KR20080066558A - Article transport device and method for detecting article position deviation - Google Patents

Abstract

An article transporting device and a method for detecting deviation of an article position are provided to accurately calculate an amount of the deviation of an article from a reference point. An article transporting device includes a crane(5), a pair of article detectors, and an operation controller. The crane includes a carriage(12), a lift mast(13), a lift(14), and an article transporting unit(15). The carriage moves along rails(11). The lift mast is installed vertically on the carriage and guides movement of the lift. The lift lifts up and down along the lift mast. The article transporting unit transports an article away from the lift. The pair of article detectors are installed on the rail and detect a position of the article. The operation controller calculates an amount of deviation of the article with data on the position of the article.

Description

TECHNICAL TRANSPORT DEVICE AND METHOD FOR DETECTING ARTICLE POSITION DEVIATION}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article carrying apparatus and an article position error detecting method, and more particularly, a mounting body for mounting and supporting an article on a movable body configured to move along a moving path along a horizontal or almost horizontal direction. Installed,

The movement of the movable body is controlled to move the movable body to an article moving stop position relative to the article supporting unit located along the moving path, and the movable body is stopped at the stopping position for transferring the article. The present invention relates to an article carrying apparatus and a method for detecting an article position error in such an apparatus, in which an operation control means for controlling the withdrawal and lifting of the payload to take out or withdraw an article supported on the article support portion or to lower the article on the article support portion is provided.

The article carrying apparatus as described above is applied to an automatic warehouse, for example, and the driving control means draws out the article supported on the article support section or controls the movement of the movable body, the withdrawal and lifting of the payload, or the article support section. Unload the goods.

And when taking out the article supported by the article support part, a moving body is protruded by moving a movable body to the stop position for goods transfer. At this time, in order to take out the article appropriately, the posture and the position of the article supported on the article support portion need to be in the proper posture and the proper position with respect to the protruding mounting body. That is, with respect to the article supported by the article support part, it is a reference attitude | position (for example, the attitude | position parallel or almost parallel to the longitudinal direction of a movement path | route) in plan view, and the reference position in the longitudinal direction of a movement path | For example, the center of the payload protruding in the longitudinal direction of the movement path and the center of the goods supported by the article support portion overlap with each other up and down, and the reference position in the withdrawal direction of the payload (for example, the payout direction of the payload). It was necessary to position the center of the mounting body protruding from the center and the center of the article supported on the article support portion up and down.

Therefore, the stop position for transferring the article, the retracting direction of the mount and the protrusion amount of the mount are determined in advance so that the posture and the position of the article supported by the article support portion with respect to the protruding mount are the appropriate positions and positions.

However, since the article support section may be installed by shifting from a predetermined position due to an installation error of the article support section, etc., it is only necessary to move the movable body to a preset stop position for the article transfer and to protrude the payload by the preset protrusion amount. The attitude | position and position of the article supported by the article support part may not be made into an appropriate attitude | position and position with respect to the mounted mounting body.

Therefore, in the conventional article carrying apparatus, in the longitudinal direction of the inclination detection sensor which detects the inclination (tilt) from the reference attitude | position in the planar view of the article supported by the article support part, and the moving path of the article supported by the article support part. The longitudinal direction side edge detection sensor which detects the periphery of the edge, and the retreat direction side edge detection sensor which detects the edge periphery in the retracting direction of the mounting body of the article supported by the article support part in a mounting body Then, the driving control means, based on the information detected by the inclination detection sensor, the longitudinal side edge detection sensor and the exit direction side edge detection sensor, from the reference posture in plan view with respect to the article supported on the article support portion The deviation from the reference position in the inclination direction of the payload and the payload and the deviation from the reference position in the longitudinal direction of the moving path are calculated. (See, for example, Japanese Patent Laid-Open No. 2005-193303).

In this conventional article carrying apparatus, the driving control means is inclined from the reference position in plan view, the amount of deviation from the reference position in the retracting direction of the payload, and the movement path with respect to the article supported by the article support section. Of the article supported on the article support portion with respect to the protruding mount body by correcting the stop position for transferring the article relative to the article support portion, the amount of protrusion of the mount body and the withdrawal direction of the mount body, respectively, based on the deviation amount from the reference position in the longitudinal direction of the. The attitude | position and position are made into the appropriate attitude | position and position, and the article supported by the article support part is pulled out appropriately.

In addition, by providing the guide body which guides the protruding mounting body, the attitude | position and position of the article supported by the article support part with respect to the protruding mounting body can be made into the appropriate posture and position. In this case, however, there is a fear that dust may be generated by friction between the guide body and the mounting body, resulting in a problem of contamination of the article support part and the article. In particular, in a clean room through which the purified air is ventilated from the ceiling side toward the floor side, the cleanliness in the clean room is reduced by the generation of dust. Therefore, as in the conventional article carrying apparatus, the inclination from the reference attitude in plan view and the deviation from the reference position in the retracting direction of the payload are relative to the goods supported on the goods support part using a sensor provided on the payload, as in the conventional goods transport device. It is required to calculate the amount of deviation from the reference position in the longitudinal direction of the vehicle and the movement route.

In the above conventional article carrying apparatus, since the inclination detection sensor, the longitudinal side edge detection sensor, and the retracting direction side edge detection sensor target an article supported on the article support portion, the articles supported on the article support portion are each It needs to be a kind or shape that can be detected by the sensor. In the conventional article carrying apparatus, each sensor detects the periphery of the article by transmitting the light which was transmitted by the article. Therefore, the kind of the article supported by the article support section needs to be a kind of light shielding which is not transparent but which transmits light reliably. In addition, the shape of the article in plan view is determined from the reference position in the inclination direction of the reference posture in the plan view and the payout direction of the payload by detecting the periphery of the tip of the article by each sensor. It needs to be a shape which can obtain the amount of deviation and the amount of deviation from the reference position in the longitudinal direction of the movement path.

Therefore, in the said conventional article conveyance apparatus, with respect to the article supported by the article support part, the inclination from the reference attitude | position in plan view, the deviation amount from the reference position in the exit direction of a payload, and the longitudinal direction of a movement path | route The kind and shape of the article from which the amount of deviation from the reference position can be obtained are limited.

The present invention has been made in view of these points, and the object thereof is not limited to the kind and shape of the article supported by the article support section as far as possible, and from the reference posture in plan view with respect to the article supported by the article support section. It is an object of the present invention to provide an article carrying apparatus capable of obtaining an amount of deviation from a reference position in the inclination direction of the payload, a departure position of the payload, and a reference position in the longitudinal direction of the moving path.

In order to achieve the object as described above, the first characteristic configuration of the article carrying apparatus according to the present invention, the mounting body for mounting and mounting the article to the movable body configured to move along the movement path along the horizontal or almost horizontal direction Installed to leave,

The movement of the movable body to control the movement of the movable body to move the movable body to a stop position for transferring the article relative to the article support portion located along the moving path, and further supported by the article support in the state where the movable body stops at the stop position for transferring the article; An article carrying apparatus provided with driving control means for controlling the withdrawal and lifting of the payload to take out an article or to lower an article to the article support unit,

Inclination from a reference attitude in plan view, an amount of deviation from a reference position in the retracting direction of the payload, and a reference position in the longitudinal direction of the movement path with respect to the article supported on the article support section An article state detection sensor for detecting an amount of deviation from the detector is installed on the mount in a state in which the detected object included in the article is detected when the mount is projected within or near the protruding side limit of the withdrawal range. Become,

On the basis of the information supported by the article state detection sensor based on information detected by the driving control means when the payload projects the protruded body within or near the protruding side limit of its exit range. It is comprised so that the inclination from a reference | standard attitude | position in view, the deviation amount from the reference position in the retracting direction of the said mounting body, and the deviation amount from the reference position in the longitudinal direction of the said moving path are comprised.

In addition, the article position error detection method corresponding to such a configuration is characterized in that the article state detection sensor is configured to detect a subject to be detected included in the article when the mount is projected within or near the protruding side limit of the withdrawal range. The article supported on the article support portion based on the first step of installing on the mount and the information detected by the article state detection sensor when the mount is projected within or near the protruding side limit of the withdrawal range. And a second step of obtaining an inclination from the reference attitude in plan view, an amount of deviation from a reference position in the retracting direction of the payload, and an amount of deviation from a reference position in the longitudinal direction of the moving path.

