP5339140B2 - Goods storage equipment - Google Patents

Description

  The present invention includes an article storage shelf in which storage units for storing articles are arranged in a plurality of stages in the vertical direction and in a plurality of rows in the horizontal direction, and vertically moved by the elevating drive means along the article storage shelf. And a movable body that travels laterally by the traveling drive means, and an article that is provided on the movable body and that operates between the storage units of the article storage shelf and the movable body by the operation of the transfer drive means. The moving body is suspended and supported by two cable-like bodies arranged at intervals in the lateral direction, and the two moving units are moved by the lifting drive means. It is configured to be lifted and lowered by winding and unwinding the cord-like body, and controls the operation of the lifting and lowering driving means, the traveling driving means, and the transfer driving means for loading and unloading articles with respect to the storage portion. Article storage facility provided with control means for On.

In such an article storage facility, the two cords that suspend and support the moving body are elongated due to, for example, secular change, but the elongation amount is not necessarily the same in the two cords, There may be differences in elongation between the two cords. If there is a difference in the amount of elongation, the moving body tilts in the lateral direction, so that the transfer of articles by the transfer device provided on the moving body, that is, between each storage section of the article storage shelf and the moving body. This will hinder the transfer of the goods, and in extreme cases, the goods may collapse or drop.
Therefore, conventionally, a tilt detecting means for detecting the lateral tilt of the moving body is provided, and when the lateral tilt value of the moving body is relatively small based on the detection information by the tilt detecting means, that is, the moving body is tilted. If the inclination value is such that it does not hinder the transfer of the article, the alarm informs the necessity of maintenance of the cord-like body, and if the lateral inclination value becomes relatively large, that is, the transfer of the article There has been proposed a configuration in which the operation of the article storage facility is completely stopped when it is inclined to such an extent that it causes trouble (see, for example, Patent Document 1).

JP 2002-293409 A

However, in the invention described in the above publication, since the operation of the article storage facility is completely stopped when the lateral inclination value of the movable body becomes an obstacle to the transfer of the article, the operation of the article storage facility is stopped. The rate will be reduced.
That is, since the moving body is moved up and down by winding and unwinding the two cord-like bodies, it contributes to the suspension support of the moving body when the moving body is positioned below and above. The substantial length of the cord is different. Therefore, when the moving body is located below and above, the lateral inclination value of the moving body is not necessarily the same, and the lateral inclination value of the moving body varies depending on the vertical position of the moving body. Is the actual situation.
Also, in such an article storage facility, when setting the horizontal posture of the moving body at the time of initial setting or maintenance, it is usually set in a state where the moving body is positioned below in consideration of workability and the like. It is. Therefore, the lateral inclination value of the moving body increases as the moving body rises upward, and it is also true that the lateral inclination value varies depending on the vertical position of the moving body.
However, in the invention described in the above publication, if the lateral inclination value of the moving body becomes a certain value or more regardless of the vertical position of the moving body, it is assumed that there is an obstacle to the transfer of the article to the storage unit. Since the operation of the article storage facility is stopped, the transfer of the article cannot be performed at all, and the operation rate of the article storage facility is greatly reduced.

  The present invention pays attention to such problems, and an object of the present invention is to store articles that can suppress a reduction in operating rate even when the moving body is inclined to some extent in the transfer of articles to the storage unit. To provide facilities.

The first characteristic configuration of the present invention is an article storage shelf in which storage units for storing articles are arranged in a plurality of stages in the vertical direction and in a plurality of rows in the horizontal direction, and is driven up and down along the article storage rack. A moving body that is moved up and down by the means and travels in the lateral direction by the traveling driving means, and each storage section of the article storage shelf and the movement provided by the moving driving means by the operation of the transfer driving means A transfer device for transferring articles to and from the body, and the moving body is suspended and supported by two cord-like bodies arranged at intervals in the lateral direction, and the lifting drive The lifting / lowering driving means, the traveling driving means, and the transfer are configured to be moved up and down by winding and unwinding the two cord-like bodies by means, Control means for controlling the operation of the drive means is provided. And a lift position detecting means for detecting a lift position of the moving body, and a tilt detecting means for detecting a lateral tilt of the moving body, and the control means includes the lift position detecting means. Based on the detection information with the inclination detection means, the lateral inclination corresponding to the stage in the state where the moving body is located in each stage of the storage unit arranged in a plurality of upper and lower stages is managed as a management inclination value, Forbidden entry / exit of articles to / from the storage unit located at the stage where the management slope value is larger than the set slope value, and the management slope value is smaller than the set slope value at the storage part located at another stage. The operation of the elevating drive means, the travel drive means, and the transfer drive means is controlled in a state that permits entry / exit of articles to / from the storage portion located in a stage. is there.

