JPH09278122A - Article storing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article storing device which can position an article transfer device accurately to the storing parts arranged in parallel in the vertical direction and the lateral direction of storing shelves. SOLUTION: This device is composed of storing shelves 2A and 2B furnishing plural storing parts to house, articles in the condition arranged in parallel in the vertical direction and the lateral direction; an elevating base 5 to support an article transfer device 6 allowable to drive and move in the lateral direction of the storing shelves, and to drive and elevate it; and a position control means to control the moving position of the article transfer device 6 in the lateral direction of the storing shelves, and the elevating position of the elevating base 5. In this case, a position slippage detecting means to detect the position slippage of the stopping position in the vertical direction of the article transfer device 6 when it stops to the above storing parts, and a standard stopping position, is provided, and the above position control means corrects the stopping position of the elevating base 5 depending on the information to specify the storing part 1 directed as the transfer object of the article C, and the detected information of the above position slippage detecting means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is capable of driving and moving a storage rack having a plurality of storage sections for storing articles and an article transfer device in the horizontal direction of the storage racks in a state of being aligned in the vertical and horizontal directions. An article storage device provided with an elevating table that is supported by a vehicle and is driven up and down, and a position control unit that controls a moving position of the article transfer device in a lateral direction of a storage rack and an elevating position of the elevating table. .

[0002]

2. Description of the Related Art Such an article storage device is an apparatus for storing and storing an article in each storage section of a storage shelf. An article transfer apparatus for transferring an article to and from the storage section is provided next to the storage shelf. The movable body is supported by an elevating part so that it can be moved in any direction, and the elevating part is driven up and down to move the article transfer device to a position corresponding to each accommodating section. The article is taken out from the storage section. By the way, when the article transfer device is stopped with respect to each storage part, the stop position may be displaced in the vertical direction due to various causes.
In such a case, it is necessary to correct the misalignment in order to properly position the article transfer device with respect to each of the storage units. Conventionally, as a technique for correcting such misalignment, a lift table has been used. A technique has been considered in which one origin is set in the vertical direction on the ground side and position correction (origin adjustment) of the elevation height of the elevator is performed when the elevator is located at the origin.

[0003]

However, in the structure in which the lift base is movably supported in the lateral direction of the storage rack so as to position the article transfer device at a position corresponding to each storage unit, the lift base has the storage rack. In some cases, the length is increased in the horizontal direction, and the vertical height of the lift is not constant in the horizontal direction of the storage rack.
For example, when the lifting platform bends under the load of the article transfer device,
For example, when the lifting platform is bent due to manufacturing error, or when the lifting platform is hung and supported by a plurality of cords, the load of the article transfer device causes uneven extension of each cord. is there. In such a case, with the position correction as in the above-described conventional configuration, only the position correction of a specific position in the horizontal direction of the storage rack of the elevator is possible, and the position correction of other positions is insufficient. There was an inconvenience. The present invention
It was made in view of the above situation, and the purpose is
An object of the present invention is to provide an article storage device in which the article transfer device can be accurately positioned with respect to the storage units arranged in the vertical direction and the horizontal direction of the storage rack.

[0004]

By providing the structure according to the above-mentioned claim 1, the position shift detecting means is provided with the reference position and the stop position in the vertical direction when the article transfer device stops with respect to each storage section. Position control means for detecting the positional deviation between the stop position, that is, the reference stop position suitable for transferring the articles with each storage unit, and controlling the moving position of the article transfer device and the elevating position of the elevator, The stop position of the lift table is corrected based on the detection information of the position shift detection means and the information that identifies the storage section designated as the transfer target of the article. Therefore, the stop position of the article transfer device in the up-down direction is corrected in accordance with each storage section, and the article transfer is accurately performed on each storage section arranged in the vertical direction and the horizontal direction of the storage rack. It has become possible to provide an article storage device in which the device can be located.

Further, since the elevator is suspended and supported by the cords at a plurality of longitudinal positions, the extension of the cords varies due to long-term use. Or, or because the extension of the cord changes due to a change in the stop position on the lifting table of the article transfer device, the position of the article transfer device with respect to each storage portion is displaced, and the displacement is stored. It will be different in the horizontal direction of the shelf. In such a case, as described above, it is extremely effective to be able to correct the stop position of the article transfer device in the vertical direction corresponding to each storage section.

