TW201236960A - Stacker crane - Google Patents

Stacker crane Download PDF

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Publication number
TW201236960A
TW201236960A TW100146462A TW100146462A TW201236960A TW 201236960 A TW201236960 A TW 201236960A TW 100146462 A TW100146462 A TW 100146462A TW 100146462 A TW100146462 A TW 100146462A TW 201236960 A TW201236960 A TW 201236960A
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TW
Taiwan
Prior art keywords
article
deflection
article carrier
amount
winding
Prior art date
Application number
TW100146462A
Other languages
Chinese (zh)
Other versions
TWI564237B (en
Inventor
Hiroshi Sakata
Keishi Shibata
Original Assignee
Daifuku Kk
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Publication of TW201236960A publication Critical patent/TW201236960A/en
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Publication of TWI564237B publication Critical patent/TWI564237B/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0258—Weight of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

To provide a stacker crane capable of effectively utilizing the original structure, and may appropriately detect the weight of articles placed on the article carrier. The present invention comprises: a lifting platform that can be elevated up and down under the guidance of a column upright disposed with the traveling carriage; a base end portion for linking the retractable connecting rod equipment that can protrude/retreat toward the width direction of vehicle; a base end portion for linking the article carrier at the front end of the retractable connecting rod equipment. By the protruding/retreating movement of the retractable connecting rod equipment, the article carrier is operated to protrude/retreat so as to make it retract to the retreating position of the lifting platform and protrude to the protruding position of the outer side; a deflection detecting mechanism for detecting the downward deflection of the article carrier located at the retreating position; and a deflection acquisition means. When the article carrier is in a state of carrying articles and located at the retreating position, the deflection acquisition means is to obtain the deflection value detected by the deflection detecting mechanism for use as the weight information of the articles placed on the article carrier.

Description