In other words, the driving control means projects the payload within or near the protruding side limit of its withdrawal range in a state where the moving object is stopped at the stop position for transferring goods, so that the goods state detection sensor provided on the payload is attached to the goods supported on the goods support part. The to-be-detected object provided is detected. And an article state detection sensor detects a to-be-detected body, and the inclination from the reference attitude | position in plan view, the deviation amount from the reference position in the retracting direction of the said mounting body, and the said movement with respect to the article supported by the article support part Information for obtaining the deviation amount from the reference position in the longitudinal direction of the path can be obtained. Therefore, the operation control means is based on the information detected by the article state detection sensor, from the inclination from the reference attitude in plan view and the reference position in the retracting direction of the payload relative to the article supported by the article support unit. The deviation amount from and the deviation amount from the reference position in the longitudinal direction of the movement path can be obtained.

In the case where the object to be detected is provided in the article, the object to be detected can be formed and provided in the article with almost no restriction on the kind or shape of the article. You can change it. Then, the object to be detected provided in the article is supported by the article support unit, and the object to be detected is detected by the article state detection sensor. The deviation amount from the reference position in the retracting direction of the payload and the deviation amount from the reference position in the longitudinal direction of the moving path can be obtained.

In addition, since the article state detection sensor detects the object to be detected when the payload is projected within or near the protruding side limit of the withdrawal range, compared with detecting the detected object in the middle of the withdrawal range of the payload, The object to be detected can be detected by the article state detection sensor in a state where the mounting body is projected so as to actually pull out the article supported on the article support section. Therefore, the information when it respond | corresponds to an actual operation | movement can be obtained by the article state detection sensor, and the article supported by the article support part is inclined from the reference position in plan view, and from the reference position in the retracting direction of the payload. The deviation amount and the deviation amount from the reference position in the longitudinal direction of the movement path can be accurately obtained.

Therefore, without limiting the type or shape of the article supported by the article support section as much as possible, the inclination from the planar view position in reference to the article supported by the article support section, and the deviation from the reference position in the retracting direction of the payload. It is possible to provide an article carrying apparatus capable of accurately determining the amount of deviation from a reference position in the longitudinal direction of the vehicle and the movement route.

According to a second characteristic configuration of the article carrying apparatus according to the present invention, the article state detection sensor includes a pair of detection units aligned in the longitudinal direction of the movement path,

The to-be-detected object is a direction detectable by the pair of detectors and indicates a longitudinal reference line parallel to the longitudinal direction of the movement path, and is detectable by the pair of detectors and is perpendicular to the longitudinal direction of the movement path. Represents a parallel orthogonal reference line,

When the driving control means protrudes the mounting body, the driving control means is adapted to the difference between the amount of protrusion when one of the pair of detection units detects the longitudinal reference line and the amount of protrusion when the other detects the longitudinal reference line. Based on this, the inclination from the reference posture in plan view and the deviation amount from the reference position in the retracting direction of the payload relative to the goods supported by the article support part are calculated, and the payload is projected in the withdrawal range. When the movable body is moved in the longitudinal direction of the movement path while protruding within or near the side limit, based on the movement amount with respect to the movable body when at least one of the pair of detection units detects the orthogonal direction reference line. The deviation amount from the reference position in the longitudinal direction of the movement path with respect to the article supported on the article support portion Is a point that is configured.

Further, according to the article position error detection method corresponding to such a configuration, in the second step, when the driving control means protrudes the mounting body, one of the pair of detection units detects the longitudinal reference line. The inclination from the reference posture in plan view with respect to the article supported on the article support section based on the difference in the protrusion amount at the time of the projection and the other side when the longitudinal reference line is detected; The pair of the pairs is obtained when the moving object is moved in the longitudinal direction of the moving path in a state where the deviation amount from the reference position in the retracting direction is obtained and the payload is projected within or near the protruding side limit of the retracting range. Based on the movement amount with respect to the movable body when at least one of the detection units detects the orthogonal direction reference line, the article support unit For a grounded article, and a step to obtain the amount of deviation from the reference position in the longitudinal direction of the travel path.

That is, since the detected object exhibits a longitudinal reference line, the pair of detection units are arranged in the longitudinal reference line by the pair of detectors in a state in which the payload is protruded to protrude the payload within or near the protruding side limit of its exit range. The amount of protrusion when is detected corresponds to the inclination from the reference posture in plan view with respect to the article supported by the article support portion, and the amount of deviation from the reference position in the retracting direction of the payload. That is, if the article supported on the article support section is inclined from the reference posture in plan view, the amount of protrusion when one of the pair of detection sections detects the longitudinal reference line when projecting the payload according to the magnitude of the inclination, The difference in the amount of protrusion when the other side detects the longitudinal reference line changes. If the article supported on the article support portion is shifted from the reference position in the retracting direction of the payload, the amount of protrusion when the detector detects the longitudinal reference line changes when the payload is operated to protrude the payload according to the amount of the deviation.

Therefore, when the driving control means protrudes the payload, by identifying the difference between the amount of protrusion when one of the pair of detection units detects the longitudinal reference line and the amount of protrusion when the other detects the longitudinal reference line, The inclination from the reference attitude in plan view and the deviation amount from the reference position in the retracting direction of the payload can be accurately calculated with respect to the article supported by the article support section.

In addition, since the object to be detected exhibits an orthogonal reference line, when the movable body is moved in the longitudinal direction of the moving path while the payload is projected within or near the protruding side limit of the exit range, at least one of the pair of detection units The amount of movement of the movable body when detecting the orthogonal direction reference line in the detection body corresponds to the amount of deviation from the reference position in the longitudinal direction of the movement path with respect to the article supported by the article support portion. That is, if the article supported on the article support part is inclined from the reference position in the longitudinal direction of the movement path, the movable body is moved in a state in which the payload is projected within or near the protruding side limit of the withdrawal range according to the magnitude of the deviation. When it moves in the longitudinal direction of a path | route, the movement amount with respect to a moving body when at least one of a pair of detection part detects a longitudinal reference line changes.

Therefore, when the driving control means moves the moving body in the longitudinal direction of the moving path while the payload is projected within or near the protruding side limit of the exit range, at least one of the pair of detection units detects the orthogonal direction reference line. By grasping the movement amount with respect to the movable body at the time of carrying out, the deviation amount from the reference position in the longitudinal direction of the movement path with respect to the article supported by the article support part can be calculated | required correctly.

In this way, the object to be detected is inclined from a reference attitude in plan view and in the retracting direction of the payload with respect to the article supported on the article support portion while being simply configured to exhibit a longitudinal reference line and an orthogonal reference line. The amount of deviation from the reference position and the amount of deviation from the reference position in the longitudinal direction of the movement path can be accurately obtained.

The third characteristic constitution of the article carrying apparatus according to the present invention and the corresponding article position error detection method are characterized in that the article support section is intended for carrying in and out of the article storage section of the article storage shelf and the article storage shelf. An article mounting part is included.

That is, since the article support part includes not only the article storage part in the article storage shelf but also the article mounting part for carrying in and out of the article in the article storage shelf, not only the article supported by the article storage part but also the article supported by the article mounting part Also, the inclination from the reference attitude in plan view, the deviation amount from the reference position in the retracting direction of the payload, and the deviation amount from the reference position in the longitudinal direction of the moving path can be obtained.

Since the said article mounting part needs to adjust a position with respect to the carrying-in apparatus which carries an article into the article mounting part, or the carrying-out apparatus which carries out an article from an article mounting part, it is possible to install in the state which shifted from a predetermined position compared with the article storage part. Is high. Therefore, the inclination from the reference attitude in plan view, the deviation amount from the reference position in the retracting direction of the payload, and the deviation amount from the reference position in the longitudinal direction of the moving path with respect to the article supported by the article mounting unit can be obtained. Therefore, the article supported by the article mounting portion provided in a state shifted from the predetermined position can be appropriately taken out, which is particularly useful.

According to a fourth characteristic configuration of the article carrying apparatus according to the present invention, the payload is configured to be pivotable with respect to the movable body.

The driving control means includes an inclination from a reference attitude in plan view, an amount of deviation from a reference position in the retracting direction of the payload, and a reference in the longitudinal direction of the movement path with respect to the article supported by the article support section. On the basis of the deviation amount from the position, the stop position for transferring the article to the article support portion, the amount of protrusion of the payload, and the withdrawal direction of the payload are corrected, respectively, to take out the article supported on the article support; It is at that point.