Further, by providing the structure according to the third aspect, the storage shelves are arranged in a pair so that the article loading / unloading sides of the respective storage sections face each other, and the positional deviation detecting means is arranged on both storage shelves. The position correction is performed for each storage unit in each storage rack. Therefore, even if there is an error in the installation height between the pair of storage shelves while the article transfer device is arranged so that the articles can be transferred to both the pair of storage shelves, The position of the storage rack can be accurately corrected.

With the configuration according to the fourth aspect, the signal output means outputs the adjustment request signal when the positional deviation detected by the positional deviation detecting means exceeds the set value. That is, the lift position of the lift table is corrected based on the detection information of the positional deviation detecting means, but if the positional deviation from the reference stop position detected by the positional deviation detecting means becomes too large, the position is mechanically corrected. Maintenance work is required. Therefore, the worker can know the time when the maintenance work should be performed by the adjustment request signal output from the signal output means, and the article storage device can be made more convenient in terms of management of the device.

Further, by providing the structure according to the fifth aspect, the position shift detecting means detects the position shift from the reference stop position in a state where the article is not mounted on the article transfer device, and the position control means. Is information for identifying the storage unit instructed as the transfer target of the article when the article is mounted on the article transfer device, and the detection information of the positional deviation detection means detected when the article is not mounted. And the stop position of the lift table is corrected based on the estimated value of the variation amount of the positional deviation when a standard article is mounted on the article transfer device. In other words, since the article transfer device stores and retrieves articles in and from each of the storage units, the lifting table is moved when the article is loaded and the lifting table is moved when the article is not loaded. In some cases, the stop position of the lifting platform is corrected in consideration of the fact that the positional deviation may vary depending on whether or not the article is mounted.

As described above, in consideration of the influence when the article is loaded on the article transfer device, a configuration may be considered in which the positional deviation is detected every time the article is loaded on the article transfer device. With such a configuration, it takes a lot of time to store the articles, and the work efficiency of the article storage device is lowered. On the other hand, when an article is mounted on the article transfer device, the article is uniformly corrected by the estimated value of the variation amount of the positional deviation when the standard article is mounted on the article transfer device. It is possible to quickly carry out the article storage operation while taking into consideration the situation in which the article is loaded on the transfer device. Note that the estimated value of the amount of positional deviation fluctuation when a standard item is loaded on the article transfer device is the vertical movement when the average weight of the items stored in the item storage device is loaded on the item transfer device. Deflection of the table may be obtained by calculation, or the result obtained by experimentally measuring the fluctuation amount of the positional deviation by mounting an article of average weight on the article transfer device may be used. .

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an article storage device according to the present invention will be described below with reference to the drawings. In FIG. 1, a container C as an example of an article can be stored in any one of the storage units 1 of the storage shelves 2A and 2B provided as a pair at predetermined intervals in front and rear, and There is shown an article storage device according to the present invention in which containers C stored in predetermined storage shelves 2A and 2B can be taken out. In the container C, for example, small parts and the like are loaded by type.

The storage unit 1 is arranged in each of a pair of storage shelves 2A and 2B so as to be vertically and horizontally aligned.
A plurality of storage shelves 2A and 2B are provided, and the storage shelves 1A and 2B are arranged so that the article storage / removal sides of the storage sections 1 face each other. A storage unit 1 is provided at the lateral end of the storage shelf 2A.
Instead of, the storage conveyor 4a for storing the container C in the storage shelves 2A, 2B and the storage shelf 2A,
The delivery conveyor 4b for leaving from 2B goes up and down,
Moreover, they are arranged so that the carrying direction is the lateral direction of the storage shelves 2A, 2B. The storage shelves 2 are provided at the outer ends of the storage shelves 2A and 2B of the storage conveyor 4a and the storage conveyor 4b.
A belt conveyor 3 that conveys the container C is continuously provided in the front-rear direction of A and 2B.