According to the first characteristic configuration of the present invention, the lift position detecting means for detecting the lift position of the mobile body and the tilt detection means for detecting the lateral tilt of the mobile body are provided, the lift drive means, the travel drive means, and The control means for controlling the operation of the transfer driving means is in a state in which the moving body is located at each stage of the storage unit arranged in the upper and lower stages based on the detection information of the elevation position detecting means and the inclination detecting means. The horizontal inclination corresponding to the step is managed as a management inclination value, and the storage inclination value is larger than the set inclination value. Since the operation of the transfer driving means is controlled, the storage unit located in a stage that may interfere with the transfer by setting the set inclination value to a value that would hinder the transfer of the article. Surely avoiding goods in and out of It can be.
And, in a state of permitting the storage of articles with respect to the storage unit located in the other stage and the storage part located in the stage whose management inclination value is smaller than the set inclination value , elevating drive means, travel drive means, and Since the operation of the transfer driving means is controlled, even if it is a part of the storage units, the storage of articles to / from the storage unit located on the stage where transfer is possible due to the difference in the vertical position of the moving body is This is performed continuously, thereby suppressing a reduction in the operating rate of the article storage facility.

According to a second characteristic configuration of the present invention, the control means prohibits entry / exit of articles to / from the storage unit located above a stage where the management inclination value is larger than the set inclination value. The storage unit positioned at a lower level than the level where the slope value is greater than the set slope value , and the storage of the article with respect to the storage unit located at the level where the management slope value is smaller than the set slope value are permitted. In the state, it is configured to control operations of the elevating drive means, the travel drive means, and the transfer drive means.

According to the second characteristic configuration of the present invention, the control means prohibits entry / exit of articles with respect to the storage unit located above the stage where the management inclination value is larger than the set inclination value, and the elevation drive means Since the operation of the travel drive means and the transfer drive means is controlled, as described above, the horizontal posture is set in a state where the moving body is positioned below (for example, the lowest stage) at the time of initial setting or maintenance. If there is a possibility that the management inclination value is likely to be greater than the set inclination value, the article in the storage unit located at that stage is not detected or managed for each stage without detecting or managing the corresponding horizontal inclination. Entry / exit can be avoided reliably.
And the state which permits the receipt / entry of the goods with respect to the storage part located in the lower stage from the stage where the management inclination value is larger than the set inclination value, and the storage part located in the stage where the management inclination value is smaller than the set inclination value Thus, the operations of the lifting drive means, the travel drive means, and the transfer drive means are controlled, so that the goods are stored in the storage unit located on the stage where transfer is possible, and the article storage facility is provided. The reduction in the operation rate of the is suppressed.

  A third characteristic configuration of the present invention is that the tilt detection means is an acceleration sensor provided in the moving body.

According to the third characteristic configuration of the present invention, since the tilt detection means is an acceleration sensor provided in the moving body, the horizontal tilt of the moving body can be reliably detected with a relatively simple configuration. .
In other words, the left and right heights of the moving body are detected using a pair of optical rangefinders, a rotary encoder, etc., and the lateral inclination of the moving body is determined from the detected left and right heights and the lateral length of the moving body. It is also possible to calculate, but in that case, a pair of optical rangefinders and a rotary encoder are required as the tilt detection means, which is not only structurally complicated, but also requires calculation processing of the lateral tilt. Become.
In that respect, by using an acceleration sensor, the configuration can be simplified, the calculation process of the lateral inclination is not necessary, and the lateral inclination of the moving body can be detected directly and reliably. it can.

  A fourth characteristic configuration of the present invention is a triaxial acceleration sensor in which the acceleration sensor detects triaxial acceleration, and in addition to the lateral inclination of the movable body, the left and right sides of the movable body in the lateral direction are viewed. It is configured to detect tilt.