An article position error detection method corresponding to this configuration includes an inclination from a reference attitude in plan view, an amount of deviation from a reference position in the retracting direction of the payload, and the movement path with respect to the article supported by the article support section. On the basis of the amount of deviation from the reference position in the longitudinal direction, the stop position for transferring the article relative to the article support portion, the amount of protrusion of the payload and the withdrawal direction of the payload are corrected, respectively, It is characterized by further including the process of drawing out.

In other words, the driving control means is inclined from the reference posture in plan view, the amount of deviation from the reference position in the retracting direction of the payload, and the reference position in the longitudinal direction of the movement path with respect to the article supported by the article support unit. Since the angles of the stop position for the transfer of goods to the article support portion, the amount of protrusion of the payload, and the withdrawal direction of the payload are corrected on the basis of the deviation amount of, the posture of the article supported by the goods support on the protruding payload and The position can be made into an appropriate posture and position.

Then, the driving control means controls the movement of the movable body, the withdrawal and lifting of the payload in the state of correcting the stop position for the goods transfer to the goods support part, the amount of protrusion of the payload and the withdrawal direction of the payload respectively, and is supported by the goods support part. Since the article is taken out, the article can be taken out appropriately.

The 5th characteristic structure of the article carrying apparatus which concerns on this invention is that the dummy article for inspection provided with the said to-be-detected body is provided as said article. The article position error detection method corresponding to this configuration is characterized by further including a step of providing a dummy article for inspection provided with the object to be detected as the article.

That is, since the dummy article for inspection provided with the to-be-detected body is provided, the dummy article is supported by the article support section, so that the dummy article supported by the article support section can be inclined from the reference position in plan view and the mounted body. The deviation amount from the reference position in the exit direction and the deviation amount from the reference position in the longitudinal direction of the movement path can be obtained.

Therefore, even if the article to be actually supported is not supported, only the dummy article is supported on the article support portion, so that the article supported on the article support portion is inclined from the reference attitude in plan view, and the reference in the retracting direction of the payload is shown. The deviation amount from the position and the deviation amount from the reference position in the longitudinal direction of the movement path can be obtained.

And the dummy article is supported by the article support part, and the inclination from the reference position in plan view, the deviation amount from the reference position in the retracting direction of the payload, and the lengthwise direction of the dummy article supported by the article support part. The operation | movement which calculates | requires the deviation amount from the reference | standard position in the inside is performed before actually operating a goods conveying apparatus, and with respect to the article supported by the article support part, the inclination from the reference attitude in plan view, the reference | standard in the exit direction of a payload The amount of deviation from the position and the amount of deviation from the reference position in the longitudinal direction of the movement path can be obtained in advance. When actually operating the article carrying apparatus, the inclination from the reference attitude in plan view, the amount of deviation from the reference position in the retracting direction of the payload, and the longitudinal direction of the movement path with respect to the article supported in the article support section, which are obtained in advance. On the basis of the amount of deviation from the reference position in, the work supported by the article support portion can be taken out. Therefore, when carrying out the work which draws out the article supported by the article support part, the inclination from the reference position in plan view, the deviation amount from the reference position in the retracting direction of the payload, and the movement with respect to the article supported by the article support part It is not necessary to perform the operation of calculating the deviation amount from the reference position in the longitudinal direction of the path, and the article supported on the article support portion can be appropriately taken out, so that the time required for the operation can be shortened.

According to the article carrying apparatus of the present invention, the type and shape of the article supported by the article support section are not limited as much as possible, and the inclination from the reference posture in plan view and the retracting direction of the payload are relative to the article supported by the article support section. The deviation amount from the reference position at and the deviation amount from the reference position in the longitudinal direction of the movement path can be accurately obtained.

The embodiment which adapted the goods conveying apparatus which concerns on this invention to the automatic warehouse is demonstrated with reference to drawings.

As shown in FIGS. 1 and 2, the automatic warehouse is provided in a clean room, and includes a plurality of article storage shelves 2 arranged in a horizontally and vertically manner and provided with a plurality of article storage shelves 2. The stacker which moves the moving space 3 in front of 2), and withdraws the article 4 supported by the article storage part 1, or unloads the article 4 to the article storage part 1, A stacker crane 5 (an example of an article carrying device) is installed.

Although not shown in the drawing, the clean room is configured to discharge floating dust under the floor by ventilating the purified air from the ceiling toward the floor where the plurality of holes are formed. The article 4 is comprised by the storage cassette which accommodated several glass substrate, for example.

The article storage shelf 2 is provided in pair with the front side facing each other, and the moving space 3 formed between them. Each article storage shelf 2 has a pair of front and rear support pillars 6, and another pair of front and rear support pillars 6, which are set up at intervals in the shelf widthwise direction (direction along the running rails 11) therefrom. And the mounting support part 7 supported in the state spanned by these two front and back pairs of support pillars 6, and spaced in the up-down direction of the shelf. Therefore, each article accommodating part 1 is comprised so that the article 4 may be accommodated in the state which mounts and supports the both ends of the shelf width direction of the article 4 by a pair of left and right mounting support parts 7.

The article carrying-out part 8 for carrying in the goods 4 from the exterior to the goods storage shelf 2 or carrying out the goods 4 from the goods storage shelf 2 to the outside is a goods storage shelf in a shelf width direction. It is provided in the location adjacent to (2). The article carrying in / out part 8 is comprised by the conveyance conveyor which carries and mounts the article 4, for example.

Furthermore, in addition to the article carrying-out part 8, the article mounting part 10 for carrying in and out of the article for carrying in / out of the article 4 is installed between the article processing facilities 9 which perform the predetermined process with respect to the article 4. It is. This article mounting part 10 is provided instead of the article storage part 1 corresponding to the lowest end in the article storage shelf 2, as shown in FIG. And the article processing apparatus 9 is installed in the position adjacent to the article storage shelf 2 in the front-back width direction of the article storage shelf 2, and the article mounting part 10 is the front-back width direction of the article storage shelf 2 Is provided at a location adjacent to the article processing facility 9.

As shown in FIG. 3, the article mounting unit 10 includes a plurality of floating units that receive and support the article 4 arranged by the stacker crane 5 in all horizontal directions. A position limiting device 43 for positioning the article 4 delivered by the stacker crane 5 to an appropriate position for exchange between the article processing facility 9 in the horizontal direction is provided.

Although not shown, the floating unit 42 includes a movable part for mounting and supporting the article 4, an electric support for moving the movable part in all directions in the horizontal direction with respect to the fixed part, and a movable part. It is a structure provided with the return pressurizing means which presses a part back to the reference position which receives and supports the article 4 transmitted by the stacker crane 5. The electric support has a bearing. Since the floating unit 42 itself belongs to the prior art, detailed description thereof will be omitted.

The position regulating device 43 is a diagonal direction of the article 4 at a position corresponding to two places located on the diagonal of the rectangular article 4 when viewed in a plane mounted and supported by the floating unit 42. A pair of push manipulators 49 are provided to push the article 4 in a direction facing each other and to position the article 4 at an appropriate position for exchange.

In the article mounting part 10, when the article 4 is transmitted by the stacker crane 5, the position regulation apparatus 43 positions the article 4 to a suitable position for exchange. And when the predetermined | prescribed process is performed by the article processing facility 9 with respect to the glass substrate accommodated in the storage cassette which is the article 4, the article transfer apparatus with which the article processing facility 9 was the article 4 is a thing. The glass substrates are taken out one by one from the storage cassette. In addition, when storing the glass substrate in which the predetermined | prescribed process by the article processing facility 9 was complete | finished in the storage cassette which is the article 4, the article transfer apparatus with which the article processing facility 9 was equipped is a position limiting apparatus 43 ) Is stored one by one in the storage cassette, which is the article 4 that is positioned and regulated at the proper position for replacement.

In the moving space 3, a pair of traveling rails 11, which are moving paths that span the entire range of the shelf width direction of the article storage shelf 2 and the article carrying-in / out part 8, are provided on the floor portion left and right. It is. And the stacker crane 5 is provided so that the traveling rail 11 may move horizontally.