201236960 六、發明說明： 【潑"明戶斤屬之^技^彳軒4頁】 發明領域 本發明係有關於一種堆高式起重機，該堆高式起重機 設有在為從行走台車直立設置之柱引導之狀態下升降驅動 之升降台、物品載置體及屈伸連桿設備，並構造成於前述 升降台連結可於車體寬度方向突出退離之前述屈伸連桿機 構之基端部’且於前述屈伸連桿設備之前端部連結前述物 品載置體之基端部，而藉前述屈伸連桿設備之突出退離動 作，將前述物品載置體突出退離操作至使其退離至前述升 降台側之退離位置與突出至外側之突出位置。 c先前j 發明背景 此種堆高式起重機通常係用於對用以收納物品之複數 收納部於上下方向&水平方向排列而設之物品收納架收納 物品。 即，藉行走台車沿著設定行走路徑行走，且升降台升 降’物品載置台可移動至對收納物品之收納部於上下方向 及水平方向制喊之物品㈣架之_部_品移載位 置、對物品人庫部之物品移載位置及對物品出庫部之物品 移^位置’主要用於將人庫至物品人庫部之物品收納於收 納部之入庫作業及將收納於收納部之物品出庫至物品出庫 部之出庫作業。 附帶-提，要將存在於物品入庫部之物品或收納於收 201236960 納部之物品載置於物品載置體可進行撈取處理，該榜取處 理係在比物品下方之高度，使物品載置體突出至突出位 置，之後，使升降台上升，藉此，撈取物品，又，要將載 置於物品載置體之物品卸下至收納部或物品出庫部，可進 行卸下處理，該卸下處理係於比收納部或物品出庫部之物 品載置面還上方之高度，使物品載置體突出至突出位置， 之後’使升降台下降，藉此，將物品卸下至收納部或物品 出庫部之物品載置面。 又’由於一般多於與堆高式起重機之移動空間之長向 垂直的寬度方向之兩側裝設收納架，故構造成於升降台裝 備旋繞框，於該旋繞框連結屈伸連桿設備之基端部，藉旋 繞框之旋繞，可切換成用以使物品載置體突出至行走台車 之寬度方向之一側的狀態與用以突出至行走台車之另一側 的狀態。 此外，收納於收納部之物品於堆高式起重機之寬度方 向長時，進行下述動作，前述動作係使物品載置體於退離 位置旋繞90度，而呈使物品之長向沿著堆高式起重機之前 後方向（即，移動空間之長向）之姿勢，使堆高式起重機行走。 亦即，呈使物品之長向沿著堆高式起重機之前後方向 之姿勢，使行走台車行走且使升降台升降，然後，於物品 移載位置使旋繞框旋繞90度後，使物品載置體從退離位置 突出至突出位置。 此種堆高式起重機搬送之物品有將用於液晶顯示器或 «顯示器之玻璃基板以積層狀態（於上下方向拉開間隔 ⑧ 4 201236960 而排列之狀態）收納之容器。 附帶一提，近年由於玻璃基板有大型化之傾向，故將 玻璃基板以積層狀態收納之容器之重量有達5〇〇kg等大重 量之傾向。 又’搬送將玻璃基板以積層狀態收納之容器之堆高式 起重機一般裝設於降流式等無塵室内（例如參照專利文獻 1)。 如專利文獻1所揭示，裝設於無塵室内之堆高式起重機 構造成行走台車於左右（寬度方向）兩端側具有行走車輪，柱 以其下端部支撐於行走台車，且其上端部為自由狀態（未以 其他構件支撐之狀態）之形態而設。 亦即，當亦使柱之上端以引導軌道引導支撐時，因該 引導支撐而產生塵埃，故極力擴大行走台車之左右兩側具 有之行走車輪的間隔，即使物品載置體突出至突出位置， 行走台車亦不易左右傾斜，藉此，柱之上端部構造成不以 引導軌道引導支撐，而形成自由狀態。 先行技術文獻 專利文獻 專利文獻1日本專利公開公報2009-184787號 C 明内 發明概要 發明欲解決之課題 在堆高式起重機，以檢測載置於物品載置體之物品之 重量為理想。 201236960 即，柱以其下端部支樓於行走台車，且其上端部為自 由狀態之形態而設時’當使錢了物品之“載置體從退 離位置突出時，行走台車及柱於物品載置體之突出方向傾 斜’其傾斜量因物品之重量之大小而變化。 此外，在物品不載置於物品載置台之狀態下，使物品載 置體從退離位置突出時，亦有因物品載置體或屈伸連桿設備 之重量，行走台車及柱於物品載置體之突出方向傾斜之情 形，當然其傾斜量小於將物品載置於物品載置體之情形。 如此，進行將載置於物品載置體之物品卸下至收納部 之卸下處理之際，即使有行走台車及柱於物品載置體之突 出方向傾斜之情形’為在物品載置體之突出退離方向將物 品卸下至收納部之適當位置’考慮按物品之重量，訂定物品 載置體之突出位置，亦即，從退離位置至突出位置之突出 量’因此，以檢測載置於物品載置體之物品的重量為理想。 此外，進行卸下處理時，當對收納部卸下物品之位置 在物品載置體之突出退離方向從適當位置變化時，於進行 撈取處理時，因在物品之載重作用於物品載置體前，行走 台車及柱不於物品載置體之突出方向傾斜，或不致大幅傾 斜，故在比原本應載置之位置偏離至前端側之位置將物品 載置體之物品載置於物品載置體，結果，接著進行卸下處 理時，卸下物品之位置比適當之位置更大幅地偏離，而有 產生無法適當地進行卸下處理之困難之虞。 檢測載置於物品載置體之物品之重量的結構有鑑於使 載置了物品之物品載置體突出時，伸長狀態之屈伸連桿設 6 ⑧ 201236960 備於下方側大幅撓曲變形’而考慮使物品載置體從退離位 置突出至突出位置之途中，檢測物品載置體對升降台之上 下位置，而檢測物品之重量。 然而’為此種結構時’因下述情形，而不易適切地檢 測物品之重量，前述情形係在使物品載置體從退離位置突 出至突出位置之途中，伸長狀態之屈伸連桿設備因各種振 動原因’而上下或左右地不規則振動，有物品載置體對升 降台上下不規則地振動之傾向，或者，由於隨著伸長狀態 之屈伸連桿設備於下方側大幅撓曲變形，而形成越往前端 側’越在下方之傾斜姿勢’物品載置體亦大幅傾斜成越往 前端側，越在下方之狀態，故物品之重量對物品載置體之 施加狀況因物品之重量之差異而大幅變化等。 附帶一提’柱以其下端部支撐於行走台車，且其上端 部為自由狀態之形態而設時，與柱以其下端部支撐於行走 台車，且其上端部以引導軌道引導支撐之形態而設時不 同’當使載置了物品之物品載置體從退離位置突出時，藉 行走〇車及柱於物品載置體之突出方向傾斜，形成為物品 載置體大幅傾斜成越往前端側’越在下方之狀態之傾向， 故因物品之重量對物品載置體之施加狀況因物品之重量之 變化而大幅變化，而更不易適切地檢測物品之重量。 