  According to the fourth characteristic configuration of the present invention, the acceleration sensor is a triaxial acceleration sensor that detects triaxial acceleration, and in addition to the lateral inclination of the moving body, the left and right inclinations of the moving body in the lateral view Therefore, it is possible to detect the lateral tilt and the left / right tilt of the moving body with a single acceleration sensor. For example, if the tilt value is such that the left / right tilt interferes with the transfer, an alarm is given. The necessary measures can be taken, such as stopping the operation.

Schematic perspective view of automated warehouse Side view of stacker crane Side view of lifting platform and fork Automatic warehouse control block Flow chart showing operation of entry / exit control Rear view of lifting platform and fork Side view of lifting platform and 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. A stacker crane 3 is configured to automatically travel along a travel route 2 set between two article storage shelves 1.
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 the storage section 4 has a plurality of stages in the vertical direction (Example) Are arranged in multiple stages) and arranged in a plurality of rows (in the embodiment, multiple rows) in the horizontal direction.

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 as a transfer device for transferring an article B between the elevator 11 and each storage section 4 of the article storage shelf 1. 11 is removably provided.

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 lifting platform 11 is guided by a pair of front and rear lifting masts 10 erected on a traveling carriage 9 so as to freely move up and down, and is connected to both left and right ends of the lifting platform 11. In other words, the two lifting chains 15a and 15b are supported by being suspended and supported by the two lifting chains 15a and 15b arranged at intervals in the lateral direction of the article storage shelf 1. ing.

One lifting chain 15a is wound around one guide sprocket 16a and the other guide sprocket 16b provided on the upper frame 13, and is further wound around a guide sprocket 17 provided on the lifting mast 10. It is connected to a winding drum 18 provided at one end of the traveling carriage 9. The other lifting / lowering chain 15b is shorter than the one lifting / lowering chain 15a, is wound around the other guide sprocket 16b of the upper frame 13 and the guide sprocket 17 of the lifting mast 10, and is connected to the winding drum 18. Yes. Then, the winding drum 18 is rotationally driven in the forward and reverse directions by an elevating electric motor 19 which is an inverter type motor as an elevating driving means, and the two elevating chains 15a and 15b are wound and fed out. The lifting platform 11 is configured to be moved up and down along each article storage shelf 1.
The lifting / lowering base 11 is provided with a lifting / lowering rotary encoder 20 as a lifting / lowering position detecting means for detecting the lifting / lowering position of the lifting / lowering base 11 in the vertical direction. Is provided with a sprocket that meshes with a chain provided along the longitudinal direction of the lifting mast 10. 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 21a and 21b that rotate on the traveling rail 5, and the wheel 21a on one end in the longitudinal direction of the vehicle body is an electric motor for traveling which is an inverter type motor as traveling driving means. The driving wheel is configured as a propulsion driving wheel that is rotationally driven by a motor 22, and the wheel 21b on the other end side is configured as a freely driven wheel. The traveling carriage 9 is configured to travel on the traveling rails 5 along the article storage racks 1 by rotating the driving 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 as the transfer device includes a fixed fork portion 12 a fixed to the lifting platform 11, a secondary fork portion 12 b that can be moved back and forth with respect to the fixed fork portion 12 a, and its secondary When the article B is transferred, as shown by a dotted line in FIG. 3, the article B is placed on the primary fork part 12c when the article B is transferred to and from the primary fork part 12c. Is placed and supported.
The transfer drive means 24 for moving the three-stage fork 12 to and from the elevator 11 includes a rack gear 25 provided in the secondary fork portion 12b, a pair of pinion gears 26 that mesh with the rack gear 25, and a pair thereof. The pinion gear 26 is an inverter-type electric motor 27 that is rotationally driven by a gear 27a, and two chains 28 that connect one end of the fixed fork 12a and one end of the primary fork 12c. It is configured.

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).