As shown in FIG. 4, the stacker crane 5 can move up and down along the traveling trolley 12 as a movable body capable of traveling along the traveling rail 11, and the lifting mast 13 installed on the traveling trolley 12. (14) and the article transfer device 15 attached to the platform 14.

The stacker crane 5 is an article storage part 1 and an article carrying-out part 8 by the traveling operation of the traveling trolley 12, the lifting operation of the lifting platform 14, and the moving operation of the goods transfer device 15. And the article 4 supported by the article mounting section 10, or the article 4 is lowered into the article storage section 1, the article carrying-out section 8, and the article mounting section 10.

The article support section 41 is configured to include an article storage section 1, an article carrying in / out section 8, and an article mounting section 10.

In the stacker crane 5, a pair of lifting masts 13 are provided at the front and rear ends of the traveling trolley 12 one by one before and after. And the upper frame 16 which connects the upper-end part of a pair of front-back lifting mast 13 with the upper end part of the lifting mast 13 is provided.

The lifting platform 14 is guided and supported by a pair of front and rear lifting masts 13 installed on the traveling cart 12 so as to be lifted and lowered, and supported by a pair of lifting wires 17 connected to both left and right sides thereof. It is.

Each lifting wire 17 is wound on a guide pulley 18 provided on an upper portion of the lifting mast 13, and wound on a winding drum 20 provided at an end of the traveling cart 12. have.

Each winding drum 20 is provided with an inverter type elevating electric motor 21. Then, the two elevating electric motors 21 are driven to rotate in the forward rotation and the reverse rotation in synchronization with each other, so that the pair of lifting wires 17 can be fed out or wound up and the lifting platform 14 is moved up and down. Consists of.

On the traveling trolley 12, the beam beam for distance measurement is projected along the elevation direction of the platform 14 toward the reflecting plate 22 provided on the lower surface of the platform 14, and the platform in the elevation direction of the platform 14 ( An elevator laser range finder 23 for detecting the lift position of 14) is provided. The lifting laser range finder 23 detects the distance to the lifting platform 14 in the lifting direction of the lifting platform 14 by receiving light reflected by the reflecting plate 22, and the lifting position of the lifting platform 14. It is configured to detect.

In the stacker crane 5, a pair of traveling wheels 24 are disposed at both ends of the traveling truck 12 in the horizontal width direction at intervals in the longitudinal direction of the traveling rail 11. Of the pair of travel wheels 24, one travel wheel is configured as the drive wheel 24a, and the other travel wheel is configured as a driven wheel 24b capable of oil field. An inverter-type electric motor 25 for driving (see FIG. 1) is provided in each of the drive wheels 24a disposed at both ends in the transverse direction of the travel truck 12. Then, the two traveling electric motors 25 are synchronously rotated in the forward rotation and the reverse rotation so that the travel truck 12 travels along the travel rails 11.

On the travel trolley | bogie 12, the beam light for distance measurement is projected along the longitudinal direction of the travel rail 11 toward the reflecting plate 26 provided in the one end part of the travel rail 11, and the travel direction of the travel trolley | bogie 12 is carried out. A laser range finder 27 is provided for detecting the travel position of the travel truck 12 in Esau. The traveling laser range finder 27 detects the distance to the traveling cart 12 in the traveling direction of the traveling cart 12, by receiving the light reflected by the reflecting plate 26, and the traveling cart 12. It is configured to detect the running position of the.

As shown in FIGS. 5 to 7, the article transfer device 15 includes a swing table 28 supported to swing around the first vertical axis P1 with respect to the lifting platform 14, and the article 4. ) Is provided with a link mechanism (30) for supporting the mounting body (29) on which the support) is mounted with respect to the pivot table (28). The swing table 28 is configured to swing around the first vertical axis P1 by the operation of the swing electric motor 31 provided on the lower side of the swing table 28.

The link mechanism 30 includes a pair of operation links 32 whose proximal ends are rotatably connected around the second vertical axis P2 with respect to the pivot table 28, and a third end portion of the operation link 32. A swing link 33 is rotatably connected around the upper and lower shaft centers P3 and rotatably connected around the fourth upper and lower shaft centers P4 with respect to the mounting body 29.

In order to protrude or retract the payload 29, a retracting electric motor 34 is provided on the lower side of the swing table 28 at a position corresponding to the base end of the operation link 32. The electric motor 34 for going out and out is provided in pairs corresponding to each of the pair of operation links 32. As the pair of pull-out electric motors 34 operate in synchronism, the pair of operation links 32 are synchronized to oscillate around the second vertical axis P2. Although not shown, in order to link the movement of the operation link 32 and the movement of the swinging link 33, the chain portion is connected to the shaft portion at the second vertical shaft P2 and the shaft portion at the third vertical shaft P3. It is straddling.

In this manner, the pair of exiting electric motors 34 operate in synchronization to operate the link mechanism 30 so as to protrude or retract the payload 29.

The article transfer device 15 can change the retracting direction of the payload 29 by turning the revolving table 28 by the operation of the revolving electric motor 31, and also the pair of retracting electric motors 34. Operation to move the payload 29 into and out of the platform 14 in a synchronous operation, and the evacuation state in which the payload 29 is retracted from the platform 14 (Fig. 6). Can be switched to (see 5). And when the payload 29 protrudes within or near the protruding side limit of the withdrawal range, it is set to be in a protruding state, and when the payload 29 is withdrawn within the limit of the withdrawal side of the withdrawal range, it is withdrawn. It is set to be.

A reference swing position detection sensor 35 is provided to detect that the swing position of the swing table 28 is the first reference swing position or the second reference swing position. The 1st reference turning position is a reference turning position at the time of carrying the article 4 with respect to the article support part 41 located to one side with respect to the travel rail 11 in the front-back width direction of the article storage shelf 2. The 2nd reference turning position is a reference turning position at the time of carrying the article 4 with respect to the article support part 41 located in the other side with respect to the travel rail 11 in the front-back width direction of the article storage shelf 2, It is the position which rotated 180 degrees from the 1st reference turning position.

Although not shown, the reference turning position detection sensor 35 is constituted by a light transmitting sensor. And the reference turning position detection sensor 35 is shielded by the detection plate provided in the turning table 28, and the light which transmitted was shielded, and the turning position of the turning table 28 turns into a 1st reference turning position or 2nd reference turning. It is configured to detect the position.

Further, the turning electric motor 31 detects the turning amount of the turning table 28 after detecting the first reference turning position or the second reference turning position by the reference turning position detection sensor 35. A rotary rotary encoder 38 for detecting the swing position of 28 is provided.

Moreover, the protrusion state detection sensor 36 which detects that the payload 29 protrudes in or near the protruding side limit of the exit range, and the payload 29 retracts within the exit side limit of the exit range The evacuation state detection sensor 37 for detecting that the evacuation state has been provided is provided.

The projected state detection sensor 36 and the evacuation state detection sensor 37 are formed of a permeable light sensor, similar to the reference swing position detection sensor 35, and are to be detected and provided on the proximal end of the operation link 32. By this, the projected light is blocked by light, thereby detecting that the projected state or the retracted state is detected.

In addition, after the protrusion state detection sensor 36 detects the projecting state, the retracting electric motor 34 detects the evacuation amount of the payload 29 or the evacuation state detection sensor 37 detects the evacuation state. Then, the rotary encoder 39 for retrieval which detects the retracted position of the payload 29 by detecting the protrusion amount of the payload 29 is provided.

As shown in FIG. 8, the operation control apparatus 40 as operation control means which controls the operation of the stacker crane 5 is provided. The operation control device 40 controls the traveling operation of the traveling cart 12 and the lifting operation of the lifting platform 14 in order to move the article transfer device 15 to the article transfer stop position with respect to the article support unit 41. In addition, the article 4 supported on the article support portion 41 can be withdrawn or the article 4 can be lowered on the article support portion 41 while the article transfer device 15 is stopped at the article transfer stop position. It is configured to control the transfer operation of the article transfer device 15.

The driving control apparatus 40 can move the goods transfer device 15 to the stop position for goods transfer in the travel direction of the travel trolley | bogie 9 based on the detection information of the driving laser distance measuring system 27, A travel control unit 40a for controlling the travel operation of the travel cart 12; On the basis of the detection information of the lifting laser range finder 23, the lifting operation of the lifting platform 14 is performed so that the goods moving device 15 can be moved to the stop position for moving the goods in the lifting direction of the lifting platform 14. A lifting control unit 40b for controlling; It is comprised of the transfer control part 40c which controls the transfer operation | movement of the goods transfer apparatus 15 so that the article 4 supported by the article support part 4 may be taken out, or the article 4 may be lowered to the article support part 41. FIG. It is.