本發明即係鑑於上述實際情況而發明者，其目的在於 提供有效利用原本具備之結構，適切地檢測載置於物品載 置體之物品之重量之堆高式起重機。 用以欲解決課題之手段 201236960 本發明之堆高式起重機設有在被從行走台車直立設置 之柱所引導之狀態下升降驅動之升降台、物品載置體及屈 伸連桿設備，並構造成於前述升降台連結可朝車體寬度方 向突出退離之前述屈伸連桿設備之基端部，且於前述屈伸 連桿設備之前端部連結前述物品載置體之基端部，而藉前 述屈伸連杯a又備之突出退離動作，將前述物品載置體突出 退離操作至使其退離至前述升降台側之退離位置與突出至 外側之突出位置，該堆高式起重機並設有檢測位於前述退 離位置之前述物品載置體往下方側之撓曲量的撓曲量檢測 機構，且，設有撓曲量取得機構，該撓曲量取得機構係於 前述物品載置體以物品載置狀態位於前述退離位置時，取 得前述撓曲量檢測機構檢測之撓曲量作為載置於該物品載 置體之物品之重量資訊者。 即’以撓曲量檢測機構檢測位於退離位置之物品載置 體往下方側之撓曲量，然後，撓曲量取得機構於物品載置 體以物品載置狀態位於退離位置時，取得撓曲量檢測機構 檢測之撓曲量作為載置於物品載置體之物品之重量資訊。 亦即’因物品載置體係於屈伸連桿設備之前端部連結 有其基端部者，故物品載置體對屈伸連桿設備以懸臂狀 (即’僅支撐物品載置體之其中一側之狀態），故因載置之物 品之重量’對屈伸連桿設備於下方撓曲變形，且其撓曲量 按物品之重量增減。 又’以撓曲量檢測機構檢測其撓曲量，撓曲量取得機 構於物品栽置體位於退離位置時，取得撓曲量檢測機構檢 8 201236960 測之撓曲量作為載置於物品載置體之物品之重量資訊。 物品載置體位於退離位置時，由於屈伸連桿設備為彎 折而縮短之狀態’故即使載置於物品載置體之物品之重量 作用，仍為不易前後或左右大幅傾斜之狀態，又，由於為 未進行屈伸動作之狀態，故為不易上下振動之狀態。 因而，可抑制位於退離位置之物品載置體因屈伸連桿 設備之則後或左右之傾斜而傾斜，且抑制因屈伸連桿設備 之上下振動而上下振動，故形成為將以物品載置狀態位於 退離位置之物品載置體往下方側之撓曲量適切地呈現作為 物品之重量之變化的傾向，而可適切地取得適切地呈現作 為物品之重量之變化之物品載置體往下方側的撓曲量作為 載置於物品載置體之物品之重量資訊。 總而言之，根據本發明之結構，可提供有效利用物品 載置體之基端部連結於屈伸連桿設備之前端部之原本具備 的結構，而可適切地檢測載置於物品載置體之物品之重量 的堆高式起重機。 在本發明之堆高式起重機之實施形態中，前述撓曲量 檢測機構宜以雷射測距機構構成，該雷射測距機構係設置 於刖述升降台，以檢測前述物品載置體之被檢測部之上下 位置。 即，作為撓曲量檢測機構之雷射測距機構可檢測物品 載置體之被檢測部之上下位置。 亦即，可檢測物品載置體未載置物品時之被檢測部之 上下位置與物品載置體載置物品時之被檢測部之上下位置 201236960 的差作為物品載置體往下方側之撓曲量。 又’因雷射測距機構係以非接觸狀態檢測物品載置體 往下方側之撓曲量者，故相較於物品載置體之背面貼附作 為挽曲量檢測機構之應變計的情形，由於因物品載置體之 撓曲，負載不作用於雷射測距機構，而可長期間良好地檢 測物品載置體之撓曲。 而且，因雷射測距機構係可以良好精確度檢測物品載 置體之被檢測部之上下位置者，故可以良好精確度檢測因 物品之重量之變化引起之物品載置體之挽曲量的變化。 總而言之’根據上述結構，可提供可長期間良好地且 以良好精確度檢測物品載置體往下方之撓曲量之堆高式起 重機。 在本發明之堆高式起重機之實施形態中，前述撓曲量 取得機構宜構造成在從前述物品載置體由前述突出位置退 離操作至前述退離位置後經過設定時間為止之測量期間， 以設定取樣間隔反覆取得前述撓曲量檢測機構檢測之撓曲 量’將所取得之複數取樣資訊經平均化處理之值，設定為 與載置於前述物品載置體之物品之重量資訊對應的撓曲 量。 即’撓曲量取得機構當物品載置狀態之物品載置體從 突出位置退離操作至退離位置時，從緊接在此之後至設定 時間經過為止之測量期間，以設定取樣間隔反覆取得撓曲 量檢測機構檢測之撓曲量，然後，將所取得之複數取樣資 訊經平均化處理之值設定作為對應於載置於物品載置體之 201236960 物品的重量資訊之撓曲量。 如此，由於為緊接在物品載置狀態之物品載置體從突 出位置退離操作至退離位置後之測量期間結束時，求出對 應於載置於物品載置體之物品之重量資訊的撓曲量者，故 相較於下述情形，可迅速地設定對應於載置於物品載置體 之物品之重量資訊的撓曲量，前述情形係於將物品載置體 從突出位置退離操作至退離位置後，待機至撓曲量檢測機 構檢測之撓曲量穩定為止，將穩定之撓曲量設定作為對應 於載置於物品載置體之物品之重量資訊的撓曲量。 總而言之，根據本發明之上述結構，可提供可迅速地 叹疋對應於載置於物品載置體之物品的重量資訊之撓曲量 之堆高式起重機。 在本發明之堆高式起重機之實施形態中，前述行走台 車宜設成沿著設有收納物品之收納部的物品收納架行走， 用以控制前述行走台車之行走作動、前料降台之升降作 動、及前述屈伸連桿設備之突出退離作動的運轉控制機 構’係構造成在使前述物品載置體位於對前魏納部之物 品移載位置’以將載置於前述物品載置體之物品收納於前 述收納部之狀態下，依據前述撓曲量取得機構所取得之前 述撓曲量，設定使前述物品載題突出作動之前述突出位 置。 即，運轉控制機構為將載置於物品載置體之物品收納 於收納部，域撓曲量取得機構所取得之撓曲量，設定在 使物扣載置體位於對收納部之物品移載位置之狀態下，使 201236960 物品載置體突出作動之突出位置，亦即’從退離位置至犬 出位置之突出量’而使物品載置體從退離位置突出至设疋 之突出位置。 亦即，柱之上端部以引導軌道支撐時，於物品載置體 突出時，雖然抑制行走台車及柱之傾斜’但屈伸連桿設備 因物品之重量而於下方側撓曲，藉此，在使物品載置體從 退離位置突出一定量之狀態下，有物品之重量大，而往屈 伸連桿設備之下方側之撓曲量越多時’物品之突出量越不 足之傾向。