As shown in FIG. 6, the mounting table 11 provided with the three-stage fork 12 detects a lateral inclination α of the mounting table 11 and, as shown in FIG. Is provided with a triaxial acceleration sensor 30 as an inclination detecting means for detecting the right and left inclination β of the mounting table 11.
Although not shown, the triaxial acceleration sensor 30 measures the vertical displacement and lateral displacement of the weight held at the neutral position in the vertical direction and the horizontal direction by an elastic biasing device using a piezoelectric element or a capacitance. Thus, the horizontal tilt α and the horizontal tilt β of the mounting table 11 are detected.
The acceleration sensor 30 as the inclination detecting means is not limited to the above-described three-axis acceleration sensor, and it is sufficient that at least the lateral inclination α of the mounting table 11 can be detected. Therefore, a foil strain gauge, a linear strain gauge, a semiconductor Various strain gauges such as strain gauges can also be used as the inclination detecting means.

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 the crane control device 31 is based on a command from the ground-side controller 7. The operation of the electric motor 22 for traveling, the electric motor 19 for raising and lowering, and the electric motor 27 for moving in and out of the transfer 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 triaxial 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 and the lift motor 11 is stopped at the target position, the fork 12 is protruded by controlling the operation of the electric motor 27, and the detection information of the triaxial acceleration sensor 30 Based on the above, the fork 12 is retreated.

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 performs 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. The transfer process for wholesale for storing the article B in the storage unit 4 is performed, and the warehousing process of the article B is executed.
Moreover, the crane control apparatus 31 performs the transfer process for scooping for taking out the articles | goods B accommodated in the accommodating part 4 used as a transfer object based on the leaving instruction from the ground side controller 7, The wholesale transfer process for storing the article B on the mounting table 8 is performed and the goods B unloading process is executed. In the scooping transfer process and the wholesale transfer process, the fork 12 Execute exit / exit control.
Next, the control of the fork 12 by the control means H and the article B entry / exit process will be described.

In the exit / retreat control of the fork 12, the exit / retreat control unit 31 c increases the exit / retreat 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. Then, 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 / exit speed is maintained at a 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 to cause the fork 12 to protrude to a predetermined position.
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 stop timing has come, and the operation of the exit / exit electric motor 27 is controlled.
Although not shown, a contact-type protruding position detection sensor that detects that the fork 12 is positioned at a predetermined protruding position, and a contact-type retracted position detection sensor that detects that the fork 12 is positioned at the retracted position. And are provided.

In the warehousing process of the article B, 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 scooping target position corresponding to the mounting table 8. When the elevating table 11 stops at the scooping target position, the withdrawing / withdrawing control unit 31c causes the fork 12 to project to a predetermined projecting position, thereby positioning the fork 12 below the article B on the mounting table 8.
In this state, the lifting control unit 31b controls the operation of the lifting electric motor 20 to raise the lifting platform 11, thereby raising the fork 12 and scooping up the article B, and placing the article B on the fork 12. After the support, the withdrawal control unit 31c performs the retraction operation of the fork 12 in a state where the article B is placed and supported, and executes the transfer process for scooping the article B.

Thereafter, in order to position the lifting platform 11 at the wholesale target position corresponding to the storage unit 4, the traveling control unit 31 a performs traveling control and the lifting control unit 31 b performs lifting control and is arranged in a plurality of upper and lower stages. The elevator 11 is stopped by the storage unit 4 at the commanded stage of the storage unit 4. Then, as shown in FIG. 5, when the lifting platform 11 stops at the commanded target position for wholesale, the three-axis acceleration sensor 30 detects the lateral inclination α corresponding to the stage of the lifting platform 11 (S1, S2). The control means H stores and manages the lateral inclination α as the management inclination value α, and determines whether the management inclination value α is larger than the set inclination value (S3).
When the management inclination value α is smaller than the set inclination value and the right and left inclination β of the elevator 11 by the triaxial acceleration sensor 30 is smaller than the set inclination value (S4, S5), the exit / exit control unit 31c While the article B is placed and supported, the fork 12 is operated to project toward the storage unit 4 to a predetermined projecting position, and the elevating control unit 31b controls the operation of the elevating electric motor 19 to set the elevating platform 11 at a set distance. The transfer process is executed by lowering only (S6). As a result, the article B is transferred to and stored in the designated storage section 4 and then the fork 12 is retracted to execute the wholesale control of the article B, and the right and left inclination β is larger than the set inclination value. If there is, for example, the stop of the wholesale control is notified by an alarm or the like, and all the operations are stopped (S7, S8).