A pair of left and right plate-shaped load-carrying tools 4c which can be moved up and down above and below the conveying surfaces of the storage conveyor 4a and the output conveyor 4b are provided at the inner sides of the storage shelves 2A of the input conveyor 4a and the output conveyor 4b. The container C is delivered between the fork mechanism 52 provided in the article transfer device 6 described later and the warehousing conveyor 4a and the unloading conveyor 4b when the loading device 4c is raised. or,
In order to transfer the container C between the warehousing conveyor 4a, the unloading conveyor 4b, and the belt conveyor 3, the conveyor belts 3a of the belt conveyor 3 are formed by arranging a plurality of narrow belts spaced apart from each other. A vertically movable transport roller 3b is arranged between the narrow belts so that the transport directions of the transport rollers 3b are the same as those of the warehousing conveyor 4a and the unloading conveyor 4b. In this way, the storage conveyor 4a
The delivery conveyor 4b has basically the same configuration, and the upper side is used for receiving and the lower side is used for delivering, but the reverse is also possible, and further, each is also used for receiving and delivering. It is also possible to do so.

Further, at a front and rear intermediate portion of the pair of storage shelves 2A, 2B, a transfer device TR for transferring the container C between each storage part 1 and the storage conveyor 4a and the output conveyor 4b.
The main part of is equipped. The main part of the transfer device TR provided in the front-rear intermediate part of the pair of storage shelves 2A and 2B includes an article transfer device 6 for transferring and transporting the container C to and from each storage part 1 and the like, and an article transfer device 6. It comprises a long elevating table 5 which guides and supports the mounting device 6 over the entire lateral widths of the storage shelves 2A and 2B so as to be movable, and the elevating table 5 constitutes a part of the transfer device TR. In the UD, the up / down operation can be freely performed over almost the entire vertical height of the storage shelves 2A, 2B.

The pair of storage shelves 2A and 2B support a column 8, a plurality of lateral frames 9 which are vertically connected to each other at predetermined intervals over the column 8, and a bottom portion of both left and right ends of the container C. It is composed of a large number of locking members 10 which are erected and connected along the front-rear direction at predetermined intervals, and a horizontal rod 11 which connects the upper ends of the columns 8. The locking member 10 has a substantially L-shaped cross section so as to prevent the lateral movement of the container C.

Next, a lifting mechanism U for driving the lifting table 5 up and down.
D will be described. As shown in FIG. 2, the elevator 5
Connecting wires 30a, each of which is a cord-like body,
It is suspended and supported at two places in the longitudinal direction at 30b.
One connecting wire 30a is wound around guide pulleys 29a and 29b which are rotatable around a horizontal axis, and then stored on the storage shelf 2A.
The other connecting wire 30b is connected to a take-up drum 29c installed at the lower end of the guide pulley 29d rotatable about a horizontal axis, a guide pulley 29e rotatable about a vertical axis, and After being wound around the guide pulley 29b,
Like the connection wire 30a, the connection wire 30a is connected to the winding drum 29c. The take-up drum 29c is rotationally driven by the electric motor M1, and is driven by the electric motor M1 to move the lift 5
Goes up and down.

As shown in FIG. 2, the elevating table 5 has guided grooves 4 of guided parts 40 attached to both left and right ends thereof.
0a is engaged and guided by an elevating guide rail 41a attached to the rail support frame 41 shown in FIG. 1 so as to protrude toward the elevating table 5, and its posture is regulated. In addition, the rail support frame 41 and the guide rail 4 for ascending and descending guides
1a is integrally formed of an aluminum material, and the surface of the guide rail 41a for ascending / descending guide is subjected to a surface treatment such as electrolytic plating or alumite treatment. As shown in FIG. 4, the rail support frame 41 is attached to the frame 13 supported by one storage shelf 2A of the pair of storage shelves 2A, 2B. Although not shown, the guide pulleys 29a, 29b, 2
9d and 29e are also attached to the frame 13 so that the entire lifting mechanism UD is supported by the storage shelf 2A. The electric motor M1 for winding and driving the connection wires 30a and 30b is provided on the storage shelf 2A supporting the lifting mechanism UD.
Is located at the bottom of the.

Next, the lateral movement operation structure of the article transfer device 6 will be described. As shown in FIGS. 3 to 5, the article transfer device 6 mainly includes a frame 48 in a state of covering both front and rear side portions and an upper side of the lift table 5, and four traveling wheels 49 attached to the upper portion of the frame 48. , A total of six guide wheels 50, three on one side, which are rotatably attached to the side portions of the frame 48 about the vertical axis, and attached to the side portions of the frame 48, rotatably about the horizontal axis. It is composed of two guide wheels 51 that come into contact with the lifting table 5 from the lower side, and a fork mechanism 52 mounted on the frame 48.