因此，藉將突出位置設定成物品之重量越大’ 從退離位置突出之突出量越大，可於進行將載置於物品載 置體之物品卸下至收納部之卸下處理之際，將物品卸下至 收納部在物品載置體之突出退離方向之適當位置。 又，舉例言之’柱係以下端部支撐於行走台車，且其 上端部為自由狀態之形態而設置時，當使載置有物品之物 品載置體從退離位置突出時，行走台車及柱於物品載置體 之突出方向傾斜，然後’因其傾斜量當物品重量越大時便 越大，故在使物品載置體從退離位置突出一定量之狀態 下，有物品之重量大，行走台車及柱之傾斜量越多，物品 之突出量便越過大（即，大於適切之量）之傾向。因而，藉將 突出位置設定成物品之重量越大，從退離位置突出之突出 量越小，可於進行將載置於物品載置體之物品卸下至收納 部之卸下處理之際，將物品卸下至收納部在物品載置體之 突出退離方向之適當位置。 附帶一提，在柱以下端部支撐於行走台車，且其上端 ⑧ 12 201236960 部為自由狀態之形態而設置時，亦因物品之重量，伸長狀 態之屈伸連桿設備朝下方側撓曲，因此撓曲，在使物品載 置體從退離位置突出—定量之狀態之物品的位置變化，一 般’比起其變化量，因物品之重量、物品載置體及屈伸連 柃a又備之重罝’行走台車及柱於物品載置體之突出方向傾 斜，藉此，在使物品載置體從退離位置突出一定量之狀態 之物。α的位置變化之量大，故以柱之下端部支撐於行走台 車，且柱之上端部為自由狀態之形態設柱時，需將突出位 置設定成物品之重量越大，從退離位置突出之突出量越小。 總而S之，根據上述結構，可提供可將物品收納於在 物口口收納架之收納部在物品載置體之突出退離方向的適當 位置。 在本發明之堆高式起重機之實施形態中，前述行走台 車且構U成於則述車體寬度方向之兩端側具有行走車輪， 前述柱係以下端部支撲於前述行走台車，且其上端部為自 由狀態之形態而設置，前述運轉控制機構構造成依據基本 貝讯與前述撓曲量取得機構所取得之前述撓曲量，設定在 寸月』述收納。ρ之則述物品移載位置使前述物品載置體突出 作動之大出位置，以將載置於前述物品載置體之物品收納 於則述收納部’且前述基本資訊係訂定成前述收納部之高 度越高’從前述退離位置突出之突出量便越少。 即，運轉控制機構為將載置於前述物品載置體之物品 收納於收納部’而依據訂定成收納部之高度越高，便使從 退離位置突出之突出量越少的基本資訊與撓曲量取得機構 13 201236960 所取得之撓曲量，設定在對收納部之物品移載位置使物品 載置體突出作動之突出位置’而使物品載置體從退離位置 突出至突出位置。 亦即，柱以其下端部支撐於行走台車’且其上端部為 自由狀態之形態而設時，當使載置有物品之物品載置體從 退離位置突出時，行走台車及柱於物品載置體之突出方向 傾斜。然後，在行走台車及柱於物品載置體之突出方向傾 斜之狀態下，柱因越往其上端部側’越於物品載置體之突 出方向變位，故當使載置有相同重量之物品之物品載置體 從退離位置突出一定突出量時’物品載置體位於越高之位 置，物品之突出量便越過大（即，大於適切之量）。 是故，除了依據撓曲量取得機構所取得之撓曲量，將 物品載置體之突出位置訂定成挽曲量越大，從退離位置突 出之突出量越少外，還依據訂定成收納部之高度越高，便 使從退離位置突出之突出量越少之基本資訊，將物品載置 體之突出位置訂定成收納部之高度越高，從退離位置突出 之突出量越少，藉此，可將物品卸下至收納部在物品載置 體之突出退離方向之適當位置。 總而言之，根據上述結構，可提供可對高度不同之收 納部，將物品在物品載置體之突出退離方向收納於適當位 置之堆尚式起重機。 在本發明之堆高式起重機之實施形態中，宜於前述升 降台裝備有旋繞框’且於該旋繞框連結前述屈伸連桿設備 之基端部，用以旋繞㈣前述旋繞框之旋_驅動馬達以 ⑧ 14 201236960 連接於⑦j述升降台之支撐體支撐，前述運轉控制機構構造 成控制剛述&繞用驅動馬達之作動以於使前述物品載置 體大出至刖述行走台車之左側時，使前述旋繞框旋繞至左 側用紅繞位置’且使前述物品載置體突出至前述行走台車 之右側時’使月·』述旋繞框旋繞至右側用旋繞位置，且，構 造成依據前述撓曲量取得機構所取得之撓曲量，設定前述 左側用旋繞位置及前述右側用旋繞位置。 即，運轉控制機構構造成控制旋繞用驅動馬達之作 動，以於使物品載置體突出至行走台車之左側時，使連結 有屈伸連桿設備之基端部之旋繞框旋繞至左側用旋繞位 置，且使物品載置體突出至行走台車之右側時，使旋繞框 旋繞至右側用旋繞位置’故即使物品收納架位於行走台車 之左右兩側時’亦可對該等收納架之收納部移載物品。 而當使物品載置體從退離位置突出至突出位置時，因 物品、物品載置體及屈伸連桿設備之重量，形成旋繞框對 升降台於物品載置體之突出方向拉伸之狀態，而有支撐如 此拉伸之旋繞框之升降台引發變形之虞。 又，升降台之變形狀態於物品載置體突出至行走台車 之左側時及物品載置體突出至行走台車之右側時，因拉伸 旋繞框之方向為反方向，而不同，又，於使物品載置體從 退離位置突出至突出位置時，作用於旋繞框之之拉伸力因 物品載置體支撐之物品之重量而變化，故升降台之變形量 因物品載置體支撐之物品之重量而變化。 如此，當升降台引發變形時’有支撐旋繞用驅動馬達 15 201236960 之本體部之支撐框之姿勢、亦即該支撐框連接於升降台之 姿勢變化之虞’因該支樓框之姿勢之變化，有旋繞用驅動 馬達之本體部對升降台之輸出軸的旋轉方向之相位引發微 小變化之虞。而且，本體部對升降台之輸出軸之旋轉方向 的相位變化時，該相位之變化量因物品載置體支撐之物品 之重量而變化。 根據上述結構’因運轉控制機構構造成依據撓曲量取 得機構所取得之撓曲量，設定左側用旋繞位置及右側用旋 繞位置，故使物品載置體突出時，因物品載置體支撐之物 οσ之重重之變化，即使旋繞用驅動馬達之本體部對升降台 之輸出軸之旋轉方向的相位變化’亦可將可抵銷該變化之 位置設定為左側旋繞用位置及右側旋繞用位置，而可使物 品載置體朝適當之方向突出。 