The traveling control unit 40a operates the traveling motor 12 to drive the traveling cart 12, and the traveling position of the traveling cart 12 detected by the traveling laser distance meter 27 is the traveling cart. When the stop position for transferring goods in the traveling direction of (9) is reached, the operation | movement of the traveling electric motor 25 is stopped, and the goods transfer apparatus 15 is located in the stop position for goods transferring in the traveling direction of the traveling truck 9 Let's do it.

The elevating control unit 40b operates the elevating electric motor 21 to elevate and elevate the elevating platform 14, and the elevating position of the elevating table 14 detected by the elevating laser distance measuring system 23 is the elevating table 14. When it becomes the stop position for goods transfer in the lifting direction of, the operation | movement of the lifting electric motor 21 is stopped, and the goods transfer apparatus 15 is located in the stop position for goods transfer in the lifting direction of the lifting platform 14. In addition, when lowering the article 4 to the article support part 5, when the article 4 supported by the article support part 5 is pulled out, the stop position for goods transfer in the lifting direction of the lifting platform 14 will be made. It is set upward by the set distance.

When taking out the article 4 supported by the article support part 41, the transfer control part 40c controls the operation | movement of the turning electric motor 31, adjusts the retreat direction of the mounting body 29, and then moves out. The operation of the electric motor 34 is controlled to cause the mounting body 29 to protrude. At this time, when the protruding state is detected by the protruding state detection sensor 36, the protruding operation of the mounting body 29 is stopped.

Then, the transfer control unit 40c protrudes the mounting body 29, and then lifts the lifting platform 14 by the set distance by the lifting control unit 40b to lift the article 4 supported by the article support unit 5. The mounting body 29 is mounted and supported. Thereafter, the transfer control unit 40c controls the operation of the electric motor 34 for moving in and out to operate the payload 29. At this time, when the evacuation state is detected by the evacuation state detection sensor 37, the evacuation operation of the payload 29 is stopped.

When lowering the article 4 to the article support part 41, only the operation | movement which lowers the platform 14 by the setting distance by the elevation control part 40b after making the mounting body 29 protrude, and differs to other operation | movement The operation is the same as when the article 4 supported by the article support portion 4l is taken out.

In this way, the operation control device 40 controls the operation of the stacker crane 5 to take out the article 4 supported by the article carrying in / out part 8, and to take out the article 4 which has been taken out. The work which falls to (1), the goods 4 supported by the goods storage part 1 are taken out, the work which falls out the goods 4 taken out to the goods mounting part 10, etc. is carried out, and the goods carrying-out part 8 is carried out. And the article 4 between the article storage section 1 and the article mounting section 10.

In order to properly withdraw the article 4 supported by the article support 41, the posture and position of the article 4 supported by the article support 41 are appropriate with respect to the protrudingly mounted mounting body 29. Need to be on. That is, with respect to the article 4 supported by the article support part 41, it is a reference attitude | position (for example, a posture parallel or substantially parallel to the longitudinal direction of the travel rail 11) in plan view, and is a travel rail. The reference position in the longitudinal direction of the 11 (for example, the center of the mounting body 29 protruding in the longitudinal direction of the travel rail 11 and the center of the article 4 supported by the article support portion 41 are up and down). The article which is located at the overlapping position and is supported by the reference position (for example, the center of the mounting body 29 which protrudes in the withdrawal direction of the mounting body 29) and the article support part 41 in the withdrawal direction of the mounting body 29 It is necessary to be located at the position where the center of (4) overlaps up and down.

Thus, the stop position for the goods transfer, the retracting direction of the payload 29 and the payload (mounting body) so that the posture and the position of the article 4 supported by the article support portion 41 with respect to the protrudingly mounted payload 29 are in a proper posture and position. The protrusion amount of 29 is determined in advance, and the driving control device 40 stores the stop position for transferring the article, the exit direction of the mounting body 29 and the protrusion amount of the mounting body 29.

However, since the article support part 41 may be provided by shifting from the predetermined position by the placement tolerance of the article support part 41, etc., the plane with respect to the article 4 supported by the article support part 41 is flat. In view of this, the inclination from the reference posture, the deviation amount from the reference position in the longitudinal direction of the travel rail 11 and the deviation amount from the reference position in the retracting direction of the mounting body 29 are calculated.

As shown in FIG. 9, the inclination from the reference position in plan view, the amount of deviation from the reference position in the longitudinal direction of the traveling rail 11, with respect to the article 4 supported by the article support portion 41, and An article state detection sensor 44 for detecting the amount of deviation from the reference position in the retracting direction of the payload 29 is provided in the upper surface portion of the distal end of the payload 29. The article state detection sensor 44 detects (eg, a reflection chamber) 45 provided on the article 4 when the mount 29 protrudes within or near the protruding side limit of its exit range. It is configured to act as a detection.

The article state detection sensor 44 is configured to include a pair of detection sections 46 aligned in the longitudinal direction of the travel rail 11. Each of the pair of detection units 46 is, for example, a photo interrupter sensor, and the light to be transmitted is reflected by the object to be detected 45 to receive the reflected light, thereby detecting the object to be detected 45. It is comprised so that the edge part of may be detected.

The to-be-detected body 45 shows the longitudinal reference line 47 (length direction reference line information) parallel to the longitudinal direction of the travel rail 11 which a pair of detection part 46 can detect, and also a pair of detection part 46 Is detectable and is configured to represent an orthogonal direction reference line 48 (orthogonal direction reference line information) parallel to the direction orthogonal to the longitudinal direction of the travel rail 11. In addition, the to-be-detected body 45 has a narrow width | variety in the protruding side (upper side in FIG. 9A) of the mounting body 29, and the evacuation side of the mounting body 29 in the retracting direction (FIG. 9). In (A), the lower side) is formed in the width | variety "L" shape, and is provided in pair with the space | interval in the longitudinal direction of the running rail 11 at intervals. Moreover, the longitudinal reference line 47 is formed of the straight line located in the protruding side edge part of the mounting body 29 in the exiting direction of the wide part of the to-be-detected body 45, and orthogonal direction reference line 48 ) Is formed by a straight line located at the side end portions of the pair of detected objects 45 that face each other among the narrow portions of the detected objects 45.

And about the positional relationship of a pair of detection part 46 and the to-be-detected body 45, the article 4 supported by the article support part 41 is a reference attitude in plan view, If it is located at the reference position in the longitudinal direction and at the reference position in the retracting direction of the payload 29, as shown by the dotted line in the figure, each of the pair of detection portions 46 is a point at the detected object 45. FIG. It is set to be located in C.

The operation control apparatus 40 protrudes and mounts the mounting body 29 in the state which placed the goods transfer apparatus 15 in the stop position for goods transfer with respect to the article support part 41, and protrudes the mounting body 29 in the retreat range. Based on the information detected by the article state detection sensor 44 when protruding within or near the side limit, from the reference pose in plan view with respect to the article 4 supported by the article support 41. The inclination, the amount of deviation from the reference position in the longitudinal direction of the travel rail 11, and the amount of deviation from the reference position in the withdrawal direction of the mounting body 29 are configured.

First, the method of obtaining the inclination from the reference attitude | position in plan view with respect to the article 4 supported by the article support part 41 is demonstrated.

As shown in FIG. 10, the case where the article 4 supported by the article support part 41 is inclined from the reference pose in plan view is considered. In order to make the article 4 supported by the article support part 41 as a reference posture, the turning table 28 is pivoted in the retracted state in which the payload 29 is evacuated to the platform 14. Thus, the turning correction amount for turning the turning table 28 to make the inclination from the reference pose in the plane with respect to the article 4 supported by the article support part 41 as the reference pose ( Obtained as P).

In FIG. 10, the turning center at the time of turning the turning table 28 in the retracted state is set to M. In FIG.

The angle θ1 at which the article 4 is inclined from the reference pose is equal to the internal angle θ2 of the triangle S1. In addition, since the inner angle θ2 of the triangle S1 is sufficiently small, and the triangle S1 can be regarded as a right triangle, the relational expression of the following formula 1 is established.