To the frame 48, both ends of a drive belt 54 wound around pulleys 53, 53 rotatably supported around the front-rear axis are connected to both ends of the lifting table 5, respectively. The pulley 53 is rotationally driven by the electric motor M2, whereby the drive belt 54 is moved in the longitudinal direction, and the article transfer device 6 is laterally moved.

The fork mechanism 52 includes a pair of storage shelves 2A,
The fork mechanism 52 is provided with two bar-shaped contact sensors 57 on each of the left and right sides of the fork mechanism 52. Container C with fork mechanism 52
When the container C is mounted on the article transfer device 6, the container C moves in the lateral direction of the container C (matches the lateral direction of the storage shelves 2A and 2B).
When the center position of the fork mechanism 52 and the center position of the fork mechanism 52 in the lateral direction substantially coincide with each other, the four contact sensors 57 do not come into contact with the standard mounting position, but either the left or right direction from the standard mounting position. This contact sensor 57
It is possible to detect that the container C is displaced more than the set value by touching. The detection information of the contact sensor 57 is input to the controller CO as shown in FIG.
It is used to correct the stop position of.

Since the cross-sectional shape of the elevating table 5 in the lateral direction of the storage shelves 2A, 2B is formed in a substantially U-shape, a concave space exists on the left and right in the lateral view of the storage shelves 2A, 2B.
As shown in FIGS. 3 and 4, the drive belt 54 is accommodated in one of the concave spaces, and in the other, electric wiring for supplying electric power to the article transfer device 6 as shown in FIG. The cable bear 12 in which the cables and the like are bundled is accommodated to save space. In addition, in order to specify the transport position of the article transfer device 6 on the elevator 5, a rotary encoder 55 is provided in a state where the rotary encoder 55 is connected to the rotating shaft of the electric motor M <b> 2 that moves the drive belt 54. The device 6 is provided with a transmission type photoelectric sensor 58 which is partitioned by a light shielding plate 56 provided at an appropriate position on the lift 5. Further, in order to specify the lifting position of the lifting table 5 by the lifting mechanism UD, a rotary encoder 60 is provided in a state of being interlockingly connected to the rotation shaft of the winding drum 29c, and a rotary encoder 60 at the longitudinal end of the lifting table 5 is provided. A photoelectric sensor 62 partitioned by a light shielding plate 61 provided at an appropriate position along the elevating guide rail 41a is provided near the guide portion 40.

The detection signals of the rotary encoders 55 and 60 and the photoelectric sensors 58 and 62 are input to the controller CO as shown in FIG. The controller CO recognizes the conveyance position serving as the reference of the article transfer device 6 based on the detection information of the photoelectric sensor 58, and recognizes the relative position with respect to the reference position based on the detection information of the rotary encoder 55 to transfer the article. The transport position of the loading device 6 is specified and used to control the stop position of the article loading device 6 in the lateral direction of the storage rack.

The vertical position of the lift table 5 is as follows.
The output pulse of the rotary encoder 60 that detects the winding amount of the connecting wires 30a and 30b corresponding to the amount of lifting of the lifting table 5 is added at the time of rising, with the upper end position of the light shielding plate 61 attached near the lower limit of lifting of the Coordinates determined by subtraction when descending (hereinafter, simply "up and down coordinates"
It may be said that) is set. Then, in the case where the elevating table 5 is ideally maintained in a horizontal posture, the article transfer device 6 is moved up and down to be positioned at an appropriate position for transferring the storage sections 1 arranged in the vertical direction. The stop position of the table 5 is determined as the coordinate value of the ascending / descending coordinate according to the design dimension by associating the output pulse number of the rotary encoder 60 with the actual ascending / descending distance (hereinafter, the coordinate value of the ascending / descending coordinate is simply referred to as "standard"). Sometimes referred to as "coordinate values").