總而言之，根據上述結構，可提供下述堆高式起重機， 前述堆高式起重機係即使物品收納架位於行走台車之左右 兩側時，亦可對該等收納架之收納部移載物品，而且，不 論物品载置體支撐之物品之重量之變化為何，亦可使物品 載置體朝適當之方向突出者。 圖式簡單說明 第1圖係自動倉庫之概略平面圖。 第2圖係第1圖之倉庫之正面圖。 第3圖係堆高式起重機之側視圖。 第4圖係顯示屈伸連桿設備之縮短狀態的側視圖。 第5圖係屈伸連桿設備之伸長狀態的側視圖。 201236960 第6圖係々示物品载置體之退離狀態之概略平面圖。 第7圖係’’’、貞示物品載置體之突出狀態之概略平面圖。 第8圖係顯示左旋繞狀態之旋繞台之支撐構造的縱斷 側視圖。 第9圖係顯示切構造之概略底面圖。 第10圖係顯示控制結構之方塊圖。 第11圖係物品之立體圖。 第12圖係顯示控制作動之流程圖。 第13圖係顯示控制作動之流程圖。 第14圖軸示撓曲量檢測機構之檢測資料的圖。 第15圖係顯示撓曲量與物品之重量之關係的圖。 第、第l6(b)圖係顯示進行卸下處理及撈取處理 之堆尚式起重機之概略正面圖。 第17(a)圖、第17(b)圖係顯示物品載置體之旋繞過程之 概略平面圖。 第18(a)U、第丨购圖係進行補正前之卸下處理及榜取 處理之堆向式起重機之概略正面圖。 【貧施方式】 用以貫施發明之形態 依據圖式，說明本發明之實施形態。 、 第1圖及第2圖所示，於自動倉庫設有將收納物品B之 ^數Γΐ部1以於上下方向及水平方向排列之狀態裝備之物 口〇收納架2、在物品收納架2之前方之移動空間3移動之堆高 式起重機5。堆高式起重機5進行將收納於收納部丨之物品β 17 201236960 出庫之出庫作業及將物品叫納於收納部丄之入庫作業。 此外’雖省略圖式，此自動倉庫設置於降流式無塵室内。 對物收納架2以使各自之前方側相互相對之狀態 而❼又，在該等物品收納架2間在平面觀看沿著該等架2之 長向，形成有上述移動空間3。 各物品收納架2由於架寬度方向（在平面觀看之收納架 2或移動空間3之長向）隔著間隔而直立設置之前後一對支 柱6(即’於與移動空間3之長向垂直之方向拉開間隔而配置 之2個支柱6)、以橫互前後一對支柱6之狀態支撐，且於架 上下方向隔著間隔而設之載置支撐部7構成。又，各收納部 1構造成以左右一對載置支撐部7載置支撐物品b之架寬度 方向之兩端部之狀態收納物品B。 在本實施形態中，物品B如第u圖所示，係收納玻璃基 板等板狀體之物品保持體4。 在第11圖中，物品保持體4配置成其前面朝向圖式之左 刖方方向，且配置成可看到其左側面。因而，無法看到物 品保持體4之後面及右側面之一部份。物品保持體4由形成 格子狀之上框體4a及下框體4b、配置於上框體乜及下框體 4b之兩橫側緣部及後側緣部’連結上框體如與下框體之 複數連結體4c、於上下方向隔著間隔設置，連結於水平方 向對向之諸連結體4c之線狀支撐部4d構成。 又，物品保持體4構造成將透過其前方側之開口取出放 入玻璃基板等板狀體之玻璃基板等板狀體以各支揮部4載 置支樓之狀態’於上下方向隔者間隔排列而保持，又，構 201236960 造成空氣可透過物品保持體4之上面部、下面部及4個側面 部（前面部、後面部及左右側面部）流出流入。 如第1圖所示，從外部將物品B往物品收納架2搬入之物 品入庫部8A及用以將物品b從物品收納架2搬出至外部之 物品出庫部8B設置於在與一對物品收納架2各自之橫側部 相鄰之處不同之位置。物品入庫部8A及物品出庫部8B以載 置搬送物品B之搬送輸送機構成。 此外’由於為習知技術，故圖中未顯示，但構造成於物 品入庫部8 A及物品出庫部8 B之與堆高式起重機5間之物品 交接（即，物品遞接)之處裝設使物品B升降之物品升降部， 而形成可供後述物品載置體2 9突入至物品B之下方之空間。 又，如第1圖及第2圖所示，對保持於物品保持體4之玻 璃基板等板狀體進行預定加工處理之物品處理設施（物品 處理部）9設於一對物品收納架2之其中一背部側，用以對該 物品處理設施9進行物品B之搬出搬入之物品搬出搬入用物 品載置部10設於一對物品收納架2中之其中一物品收納架2 之一部份。 此物品載置部10係以物品收納架2之最下段之收納部1 構成者’物品處理設施9設成與該物品載置部10相鄰。 亦即’堆高式起重機5構造成對物品載置部10進行物品 B之供給及回收《此外，在物品載置部10雖圖中未顯示，但 裝設有將所供給之物品B限制位置於對物品處理設施9之交 接用適當位置之位置限制裝置。 於物品處理設施9裝設有將物品B之玻璃基板等板狀體 201236960 逐片移載之板狀體移載裝置。 亦即’當將物品Β供給至物品載置部1〇時，裝設於物品 處理設施9之板狀體移載裝置將收納於物品保持體4之玻璃 基板逐片取出，供給至物品處理設施9，又，物品處理設施 9之加工處理結束之玻璃基板以裝備於物品處理設施9之板 狀體載置裝置收納於物品保持體4。 於一對物品收納架2間之移動空間3之地板部，為引導 堆向式起重機5 ’而設有於與移動空間3之長向垂直之寬度 方向拉開間隔之左右一對行走軌道1 ^。 又，如第2圖及第3圖所示，堆高式起重機5具有沿著行 走軌道11行走讀走自車^、沿著直域置於該行走台車 12之柱13·自如之升降台14、及裝置於該升降台14之物 品移載裝置15而構成。 柱13以在移動空間3之長向於行走台車12之前端部與 後端部分別各直立設置設前後—對，且一對柱 13之遠上端部連結於上部框架16。 亦P柱13以其下端部支撐於行走台車12，且其上端 部為自由狀態（即，未切於切於架之轨道等其他構件之 狀態）之形態而設。舉例言之，由於即使以補強行走台車12 之對柱13之支_構件切柱13之上端部，此種補強構件 具有作為柱13之—部份之功能，故可理觸即使此時，上端 部仍為自由狀態。 置於行走台車12之前 ’以連結於升降台14 如第3圖所示’升降台14以直立設 後/對柱13¾丨導支撐成升降自如，且 20 201236960 之前後方向（移動空間3之長向）之兩侧的一對升降用鍵口吊 掛支撐。 