When the management inclination value α is larger than the set inclination value, the control means H determines whether or not the management inclination value α is larger than a limit inclination value (a value that requires maintenance or replacement) (S9). ) If it is smaller than the limit inclination value, entry / exit of articles to / from the storage unit 4 located at the commanded corresponding step and the storage unit 4 located above the step is prohibited (S10). And the empty storage part 4 located in the level | step lower than the corresponding level is searched, and warehousing to the searched empty storage part 4 is performed (S11).
That is, entry / exit of the article B with respect to the storage unit 4 positioned above the stage where the management inclination value α is larger than the set inclination value is prohibited, and below the stage where the management inclination value α is larger than the set inclination value. In a state where entry / exit with respect to the storage unit 4 located in the stage is permitted, the lifting / lowering electric motor 19, the traveling electric motor 22, the moving / exiting electric motor 27 of the transfer driving means 24, and the like are controlled so Control is executed. If the management inclination value α is larger than the limit inclination value, for example, the stop of the wholesale control is notified by an alarm or the like, and all the operations are stopped (S12, S13). Maintenance and replacement work of 15a and 15b is performed.

Since the delivery process of the article B is substantially the same as the above-described entry process, a brief description will be given. The travel control unit 31a sets the lifting platform 11 at the scooping target position corresponding to the commanded storage unit 4. Travel control is performed, and the lift control unit 31b performs lift control. When the elevator 11 stops at the commanded target position for scooping, the triaxial acceleration sensor 30 detects the lateral inclination α (S1, S2), and the control means H manages the lateral inclination α. It is stored and managed as the value α, and it is determined whether or not it is larger than the set inclination value (S3).
When the management inclination value α is smaller than the set inclination value and the left and right inclinations β of the elevator platform 11 are smaller than the set inclination value (S4, S5), the exit / exit control unit 31c moves the fork 12 into the storage unit 4. The lift control unit 31b controls the operation of the lift electric motor 19 to raise the lift 11 by a set distance and scoop up the article B. Thereafter, the fork 12 is retracted and the article B is transferred to the lifting platform 11 (S6), and if the right and left inclination β is larger than the set inclination value, the stop of scooping control is notified by an alarm or the like. Then, all the operations are stopped (S7, S8).
When the management inclination value α is larger than the set inclination value and smaller than the limit inclination value (S9), the storage section 4 positioned at the commanded corresponding stage and the storage section 4 positioned at a level higher than that level. The entry and exit of goods to and from is prohibited (S10), and the delivery from the storage unit 4 located at the lower level than the corresponding level is executed (S11).
If the management inclination value α is larger than the limit inclination value, the stop of the scooping control is notified by an alarm or the like, and all the operations are stopped (S12, S13), and then the lifting chains 15a, The maintenance and replacement work of 15b is performed.

[Another embodiment]
(1) In the previous embodiment, the lifting base of the stacker crane 3 was shown as the movable body 11 and the lifting base was directly suspended and supported by the two lifting chains 15a and 15b. The present invention can also be applied to a configuration in which it is supported indirectly by two lifting chains 15a and 15b.
For example, an elevating frame provided with a traveling rail along the horizontal direction of the article storage shelf 1 is suspended and supported by two elevating chains 15a and 15b connected to the left and right ends of the elevating frame in the horizontal direction. It is also possible to apply the present invention to a configuration in which a traveling carriage travels on a traveling rail of the lifting frame. In this case, the traveling carriage corresponds to the moving body 11, and the traveling carriage as the moving body 11 is provided with a traveling rail by two lifting chains 15a and 15b arranged at intervals in the lateral direction. It is supported by hanging indirectly through the lifting frame.
Further, the elevating chains 15a and 15b are merely examples of cord-like bodies, and can be implemented using wires, cables, ropes, or the like as the cord-like bodies.

(2) In the previous embodiment, when the management slope value α is larger than the set slope value and smaller than the limit slope value, the management slope value α is positioned above the stage where it is larger than the set slope value. In the state where entry / exit of the article B with respect to the storage unit 4 is prohibited and storage / receipt of the storage unit 4 positioned below the stage where the management inclination value α is larger than the set inclination value is allowed, Although the configuration for controlling the electric motor 22 for traveling, the electric motor 27 for moving in and out of the transfer driving means 24, etc. has been shown, the article B with respect to the storage section 4 located at the stage where the management inclination value α is larger than the set inclination value. In the state in which only loading / unloading of the article B is prohibited and the loading / unloading of the article B with respect to the storage unit 4 located at the other stage is permitted, the lifting / lowering electric motor 19, the traveling electric motor 22, and the leaving / leaving electric motor 27 Can also be configured to control the operation of .