However, in actuality, when the lift table 5 is stopped according to the standard coordinate values, the lift table 5 may be slightly bent by the load of the article transfer device 6 or the load of the article transfer device 6 When the connecting wires 30a and 30b extend non-uniformly and the lifting table tilts slightly, and further, when the lifting table 5 is slightly bent from the time of its manufacture, the stop position in the vertical direction is The position deviates from the reference stop position, which is a position suitable for transferring to the unit 1. Therefore, the positional shift between the vertical stop position and the reference stop position (hereinafter, may be simply referred to as "positional shift from the reference stop position") is calculated, and the above-mentioned stop position is corrected.

For this correction, as shown in FIG. 3, the same height is set near the bottom of each column 8 of the storage shelves 2A, 2B on the article loading / unloading side, slightly higher than the installation height of the light shielding plate 61. Then, one magnetic mark 14 is attached to each column 8.
Magnetic sensors 15a, 15 for detecting the magnetic mark 14
b is provided in the article transfer device 6. The magnetic sensor 15a and the magnetic sensor 15b are for detecting the magnetic mark 14 of the storage shelf 2A and the magnetic mark 14 of the storage shelf 2B, respectively, as shown in FIG. Further, the position in the lateral direction of the storage shelf when the magnetic sensors 15a and 15b detect the magnetic mark 14 is the container C for each storage unit 1.
It is set so as to coincide with the stop position at which the transfer is performed.

Hereinafter, the magnetic mark 14 and the magnetic sensor 15 are executed under the control of the controller CO.
The correction of the stop position of the lifting platform 5 using a and 15b will be described together with the control of the loading operation and the unloading operation of the container C to and from the article storage device based on the flowcharts of FIGS. 7 and 8. When the controller CO is activated, first, the stop position correction process is executed (step # 1). In the stop position correction process, as shown in the flowchart of FIG. 8, first, the lifting table 5 is moved to the origin position (step # 11), and the article transfer device 6 is moved to the measurement position (step # 1).
2). The measurement position is a position where the magnetic sensors 15a and 15b can detect each magnetic mark 14 as the lift table 5 moves up. As described above, the position of the article transfer device 6 in the lateral direction of the storage rack. Is a container C for each storage unit 1.
It coincides with the position in the lateral direction of the storage shelf when it is stopped for transfer.

After the article transfer device 6 is positioned at the measuring position, the elevating table 5 is moved to the set height for measuring, that is, the magnetic sensor 1.
The magnetic marks 15a and 15b are raised until they detect the magnetic mark 14 (step # 12). At the time of raising the platform 5,
Rotary encoder from the time when the photoelectric sensor 62 switches from detecting the light shield 61 to not detecting it, that is, from the origin position until the magnetic sensors 15a and 15b included in the article transfer device 6 detect the magnetic mark 14. 6
The coordinate value a of the ascending / descending coordinate at the time when the magnetic mark 14 is detected is calculated by integrating the number of output pulses of 0. Assuming that the coordinate value of the ascending / descending coordinates for detecting the magnetic mark 14 when the elevating table 5 ideally maintains the horizontal posture is the coordinate value b, this coordinate value b is known from the design information, and as described above. By subtracting this coordinate value b from the coordinate value a obtained in this way, the amount of displacement from one reference stop position can be obtained for the storage units 1 in one row arranged in the vertical direction (step # 13).

The processing of steps # 10 to # 13 is executed for the measurement positions corresponding to all the magnetic marks 14 (step # 14). When the amount of positional deviation from the reference stop position is obtained for all measurement positions, the values in the stop position data table stored in the controller CO are corrected based on the amount of positional deviation (step # 15). The data table for the stop position is the storage shelf 2
It is a data table of stop positions for stopping the article transfer device 6 at the positions corresponding to the respective storage parts 1 set for the respective storage parts 1 of A and 2B. The position specified by the detection information of the rotary encoder 55 is specified, and the stop position in the up-down direction of the storage rack is specified by the above-mentioned elevation coordinates. In the present embodiment, the fork mechanism 52 is illustrated as a configuration for transferring the container C to and from the storage unit 1, and the stop position in the up and down direction of the storage shelf is the container 1 in the storage unit 1. There are a stop position for storing C and a stop position for removing the container C from the storage unit 1.