θ1 = θ2 = arctan (L1 / L2) (Equation 1)

However, L1 is different from the amount of protrusion when one of the pair of detection sections 46 (left side of the drawing) detects the longitudinal reference line 47 when the mounting body 29 is protruded and operated (right side of the drawing). This is a distance corresponding to the difference in the amount of protrusion when the longitudinal reference line 47 is detected. L2 is an installation interval of the pair of to-be-detected bodies 45 in the longitudinal direction of the travel rail 11.

Since the inclination angle θ1 from the reference pose in the plane of the article 4 is the internal angle of the triangle S2, the internal angle θ1 of the triangle S2 is sufficiently small, and the triangle S2 can be regarded as a right triangle, so that the relation of Equation 2 Is established.

tanθ1 = P / L3 (Equation 2)

However, L3 is a turning radius when the turning table 28 turns in the retracted state where the payload 29 is retracted from the platform 14.

Then, by substituting Equation 1 into Equation 2, the following Equation 3 can be obtained. If Equation 3 is summarized with respect to the turning correction amount L3, Equation 4 can be obtained.

tan (arctan (L1 / L2)) = P / L3 (Equation 3)

P = (L1 / L2) × L3 (Equation 4)

When the payload 29 is protruded, one of the pair of detectors 46 detects the longitudinal reference line 47 and the other is the longitudinal reference line 47. L1 can be obtained from the difference in the detected values of the rotary encoder 39 for departure and exit when detecting? And since L2 and L3 are predetermined values, turning correction amount P can be calculated | required by Formula (4).

In this way, when the driving control device 40 protrudes the mounting body 29, the protruding amount when one of the pair of detection units 46 detects the longitudinal reference line 47 is different from the lengthwise direction. It is comprised so that turning correction amount P may be calculated | required based on the difference of the protrusion amount at the time of detecting the reference line 47. FIG.

Next, the method of obtaining the deviation amount from the reference position in the withdrawal direction of the mounting body 29 with respect to the article 4 supported by the article support part 4l is demonstrated.

In order to make the article 4 supported by the article support part 41 into a reference position in the withdrawal direction of the mounting body 29, the amount of protrusion of the mounting body 29 is corrected. Thus, the amount of deviation from the reference position in the retracting direction of the payload 29 relative to the article 4 supported by the article support portion 41 is set to the reference position in the retract direction of the payload 29. It calculates | requires as the departure-out correction amount Q of the mounting body 29 for following.

In FIG. 10, the protrusion amount L4 of the mounting body 29 until one of the pair of detection units 46 (the right side in the drawing) detects the longitudinal reference line 47 of the detected object 45 and comes into a protruding state is It can obtain | require by following formula 5. In FIG. 10, the protrusion amount of the mounting body 29 is zero "0".

L4 = L5-L6 (Equation 5)

However, L5 is the amount of protrusion of the predetermined mounting body 29 until switching from the retracted state to the projected state. L6 is an amount of protrusion of the mounting body 29 from the retracted state until one of the pair of detection units 46 (the right side in the drawing) detects the longitudinal reference line 47 of the detected object 45.

Then, when the pivoting operation for turning the pivoting table 28 is pivoted by the pivotal correction amount P in order to make the article 4 the reference attitude, the mounting body 29 moves toward the protruding side in the retracting direction of the mounting body 29. Will move by 2. Therefore, after performing the turning operation for correction, the amount of protrusion of the mounting body 29 from the position where the one side (right side of the figure) of the pair of detection parts 46 detected the longitudinal reference line 47 of the to-be-detected body 45 was performed. Since L4 'can be calculated | required by following formula (6), the withdrawal correction amount L8 can be calculated | required by following formula (7).

L4 '= (L5-L6) + L1 / 2 (Equation 6)

Q = L7-L4 '= L7-{(L5-L6) + L1 / 2)} (Equation 7)

However, L7 detects the longitudinal reference line 47 of the to-be-detected body 45 by one side (right side of drawing) of the pair of detection parts 46, in order to take out the article 4 supported by the article support part 41. FIG. After that, the amount of protrusion of the payload 29 is set in advance.

When the payload 29 is protruded, one of the pair of detectors 46 detects the longitudinal reference line 47 and the other is the longitudinal reference line 47. L1 can be obtained from the difference in the detected values of the rotary encoder 39 for retracting at the time of detection of the retractor, and when the payload 29 is projected to operate, one of the pair of detection units 46 from the retracted state (right side of the drawing) L6 can be calculated | required from the detection value of the rotary encoder 39 for a commencement until () detects the longitudinal reference line 47. And since L5 and L7 are predetermined values, the attendance correction amount Q can be obtained by equation (7).

In this way, when the driving control device 40 protrudes the mounting body 29, the protruding amount when one of the pair of detection units 46 detects the longitudinal reference line 47 is different from the lengthwise direction. Supported by the article support part 41 based on the difference of the protrusion amount at the time of detecting the reference line 47, and the protrusion amount until one of the pair of detection parts 46 detects the longitudinal reference line 47, It is comprised so that the deviation amount from the reference position in the exiting direction of the mounting body 29 with respect to the article 4 may be calculated.

Next, the method of obtaining the deviation amount from the reference position in the longitudinal direction of the traveling rail 11 with respect to the article 4 supported by the article support part 41 is demonstrated.

In order to make the article 4 supported by the article support part 41 into the reference position in the longitudinal direction of the travel rail 11, the travel position of the travel trolley | bogie 9 is correct | amended. Therefore, the deviation amount from the reference position in the longitudinal direction of the traveling rail 11 with respect to the article 4 supported by the article support part 41 is a reference | standard in the longitudinal direction of the traveling rail 11 for the article 4. It calculates | requires as the movement correction amount R of the traveling truck 9 for making it into a position.

In order to perform the turning operation for correction, and to make the article 4 the reference position in the retracting direction of the payload 29, the amount of protrusion of the payload 29 is corrected by the payout correction amount Q so that the payload 29 is retracted and operated. The correction withdrawal operation is performed. And as shown to FIG. 11 (A), when the one side (right side of drawing) of a pair of detection part 46 is in the position remove | deviated from the to-be-detected body 45, the operation control apparatus 40 will carry out a payload body ( 29) in the state where it protruded within or near the protruding side limit of the withdrawal range, as shown in FIG. 11 (B), the detection part 46 of the one side (right side of drawing) in the off position is orthogonal direction. After detecting the reference line 48, the shift amount detecting travel operation of moving the travel cart 9 in the longitudinal direction of the travel rail 11 is performed until it moves by the set travel distance K1. By carrying out the traveling operation for detecting the deviation amount, the mounting body 29 is moved so that the article 4 supported by the article support portion 41 becomes a reference position in the longitudinal direction of the travel rail 11.

In addition, the driving control apparatus 40 is one detection part 46 which was in the position deviated from the to-be-detected body 45 based on the detection information of the laser distance measuring system 27 for running in the deviation operation | movement operation | movement for detection of deviation amount. Calculates the movement distance K2 of the travel cart 9 until the detection of the orthogonal direction reference line 48, and adds the set movement distance K1 to the movement distance K2 to obtain the movement correction amount R. FIG. Can be.

In this way, the driving control apparatus 40 causes the traveling cart 9 to move in the longitudinal direction of the traveling rail 11 in a state where the mounting body 29 is protruded within or near the protruding side limit of the departure / exit range. With respect to the article 4 supported by the article support 41, at least one of the pair of detection sections 46 is based on the amount of movement with respect to the traveling bogie 9 when the pair of detection sections 46 protrude from the orthogonal direction reference line 48. It is comprised so that the deviation amount from the reference position in the longitudinal direction of the traveling rail 11 may be calculated | required.

In addition, when both of a pair of detection part 46 exists in the position which overlaps with the to-be-detected body 45, or when both of a pair of detection part 46 are in the position which deviated from the to-be-detected body 45, In the traveling operation for detecting the deviation amount, first, as shown in FIG. 11A, the longitudinal direction of the traveling rail 11 is such that one of the pair of detection sections 46 is out of the detected object 45. Moves the traveling truck 9 by the set distance for detection. After that, similarly to the above-described operation, the traveling trolley 9 is moved to the traveling rail 9 until one of the detection units 46 at the off position detects the orthogonal reference line 48 and moves by the set moving distance K1. 11) in the longitudinal direction.