升降用鏈Π分職料朝上方延伸後，捲掛於設 在柱13之上部之引導鏈輪18而被引導，延伸至下方，之後， 以裝設於行走台車12之則後端部之驅動鏈輪2〇捲繞成延伸 至上方，其前端部連接於升降台14。 驅動鏈輪20分別構造成以伺服式升降用電動馬達以朝 一方向及其反方向驅動。 又，構造成藉將分別對應於一對驅動鏈輪2〇而設之2個 升降用電動馬達21同步’朝—方向與其反方向旋轉驅動， 而使升降台14升降作動。 如第3圖所示，於行走台車12設有升降用雷射測距計 23，該升降用雷射測距計係朝設置於升降台u之下面之反 射板22，沿著升降台14之升降方向投射測距用雷射光，以 檢測在升降台14之升降方向之升降台14的升降位置者。 亦即’此升降用雷射測距計23構造成藉接收所投射之 測距用雷射光以反射板22反射而射回者，檢測至反射板22 之距離作為在升降台14之升降方向之升降台14的升降位 置。如此將投射光，接收反射之光之測距用感測器稱為投 射接收式。 又，如第2圖及第3圖所示，行走台車12構造成於其寬 度方向之兩端部分別以於行走軌道u之長向隔著間隔之狀 態具有一對行走車輪24的狀態。 一對仃走車輪24中，其中一行走車輪24構成為驅動車 21 201236960 輪：一二走，冓成為空轉自如之從咖^ 配置於仃走台車12之 騎別構造成以伺服式行走;=之兩端部的驅動車輪 反方向驅動。 用驅動馬達25朝-方向及其 又，構造成藉將對應於左 走用電動她5同步，朝-h轉她&而設之2個行 走台車咖著行走轨道狀—方^方㈣_動’使行 方向及後退方向)行I、^及歧方向（例如前進 此外’在本實施形態中，如上述，例示將4個行走車輪 24中之2個構成驅動車輪24a之情形，亦可將4個行走車輪Μ ’又’亦可以將備走車輪㈣ 之3個構成驅動車輪24a之形態實施。 ▲亦P錢。車12構造成藉沿著以行走軌道丨丨形成之 。又疋行走路彳：於正向及反方彳了走，而移動至對物品收納架2 之各收納部i之物品移載處、對物品入庫部8a之物品移載 處、對物品出庫部8B之物品移载處及對物品載置部1〇之物 品移載處。 如第3圖所示，於行車台車12設有行走用雷射測距計 27，該雷射測距計係沿著行走軌道丨丨之長向，朝設置於行 走軌道11之一端部投射測距用光束光，以檢測行走台車12 之行走方向之行走位置，亦即，行走台車12之設定行走路 徑上之位置者。 此行走用雷射測距計2 7構造成藉接收所投射之測距用 雷射光以反射板26反射而射回者，而檢測至行走方向之行 22 201236960 走台車12之距離作為行走台車u之行走位置。 如第4圖〜第7圖所示，物品移載裂置^ 支撐成自由旋繞操作繞旋繞用上下軸心升降台14 一對旋繞台28、及將載置支撐物品B之物品載置體 對旋繞台28突出退離自如（即，可突出及退離)之 ^ 備30。 下疋仟〇又 亦即，一制伸連桿設獅之基端部連結料備於升降 台14之旋繞台28’於該屈伸連桿設備3G之前端部以位於該前 端部之上方之狀態連結有板狀物品載置體29之基端部。 又，構造成藉屈伸連桿設備3〇之屈伸作動可將物品 載置體29突出退離操作至使其退離至升降台側之退離位置 (參照第4圖、第6圖）及突出至外部之突出位置（參照第5圖、 第7圖）。 亦如第8圖及第9圖所示，旋繞台28構造成藉設置於旋 繞台28之下方側之作為旋繞驅動用馬達之伺服式旋繞用電 動馬達31的作動’繞旋繞用上下軸心p〇旋繞作動（即，旋轉）。 即’構造成藉旋繞台28之旋繞，可選擇在平面觀看， 使物品載置體29突出至行走台車12之寬度方向之一側（例 如左側）的狀態及使物品載置體29突出至行走台車12之另 一側（例如右側）之狀態，再者，構造成藉旋繞台28之旋繞’ 可將物品載置體29旋繞成使其長向（物品B之長向）沿著堆 高式起重機5之前後方向（移動空間3之長向）的前後向狀態 (參照第1圖）。 堆高式起重機5係構造成於在移動空間3行走時’可將 23 201236960 物品載置體29形成沿著前後方向之姿勢者，如第9圖及第17 圖所示’旋繞台28之旋繞基準位置SK訂定於物品載置體29 形成沿著前後方向之姿勢的旋繞位置。 又，在以下之記載中，將使物品載置體29突出至行走 台車12之左側時之旋繞台28的旋繞位置稱為左側用旋繞位 置SL ’將使物品載置體29突出至行走台車12之右側時之旋 繞台28的旋繞位置稱為右側用旋繞位置SR。在此，行走台 車12之右側及左側係在平面觀看沿著與移動空間之長向垂 直之方向的方向，為使說明簡單而定義。 附帶一提，基本上’使物品載置體29突出至行走台車 12之左側時’旋繞台28從旋繞基準位置8反朝左側旋繞90 度，然後’使物品載置體29突出至行走台車12之右側時， 旋繞台28從旋繞基準位置SK朝右側旋繞9〇度，如後述，在 將物品B載置於物品載置體29之狀態下，使旋繞台28從旋繞 基準位置SK旋繞至左側用旋繞位置SL之角度及使旋繞台 28從旋繞基準位置SK旋繞至右側用旋繞位置SR之角度設 定成大於90度之旋繞角度，且，該旋繞角度設定成物品B 之重量越大，便越大。由於第9圖係仰視圖，故將右側用旋 繞位置SR描繪於左側，將左側用旋繞位置SL描繪於右側。 屈伸連桿設備30使用所謂之選擇性順從裝配機器人手 臂（SCARA : Selective Compliance Assembly Robot Arm或 Selective Compliant Articulated Robot Arm)而構成，該選擇 性順從裝配機器人手臂具有對旋繞台28連結成基端部繞第 1上下軸心P1旋動自如之第1臂23、及對該第1臂32之前端部 ⑧ 24 201236960 連結成繞第2上下軸心P2旋動自如之第2臂33。 又，物品載置體29之基端部以繞第3上下軸心P3旋動自 如之方式連結於第2臂33之前端部。 如第8圖所示，為使物品載置體29突出作動及退離作 動，將第1臂32之基端部對旋繞台28搖動操作之附有減速機 之突出退離用電動馬達34設於旋繞台28之下方側處。 