Therefore, the correction of the stop position data table is performed by updating the coordinate value of the ascending / descending coordinate of each storage unit 1 to the sum of the above standard coordinate value and the amount of displacement from the reference stop position. To be achieved. After that, if the calculated amount of displacement from the reference stop position is greater than or equal to the set value (step # 16), it is necessary to adjust the lift table 5 to the monitor 16 that functions as a signal output unit that outputs an adjustment request signal. Is displayed (step # 17), the stop position correction process is terminated, and the process returns to the flowchart of FIG. The displacement from the reference stop position may be measured when the article transfer device 6 is empty, or when the container C having an average weight is mounted.

After completion of the stop position correction process at the time of starting,
The process waits until there is a request for entering or exiting, while determining whether or not it is time to execute the stop position correction process again (steps # 2, # 4, # 6). The correction time can be set every time the operating time of the article storage device 6 elapses a set time, or every time the number of times the elevating table 5 is moved up and down reaches the set number of times. Every time the set time has elapsed, or every time the number of times the elevator table 5 is moved up and down reaches the set number, the above stop position correction process is executed. The above-mentioned store-in request and store-out request are input to the controller CO via the communication device 63 from another controller that manages the belt conveyor 3, the store-in conveyor 4a, and the store-out conveyor 4b. When a warehousing request is input, the container C transported on the upper belt conveyor 3 is carried into the storage rack 2A by the operation of the transport rollers 3b and the warehousing conveyor 4a, and the loading device 4c at the elevated position is loaded.
It has been lifted at. Further, when the delivery request is input, the load placing tool 4c of the delivery conveyor 4b is input.
Is waiting in the ascending position.

When the controller CO receives a stocking request via the communication device 63 (step # 2), the following stocking processing is executed. That is, the fork mechanism 52 of the article transfer device 6 which has been on standby is inserted between the lower surface of the container C and the load carrying surface of the warehousing conveyor 4a to drive the electric motor M1.
Then, the elevating table 5 is raised so that the container C is placed on the upper surface of the fork mechanism 52. When the fork mechanism 52 on which the container C is placed is retracted toward the article transfer device 6 side, the container C is placed on the article transfer device 6.

With the container C mounted on the fork mechanism 52, the elevating table 5 and the article transfer device 6 are moved to the empty storage section 1 based on the information in the stop position data table. At this time, as for the height of the elevating table 5, the height of the lower surface of the container C mounted on the article transfer device 6 is slightly higher than the upper surface of the locking member 10 of the storage section 1. In this state, the fork mechanism 52 is projected toward the storage portion 1 side to position the container C above the locking member 10, and further lifted up and down until the container C is placed on the locking member 10. After lowering the platform 5, the fork mechanism 52 is retracted toward the article transfer device 6 side, and the storage process of the container C is completed.

When the controller CO receives a leaving request via the communication device 63 (step # 4), it performs a leaving process which is almost the reverse operation of the above-mentioned entering process (step # 5), and issues a leaving request. The container C designated by is conveyed from the storage section 1 to the loading device 4c of the delivery conveyor 4b. The container C placed on the load placing tool 4c is fed and conveyed to the lower belt conveyor 3 under the control of another controller. Therefore, the controller CO functions as position control means PC for controlling the moving position of the article transfer device 6 in the lateral direction of the storage rack and the elevating position of the elevating table 5, and the rotary encoder 60, the light shielding plate 61, the photoelectric sensor 62, The magnetic mark 14, the magnetic sensors 15a and 15b, and the controller CO detect the positional deviation between the vertical stop position when the article transfer device 6 stops with respect to the storage unit 1 and the reference stop position. It functions as the means DS.

[Other Embodiments] Other embodiments will be listed below. In the above embodiment, the magnetic mark 14 is installed corresponding to each storage unit 1 arranged in the storage rack lateral direction, but it is not necessary to install the magnetic mark 14 in all the storage units 1. Of the storage units 1 arranged side by side in the horizontal direction, and the storage units 1 without the magnetic marks 14 are provided.
However, the amount to be corrected may be obtained by interpolation processing. In the above-described embodiment, the positional deviation of the article transfer device 6 from the reference stop position is measured by the magnetic sensors 15a and 15b detecting the magnetic mark 14 or the like. Equipped with a sensor, storage shelves 2A, 2B
By measuring the height from the floor where is installed,
It may be configured to measure the displacement from the reference stop position. In the above-described embodiment, the magnetic sensors 15a and 15b are provided in the article transfer device 6, but a plurality of the elevators 5 are provided in accordance with the horizontal pitch of the storage unit 1, and the elevator 5 is used once. It is also possible to configure such that the displacement from the reference position can be measured for all of the storage units 1 arranged in the horizontal direction by the lifting operation.