In this case, the driving control apparatus 40 calculates the movement correction amount R based on the detection setting distance, the movement distance K2, and the setting movement distance K1.

Since the to-be-detected body 45 has the part wide in the longitudinal direction of the travel rail 11, and the straight line located in the edge part of the wide part is made into the longitudinal reference line 47, the article support part 41 The longitudinal state reference line 47 of the object to be detected 45 is detected by the article state detection sensor 44 when the mounting body 29 is protruded while the article transfer device 15 is located at the stop position for transferring the article. ) Can be detected accurately.

In addition, since the to-be-detected body 45 has the narrow part in the longitudinal direction of the travel rail 11, and makes the straight line located in the edge part of the narrow part into the orthogonal direction reference line 48, the deviation amount Since the travel distance of the travel trolley | bogie 9 at the time of carrying out a detection travel operation | work can be made very short, the time taken for the operation | movement for obtaining the movement correction amount R can be shortened.

The inclination from the reference position in plan view, the amount of deviation from the reference position in the retracting direction of the payload 29 and the length of the traveling rail 11 with respect to the article 4 supported by the article support portion 41. An operation for obtaining the deviation amount from the reference position in the direction will be described with reference to the flowchart in FIG. 12.

First, the driving control apparatus 40 carries out a travel cart by the traveling control part 40a so that the goods transfer device 15 may be moved to the stop position for goods transfer with respect to the article support part 41 in which the article 4 was supported. The traveling operation of 12 is controlled, and the lifting operation of the lifting table 14 is controlled by the lifting control unit 40b (step 1).

And the operation control apparatus 40 controls the transfer operation of the goods transfer apparatus 15 by the transfer control part 40c, and protrudes the mounting body 29, and the protrusion state detection sensor 36 makes a protrusion state. The protruding operation of the payload 29 is continued until detection (step 2 and step 3).

When the operation control device 40 protrudes the mounting body 29, the protruding amount when one of the pair of detection units 46 detects the longitudinal reference line 47 is different from the longitudinal reference line 47. On the basis of the difference in the amount of protrusion at the time of detection, the swing correction amount P is obtained using Equation 4, and one of the pair of detection portions 46 is different from the amount of protrusion when the longitudinal reference line 47 is detected. Equation 7 is used based on the difference in the amount of protrusion when the side detects the longitudinal reference line 47 and the amount of protrusion until one of the pair of detection sections 46 detects the longitudinal reference line 47. To obtain the departure correction amount Q (steps 4 and 5).

Then, the operation control apparatus 40 makes the article 4 supported by the article support part 41 into a reference attitude | position in plan view by performing correction | amendment turning operation | movement, and performs the correction withdrawal operation | movement article 41 The article 4 supported by) is set to the reference position in the withdrawal direction of the mounting body 29 (steps 6 and 7).

Then, the driving control apparatus 40 performs the traveling operation | movement for deviation amount detection, and calculates | moves the movement correction amount R based on the detection information of the driving laser distance measuring system 27 at that time (step 8 and step 9). ).

The driving control apparatus 40 is the inclination from the reference attitude | position in plan view, and the deviation amount from the reference position in the retracting direction of the mounting body 29 with respect to the article 4 supported by the article support part 41 calculated | required. And a stop position for loading the article relative to the article support part 41 based on the amount of deviation from the reference position in the longitudinal direction of the travel rail 11 in the retracting direction of the mounting body 29, the protrusion amount of the mounting body 29, and the article support part 41. Each correction | amendment is comprised so that the article 4 supported by the article support part 41 may be taken out.

In more detail, the driving control apparatus 40 corrects the withdrawal direction of the mounting body 29 by the turning correction amount P from the withdrawal direction of the predetermined mounting body 29, The amount of protrusion of the mounting body 29 is corrected by the amount of departure and departure correction amount Q from the amount of protrusion, and the stop position for transferring goods is corrected by the movement correction amount R from the predetermined stop position for transferring goods. Then, the driving control device 40 controls the traveling operation of the traveling cart 12 by the traveling control unit 40a so as to move the article transfer device 15 to the corrected stop position for transferring goods. The mounting body 29 is controlled in the withdrawal direction of the corrected mounting body 29 in a state where the lifting operation of the lifting platform 14 is controlled by the control unit 40b, and the article transfer device 15 is positioned at the corrected stop position for transferring the goods. The transfer control unit 40c is configured to control the transfer operation of the article transfer device 15 so that the mounting unit 29 can be projected and operated as much as the protrusion amount of the mounted body 29 corrected.

As the article 4, as shown in FIG. 13, the dummy article 4a for inspection provided with the to-be-detected body 45 is provided. This dummy article 4a is formed in the shape of a plate like the article 4 in plan view.

And even when the article 4 to convey actually is not used, the dummy article 4a is supported by the article support part 41, and when viewed in plan view with respect to the article 4 supported by the article support part 41 The inclination from the reference posture, the deviation amount from the reference position in the retracting direction of the mounting body 29 and the deviation amount from the reference position in the longitudinal direction of the travel rail 11 can be obtained.

So, before actually operating the stacker crane 5, the dummy support 4a for inspection is supported by the article support part 41, and the turning correction amount P with respect to the article 4 supported by the article support part 41 is carried out. ), The withdrawal correction amount Q and the movement correction amount R are performed for all the article support portions 41. And the operation control apparatus 40 is the turning correction amount P, the withdrawal correction amount Q, and the movement correction amount R with respect to the article 4 supported by the article support part 41 with respect to all the article support parts 41. ), And the corrected direction of the payload 29, the amount of protrusion of the payload 29, and the stop position for transporting the goods are stored for all the article support portions 41, and the corrected information is stored.

And when actually operating the stacker crane 5, the operation control apparatus 40 stops the withdrawal direction of the corrected mounting body 29 memorize | stored, the protrusion amount of the corrected mounting body 29, and the corrected goods transfer stop Based on the position, it is comprised so that operation of the stacker crane 5 may be controlled so that the article 4 supported by the article support part 41 may be taken out.

[Other Embodiments]

(1) In the above embodiment, by supporting the dummy article 4a in the article support portion 41, the inclination from the reference position in plan view with respect to the article 4 supported by the article support portion 41, Although the deviation amount from the reference position in the retracting direction of the payload 29 and the deviation amount from the reference position in the longitudinal direction of the travel rail 11 are obtained, the article 4 is actually supported by the article support portion 41. With respect to the article 4 supported by the article support portion 41, the inclination from the reference posture in plan view, the amount of deviation from the reference position in the retracting direction of the mounting body 29, and the running rail 11. The amount of deviation from the reference position in the longitudinal direction can be obtained.

In this case, when the stacker crane 5 is actually operated and the work which draws out the article 4 supported by the article support part 41 is performed, the article 4 supported by the article support part 41 is carried out. The turning correction amount P, the departure correction amount Q, and the movement correction amount R can be obtained. And the operation control apparatus 40 is based on the rotation correction amount P, the departure correction amount Q, and the movement correction amount R which were calculated | required, the withdrawal direction of the mounting body 29, the protrusion amount of the mounting body 29, and an article | item. The stop positions for transferring the article to the support part 41 are corrected, respectively, and the article 4 supported by the article support part 41 is taken out.

(2) In the said embodiment, although the to-be-detected body 45 is formed in the "L" shape provided with the wide part and the narrow part in the longitudinal direction of the travel rail 11, for example, The shape may be appropriately changed, such as rectangular.

In addition, although a pair of to-be-detected body 45 is provided, it can also be implemented by providing one to-be-detected body 45. In this case, the to-be-detected body 45 can be formed in concave shape, for example.

(3) In the above embodiment, when the mounting body 29 is protruded, the protruding amount when one of the pair of detection sections 46 detects the longitudinal reference line 47 is different from the longitudinal reference line 47. On the basis of the difference in the amount of protrusion at the time of detecting the deviation, the turning correction amount P and the withdrawal correction amount Q are obtained, and the traveling cart in the state where the payload 29 is projected within or near the protruding side limit of the withdrawal range. When moving 9 in the longitudinal direction of the travel rail 11, based on the movement amount with respect to the travel truck 9 when at least one of a pair of detection parts 46 detects the orthogonal direction reference line 48, Although the movement correction amount R is calculated | required, the method of obtaining the turning correction amount P, the departure correction amount Q, and the movement correction amount R can be changed suitably.