亦即，突出退離用電動馬達34之本體部34A支撐於旋繞 台28,突出退離用電動馬達34之輸出軸34B連結於第1臂32。 又，雖省略詳細之圖示，但為使第1臂32之動作與第2 臂33之動作聯結，橫亙第1上下軸心P1之軸部及第2上下軸 心P2之軸部而架設有鏈連動設備。 又，藉將分別對應於一對第1臂32而設之一對突出退離 用電動馬達34同步而使其作動，而使一對第1臂32同步，繞 第1上下軸心P1搖動，且使第2臂33隨之繞第2上下軸心P2 搖動’藉此’如上述’屈伸連桿設備30屈伸作動，而可突 出退離操作至使物品載置體29退離至升降台側之退離位置 (參照第4圖、第6圖）及突出至外部之突出位置（參照第5圖、 第7圖）。 如第8圖及第9圖所示，升降台14構成平面觀看形狀為4 角形之箱狀’旋繞用電動馬達31支撐於支撐在升降台14之 作為支撐體的支撐框35。 即’旋繞用電動馬達31之本體部31A支撐於支撐框35， 旋繞用電動馬達31之輸出旋轉部31B連結於旋繞台28。 此外’如第8圖所示，旋繞台28以旋繞用軸承36對升降 25 201236960 台14支撐成旋繞自如’屈伸連桿設備30之第1臂32以臂用轴 承37對旋繞台28支撐成搖動自如。 對升降台14支撐旋繞用電動馬達31之支撐框35以在升 降台14之側壁部中，相當於行走台車12之後方側之後壁部與 旋繞用電動馬達31之本體部31A間延伸成水平之姿勢配置。 如第10圖所示’設有檢測旋繞台28之旋繞位置為旋繞 基準位置SK之旋繞基準位置檢測感測器38。 此旋繞基準位置檢測感測器38雖未在第8圖中顯示，但 以習知投射接收式感測器構成。亦即，此感測器具有支標 於升降台14之投光部及以與此投光部對向，從投光部拉開 間隔之狀態支撐於升降台14之受光部，而構造成以於旋繞 台28支撐成旋繞台28之旋繞位置為旋繞基準位置SK時，位 於投光部與受光部間的被檢測板，遮蔽投射之光，藉此， 檢測旋繞台28之旋繞位置為旋繞基準位置SK。旋繞基準位 置檢測感測器38亦可具有固定於升降台14，相互相鄰之投 光部及受光部，且具有於旋繞台28固定成旋繞台28之旋繞 位置為旋繞基準位置SK時，將來自投光部之光對受光部反 射之反射板取代此種結構。旋繞基準位置檢測感測器38不 限於此種結構，可利用習知其他之感測器。 又’如第8圖所示，於旋繞用電動馬達31設有藉以旋繞 基準位置檢測感測器3 8檢測旋繞基準位置S K後之旋繞台2 8 之旋繞量，檢測旋繞台28之旋繞位置的旋繞用旋轉編碼器 39。又，以旋繞用旋轉編碼器39，檢測旋繞基準位置SK， 進一步，檢測旋繞台28之旋繞位置，亦可利用作為旋繞基 26 201236960 準位置檢測感測器38。 又，如第10圖所示，設有檢測物品載置體29位於其突 出退離方向之退離位置的退離狀態檢測感測器4 〇。 此退離狀態檢測感測器4 0與旋繞基準位置檢測感測器 38同樣地，以投射接收式感測器構成。 即’退離狀態檢測感測器40藉設於旋繞台28之投光部 與受光部以設置於屈伸連桿設備3〇之第1臂32之基端部等 的適切位置之被檢測板（或反射板）遮蔽（或反射）投射之 光，而檢測物品載置體29位於退離位置。與旋繞基準位置 檢測感測器3 8同樣地，可利用其他習知之感測器作為退離 狀態檢測感測器40。 如第8圖所示，於突出退離用電動馬達34為檢測以突出 退離狀態檢測感測器40檢測物品載置體29之突出退離位置 後之物品載置體29的突出量，而設有檢測突出退離用電動 馬達34之輸出軸34B的旋轉驅動量之突出退離用旋轉編碼 器41。亦可將此突出退離用旋轉編碼器41兼用作為退離狀 態檢測感測器40。 此突出退離用旋轉編碼器41之檢測值與從物品載置體 29之退離位置突出之突出量的關係可預先以運算求出，而記 憶於控制堆高式起重機5之運轉之運轉控制機構^1的記憶部。 如第10圖所示’運轉控制機構Η構造成為進行上述入庫 作業及出庫作業，控制行走台車12之行走作動及升降台Μ 之升降作動’赠物品載置裝置15或物品較體29移動至 對物品收納架2之收納部1之物品移載位置、對物品入庫部 27 201236960 8A之物品移載位置、對物品出庫部88之物品移載位置及對 物品載置部10之物品移載位置，又，控制物品載置裝置15 之移載作動及升降台14之升降作動，以在使物品移載裝置 15移動至物品移載位置之狀態下，進行物品b之撈取處理 (即，遞交處理）或物品B之卸下處理（即，收取處理）。 即’運轉控制機構Η使行走用電動馬達25作動，而使行 走台車12行走作動’當以行走用雷射測距計27檢測之行走 台車12之行走位置為行走台車12之行走方向之物品移載位 置時，使行走用電動馬達25作動停止，藉此，使物品載置 裝置15位於行走台車12之行走方向之物品移載置位置。 又’運轉控制機構Η使升降用電動馬達21作動，而使升 降台14升降作動’當以升降用雷射測距計23檢測之升降台 14之升降位置為升降台14之升降方向的物品移載位置時， 使升降用電動馬達21作動停止，藉此，使物品移載裝置15 位於升降台14之升降方向之物品移載位置。 又’使物品移載裝置15升降之物品移載位置係進行撈 取物品Β之撈取處理時，使物品載置體29位於比物品Β還下 方之鬲度之位置，又，係於進行卸下物品Β之卸下處理時， 使物品載置體2 9位於比卸下物品β之處之物品載 置面還上 方的高度。 撈取處理係以物品載置體2 9撈取入庫至物品入庫部8 a 之物品B、收納於收納架2之收納部丨之物品B、及存在於物 品載置部10之物品B的處理，具體言之，在比撈取對象之物 品B還下方側之南度，使物品載置體29突出至突出位置，接 ⑧ 28 201236960 著’使升降台14上升預先設定之目標量，藉此，以物品載 置體29載置物品B，之後，使物品載置體29退離至退離位置。 