In the above embodiment, the article transfer device 6
The stop position of the lifting platform 5 is uniformly corrected regardless of whether the container C is mounted in the container. However, the correction amount of the stop position of the lifting platform 5 is determined depending on whether the container C is mounted. You can make them different. Specifically, the displacement from the reference stop position is measured in advance in a state where the container C is not mounted on the article transfer device 6, and the article transfer device 6
When the elevating table 5 is moved up and down without the container C mounted therein, based on the measurement information and the information specifying the storage unit 1 designated as the transfer target of the container C, the same as in the above embodiment. When the stop position of the lift 5 is corrected and the lift 5 is moved up and down with the container C mounted on the article transfer device 6, the standard weight container C is added to the article transfer device 6 based on the above measurement information. Information about how much the position shift from the reference stop position changes when mounted, replaces the added information with the above measurement information, and designates the information after replacement and the transfer target of container C The stop position of the lifting platform 5 is corrected based on the stored information for identifying the storage unit 1. The estimated value of the amount of displacement of the position shift from the reference stop position when the standard container C is mounted on the article transfer device 6 is ascending / descending when the container C having an average weight is mounted on the article transfer device 6. It may be calculated by taking into consideration the bending of the table 5 or the like, or the result obtained by experimentally measuring the variation amount of the positional deviation by mounting an article having an average weight on the article transfer device is used. You may. In the above-mentioned embodiment, a part of the positional deviation detecting means DS is composed of the magnetic mark 14 and the magnetic sensors 15a and 15b, but various modifications such as using a light reflection plate and a reflection type optical sensor in place of them. It is possible.

[Brief description of drawings]

FIG. 1 is a perspective view of an article storage device according to an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a lifting mechanism according to the embodiment of the present invention;

FIG. 3 is a front view of a main part according to the embodiment of the present invention;

FIG. 4 is a plan view of a main part according to the embodiment of the present invention.

FIG. 5 is a side view of a main part according to the embodiment of the present invention.

FIG. 6 is a block configuration diagram according to the embodiment of the present invention;

FIG. 7 is a flowchart according to the embodiment of the present invention.

FIG. 8 is a flowchart according to the embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Storage part 2A, 2B Storage shelf 6 Article transfer device 5 Elevating table 16 Signal output means 30a, 30b Cord C Article DS Displacement detection means PC Position control means

Claims (5)

[Claims] 1. A storage shelf provided with a plurality of storage sections for storing articles in a state of being arranged in parallel in the vertical direction and the horizontal direction, and an article transfer device movably supported in the storage shelf lateral direction.
An article storage device comprising: an elevating table that is driven up and down; and a position control unit that controls a moving position of the article transfer device in a lateral direction of the storage rack and an elevating position of the elevating table. Positional deviation detection means is provided for detecting positional deviation between the stop position in the vertical direction and the reference stop position when the article transfer device stops with respect to each of the storage sections, and the position control means is configured to transfer the article. An article storage device configured to correct the stop position of the elevator based on the information for identifying the storage unit instructed to be placed and the detection information of the position shift detecting means. 2. The article storage device according to claim 1, wherein the elevating table is suspended and supported by cords at a plurality of longitudinal positions. 3. The storage shelves are arranged side by side in a pair such that the article storage / removal sides of the respective storage sections face each other, and the positional deviation detection means is provided for each storage shelf. The article storage device described. 4. The article storage according to claim 1, 2 or 3, further comprising signal output means for outputting an adjustment request signal when the positional deviation detected by the positional deviation detecting means is equal to or larger than a set value. apparatus. 5. The positional deviation detection means executes the positional deviation detection in a state where no article is mounted on the article transfer apparatus, and the position control section mounts the article on the article transfer apparatus. In this state, the information for identifying the storage section instructed as the transfer target of the article, the detection information of the positional deviation detection means, and the positional deviation when the standard article is mounted on the article transfer device 2. The stop position of the lifting platform is corrected based on the estimated value of the fluctuation amount of
Item storage device according to item 2, 3 or 4.