(3) In the previous embodiment, the rotary encoder was exemplified as the lift position detection means 20, but for example, the light is projected onto the moving body 11, and the reflected light from the reflecting plate provided on the moving body 11 is received and the distance is received. It is also possible to use an optical distance measuring device that detects the ascending / descending position detecting means.
Furthermore, although the triaxial acceleration sensor and various strain gauges were illustrated as the inclination detecting means 30, for example, the left and right heights of the moving body 11 are detected using a pair of optical rangefinders, a rotary encoder, etc. From the detected left and right heights and the horizontal length of the moving body 11, the horizontal inclination of the moving body 11 is calculated, or light is projected from both lateral ends of the moving body 11 toward the storage unit 4 to move. The difference in the left and right heights of the moving body 11 based on the shift of the light receiving timing of the reflected light from the mounting support section (member for mounting and supporting the article) in the storage section 4 when the body 11 is moved up and down , And the horizontal inclination of the mobile body 11 can be calculated from the difference between the left and right heights and the horizontal length of the mobile body 11. In the present invention, the inclination detection means 30 including such a configuration is also included. Called.
In addition, although a three-stage fork is illustrated as an example of the transfer device 12, any one or more forks can be applied, and transfer devices other than the fork can also be implemented.

DESCRIPTION OF SYMBOLS 1 Goods storage shelf 4 Storage part 11 Mobile body 12 Transfer device 15a, 15b Cord-like body 19 Lifting drive means 20 Lifting position detection means 22 Travel drive means 24 Transfer drive means 30 Triaxial acceleration sensor as inclination detection means B Goods H Control means α Inclination in the horizontal direction of the moving body β Inclination in the right and left direction of the moving body

Claims (4)

An article storage shelf in which storage units for storing articles are arranged in a plurality of stages in the vertical direction and in a plurality of rows in the horizontal direction;
A moving body that is moved up and down in the vertical direction by the lift drive means along the article storage shelf and travels in the lateral direction by the travel drive means,
A transfer device provided on the movable body, and configured to transfer an article between each storage unit of the article storage shelf and the movable body by an operation of a transfer driving unit;
The movable body is suspended and supported by two cords arranged at intervals in the lateral direction, and is lifted and lowered by winding and unwinding the two cords by the lifting drive means. Configured as
An article storage facility provided with control means for controlling the operation of the elevating drive means, the travel drive means, and the transfer drive means in order to carry in / out the articles with respect to the storage section,
A lifting position detecting means for detecting a lifting position of the moving body and a tilt detecting means for detecting a lateral tilt of the moving body are provided;
Based on the detection information of the lift position detection means and the inclination detection means, the control means is adapted to a horizontal position corresponding to a stage in a state where the moving body is positioned at each stage of the storage unit arranged in a plurality of upper and lower stages. The directional inclination is managed as a management inclination value , and the storage portion that is located in another stage is prohibited by prohibiting entry / exit of articles with respect to the storage section that is located in a stage whose management inclination value is larger than a set inclination value , and Actuation of the elevating drive means, the travel drive means, and the transfer drive means in a state that permits entry / exit of articles to / from the storage unit located at a stage where the management inclination value is smaller than the set inclination value. An article storage facility configured to control. The control means prohibits entry / exit of articles to / from the storage unit located above the stage where the management slope value is greater than the set slope value, and the management slope value is greater than the set slope value. The elevating drive means, the traveling in a state in which the storage unit positioned at a level lower than the level and allowing the storage of the article to and from the storage unit positioned at the level where the management inclination value is smaller than the set inclination value. The article storage facility according to claim 1, wherein the article storage facility is configured to control operation of the driving means and the transfer driving means.   The article storage facility according to claim 1, wherein the inclination detection unit is an acceleration sensor provided in the moving body.   The acceleration sensor is a triaxial acceleration sensor that detects triaxial acceleration, and is configured to detect a lateral inclination of the moving body in a lateral view in addition to a lateral inclination of the moving body. The article storage facility according to claim 3.

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