(4) In the above embodiment, although the traveling position of the traveling truck 12 is detected by the traveling laser distance measuring system 27, for example, the traveling distance from the reference position of the traveling rail 11 is detected. By providing the rotary encoder to the travel cart 12, the travel position of the travel cart 12 can also be detected by this rotary encoder. The detection means for detecting the travel position of the travel truck 12 can be appropriately changed.

In addition, the detection means for detecting the lifting position of the lifting platform 14 is not limited to the lifting laser distance measuring system 23, but can be changed as appropriate.

(5) In the said embodiment, although the thing provided with the link mechanism 30 which supports the mounting body 29 with respect to the pivot table 28 as a goods transfer apparatus 15 with respect to the revolving stand 28, for example, is a multi-stage fork. An article transfer device of a formula can also be applied, and various article transfer devices can be applied.

1 is a longitudinal sectional view of an automated warehouse.

2 is a cross-sectional view of an automated warehouse.

3 is a plan view of the article mounting portion.

4 is a side view of a stacker crane.

5 is a plan view of a stacker crane in a retracted state.

6 is a plan view of a stacker crane in a protruding state.

7 is a longitudinal cross-sectional view of the article transferring apparatus.

8 is a control block diagram of an automated warehouse.

It is a figure which shows the article state detection sensor and a to-be-detected body.

It is explanatory drawing for calculating the inclination from the reference position in plan view, and the deviation amount from the reference position in the retracting direction of the payload with respect to the article supported by the article support part.

It is explanatory drawing for calculating the deviation amount from the reference position in the longitudinal direction of the traveling rail with respect to the article supported by the article support part.

12 shows the inclination from the reference position in plan view, the amount of deviation from the reference position in the retracting direction of the payload, and the amount of deviation from the reference position in the longitudinal direction of the travel rail with respect to the article supported on the article support section. It is a flowchart showing an operation for obtaining.

It is a figure which shows the dummy article for inspection.

[Description of the code]

1: article storage unit 2: article storage shelf

4: article 4a: dummy article for inspection

10: Goods Loading Unit 11: Movement Path

12: moving body 29: payload

40: driving control means 41: article support

44: article state detection sensor 45: detected object

46: detector 47: longitudinal reference line

48: Orthogonal Baseline

Claims (10)

On a movable body configured to move along a movement path in a horizontal or almost horizontal direction, a mounting body for mounting and supporting an article is provided so as to be able to move up and down, The movement of the movable body is controlled to move the movable body to an article moving stop position relative to the article supporting unit located along the moving path, and the movable body is stopped at the stopping position for transferring the article. An article carrying apparatus provided with driving control means for controlling the withdrawal and lifting of the payload to take out an article supported on an article support portion or to lower an article on the article support portion, Inclination from a reference attitude in plan view, an amount of deviation from a reference position in the retracting direction of the payload, and a reference position in the longitudinal direction of the movement path with respect to the article supported on the article support section An article state detection sensor for detecting an amount of deviation from the detector is installed on the mount in a state in which the detected object included in the article is detected when the mount is projected within or near the protruding side limit of the withdrawal range. Become, The driving control means is arranged in a plane with respect to an article supported on the article support portion based on the information detected by the article state detection sensor when the mount is projected within or near the protruding side limit of its exit range. An article carrying apparatus configured to obtain an inclination from a reference posture in view, an amount of deviation from a reference position in the retracting direction of the payload, and an amount of deviation from a reference position in the longitudinal direction of the moving path. The method of claim 1, The article state detection sensor includes a pair of detection units aligned in the longitudinal direction of the movement path, The to-be-detected object is a direction detectable by the pair of detectors and indicates a longitudinal reference line parallel to the longitudinal direction of the movement path, and is detectable by the pair of detectors and is perpendicular to the longitudinal direction of the movement path. Represents a parallel orthogonal reference line, When the driving control means protrudes the mounting body, the driving control means is adapted to the difference between the amount of protrusion when one of the pair of detection units detects the longitudinal reference line and the amount of protrusion when the other detects the longitudinal reference line. Based on this, the inclination from the reference posture in plan view and the deviation amount from the reference position in the retracting direction of the payload relative to the goods supported by the article support part are calculated, and the payload is projected in the withdrawal range. When the movable body is moved in the longitudinal direction of the movement path while protruding within or near the side limit, based on the movement amount with respect to the movable body when at least one of the pair of detection units detects the orthogonal direction reference line. The deviation amount from the reference position in the longitudinal direction of the movement path with respect to the article supported on the article support portion , An article carrying apparatus is configured to. The method according to claim 1 or 2, An article carrying apparatus, wherein the article support portion includes an article storage portion in an article storage shelf and an article mounting portion for carrying in and out of the article in the article storage shelf. The method according to claim 1 or 2, The payload is configured to be able to swing operation on the movable body, The driving control means includes an inclination from a reference attitude in plan view, an amount of deviation from a reference position in the retracting direction of the payload, and a reference in the longitudinal direction of the movement path with respect to the article supported by the article support section. Based on the amount of deviation from the position, the stop position for the article transfer to the article support portion, the amount of protrusion of the payload, and the withdrawal direction of the payload are corrected, respectively, so as to withdraw the article supported on the article support. The article carrying apparatus which is set. The method according to claim 1 or 2, An article carrying apparatus, wherein a dummy article for inspection provided with the object to be detected is provided as the article. On a movable body configured to move along a movement path in a horizontal or almost horizontal direction, a mounting body for mounting and supporting an article is provided to be able to lift and retract, The movement of the movable body to control the movement of the movable body to move the movable body to a stop position for transferring the article with respect to the article support portion located along the movement path, and further supported on the article support in the state where the movable body stops at the stop position for transferring the article; Driving control means for controlling the withdrawal and lifting of the payload to withdraw an article or to lower the article to the article support; Inclination from a reference attitude in plan view, an amount of deviation from a reference position in the retracting direction of the payload, and a reference position in the longitudinal direction of the movement path with respect to the article supported on the article support section An article position error detection method in an article carrying apparatus, in which an article state detection sensor for detecting a deviation amount from the A first step of providing the article state detection sensor to the mount so as to detect a to-be-detected object provided in the article when the mount is projected within or near the protruding side limit of its exit range; Based on the information detected by the article state detection sensor when the payload protrudes within or near the protruding side limit of its exit range, from a reference attitude in plan view with respect to the article supported by the article support section. 2nd process of calculating | requiring the deviation amount from the reference position in the longitudinal direction of the said movement path, and the deviation amount from the reference position in the exit direction of the said mounting body Article position error detection method comprising a. The method of claim 6, The article state detection sensor includes a pair of detection units aligned in the longitudinal direction of the movement path, The to-be-detected object is a direction detectable by the pair of detectors and indicates a longitudinal reference line parallel to the longitudinal direction of the movement path, and is detectable by the pair of detectors and is perpendicular to the longitudinal direction of the movement path. Represents a parallel orthogonal reference line, In the second step, when the driving control means protrudes the mounting body, the protrusion amount when one of the pair of detection units detects the longitudinal reference line and the other when the longitudinal reference line is detected. Based on the difference of the protrusion amount, the inclination from the reference attitude in plan view and the deviation amount from the reference position in the retracting direction of the payload relative to the goods supported on the article support portion are obtained, and the payload is further determined. When the movable body is moved in the longitudinal direction of the movement path in the state protruding within or near the protruding side limit of the exit range, at least one of the pair of detection units detects the orthogonal reference line. To a reference position in the longitudinal direction of the travel path with respect to the article supported on the article support section based on the amount of movement A step of obtaining a deviation Article position error detection method comprising a. The method according to claim 6 or 7, And the article support portion includes an article storage portion in the article storage shelf and an article mounting portion for carrying in and out of the article in the article storage shelf. The method according to claim 6 or 7, The payload is configured to be able to swing operation on the movable body, The article position error detection method includes an inclination from a reference posture in plan view, an amount of deviation from a reference position in the retracting direction of the payload, and a longitudinal direction of the movement path with respect to the article supported on the article support section. A step of taking out the article supported on the article support section by correcting the stop position for transferring the article relative to the article support section, the amount of protrusion of the mount, and the withdrawal direction of the mount based on the deviation amount from the reference position of The article location error detection method further comprising. The method according to claim 6 or 7, An article position error detection method further comprising the step of providing a dummy article for inspection provided with the object to be detected as the article.

Images