卸下處理係將以物品載置體2 9載置之物品B卸下至物 品出庫部8B、收納架2之收納部1、及物品載置部1〇的處理， 具體言之’在比物品出庫部8B、收納部1及物品載置部1〇 之物品載置面還上方之高度，使物品載置體29突出至突出 位置’接著’使升降台Η下降預先設定之目標量，藉此， 將載置於物品載置體29之物品Β卸下至物品載置面，之後， 使物品載置體29退離至退離位置。 進一步，加以說明，運轉控制機構Η於進行入庫作業及 出庫作業時，首先在使旋繞台28位於旋繞基準位置SK之狀 態下，控制行走用電動馬達25及升降用電動馬達21之作 動，以使物品移載裝置15移動至物品移載位置。 接著，為使旋繞台28旋繞至左側用旋繞位置儿或右側 用旋繞位置SR’依據旋繞用旋轉編碼器％之檢測資訊，控 制旋繞用電動馬達34之作動，難物品載置體29出退 離方向。 之後，依據突出退離用旋轉編碼器41之檢測資吼，巧 制突出退制㈣騎34之作動，使物品魅㈣突㈣ 動至突出位置。 然後，於進行榜取處理時，控制突出退離用電動馬達 34之作動’使位於物品移載位置之物品載置體辦出作動 至突出位置後，依據升_ f射測距計批 升降用電料達，觀，使料心 吏 29 201236960 升之目之設定距離，使榜取對象之物品B載置支撐於物 品載置體29 ’之後’控制突出退離用電動馬達34之作動， 使物扣載置體29退離作動。此時，當以退離狀態檢測感測 器40檢測物品載置體29為退離位置時，便使物品載置體29 之退離作動停止。 又，於進行却下處理時，控制突出退離用電動馬達％ 之作動，使位於物品移載位置之物品載置體29突出作動至 犬出位置後，依據升降用雷射測距計23之檢測資訊使升 降用電動馬達21作動，藉此，使升降台14下降相當於下降 之目標量之設定距離，使撈取對象之物品B載置支撐於卸下 之處之物品載置面，之後，控制突出退離用電動馬達34之 作動，使物品載置體29退離作動。此時，當以退離狀態檢 測感測器40檢測物品載置體29為退離位置時，便使物品載 置體29之退離作動停止。 如第4圖所示，於堆高式起重機5設有檢測位於退離位 置之物品載置體29往下方側之挽曲量（amount of bending or deflection)之撓曲量檢測機構Q。 又，運轉控制機構Η構造成於物品載置體29位於退離位 置時，取得撓曲量檢測機構Q檢測之撓曲量作為載置於該物 品載置體29之物品Β的重量資訊。 亦即，在本實施形態中，於物品載置體29位於退離位 置時，取得撓曲量檢測機構Q檢測之撓曲量作為載置於該物 品載置體29之物品Β之重量資訊的撓曲量取得機構使用運 轉控制機構Η而構成。 ⑧ 30 201236960 挽曲夏檢測機構Q以為雷射測距機構之挽曲量檢測用 雷射測距計43構成，該雷射測距機構具有檢測作為物品載 置體2 9之被檢測部之光反射體4 2的上下位置之投光部及受 光部者。又，撓曲量檢測用雷射測距計43係左右裝備一對 為於將物品載置體29突出退離操作至旋繞台28之左側用旋 繞位置SL時使用者及於將物品載置體29突出退離操作至旋 繞台28之右側用旋繞位置SR時使用者。 此撓曲量檢測用雷射測距計43構造成藉以受光部接收 從投光部投射之測距用雷射光以光反射體4 2反射而射回 者，而檢測至光反射體42之距離。 亦即’未於物品載置體29載置物品b時，撓曲量檢測用 雷射測距計43所檢測之距離與將物品B載置於物品載置體 29時，棱曲量檢測用雷射測距計43所檢測之距離之差為物 品載置狀態之物品載置體29的撓曲量，在本實施形態中， 運轉控制機構Η構造成在即將開始撈取處理前，依據撓曲量 檢測用雷射測距計43檢測之距離，求出初始值r而記憶，然 後’在撈取處理完畢後’依據撓曲量檢測用雷射測距計43 檢測之距離，求出在載置物品Β之狀態下之實際測量值d， 求出該初始值R與實際測量值D之差(R-D)作為對應於載置 於物品載置體29之物品B之重量資訊的撓曲量。 於第15圖顯示撓曲量(R-D)與物品β之重量之關係的一 例。 如此例示圖所示，可知撓曲量(R-D)與物品B之重量呈 約正比例之關係（即’幾乎為實質上正比例之關係）。 31 201236960 此外’在本實施形態中，假設物品B之重量在約i9〇Kg 至約500Kg之範圍内。 亦即’未收容有玻璃基板等板狀體之物品保持體4之重 量約19 0 k g ’收納了玻璃基板等板狀體最大片數之物品保持 體4之重量約500Kg。 附帶一提，亦可以下述形態實施來取代每當進行撈取 處理時，求出初始值R，前述形態係在不將物品B載置於物 品載置體29之狀態下，依據撓曲量檢測用雷射測距計43所 檢測出之距離’求出初始值R ’在之後使用該初始值R。 就求出上述實際測量值D之處理作說明，如第14圖所 示’運轉控制機構Η構造成於撈取處理時，在從緊接物品載 置狀態之物品載置體29從突出位置退離操作至退離位置後 至設定時間（例如400ms)經過為止的測量期間，以設定取樣 間隔（predetermined sampling time interval，例如 l〇ms)反覆 取得撓曲量檢測用雷射測距計43檢測之檢測距離，將所取 得之複數取樣資訊（資料）經平均化處理之值設定作為實際 測量值D。 構造成平均化處理係在本實施形態中，進行求出於設定 時間内取樣之資訊中之最大值與最小值之平均值的處理。 此外’平均化處理可使用求出所取樣之資訊之所有平 均值等習知之處理來取代此種處理》 就求出上述初始值R之處理作說明，運轉控制機構Η構 造成為進行撥取處理’在使旋繞台28位於旋繞基準位置SK 之狀態下，使物品移載裝置15移動至撈取對象之物品β之物 ⑧ 32 201236960 品移載位置’之後，使旋繞台28旋繞至左側用旋繞位置SL 或右側用旋繞位置SR時，在從緊接此之後至設定時間（例如 400ms)經過為止之測量時間，以設定取樣間隔（例如丨oms) 反覆取得撓曲量檢測機構Q檢測之撓曲量，將所取得之複數 取樣資訊（資料）經平均化處理之值記憶作為初始值。 構造成求出此初始值時之平均化處理係在本實施形態 中’與求出實際測量值D時同樣地，進行求出於設定時間内 取樣之資訊中之最大值與最小值之平均值的處理。 此外’平均化處理可使用求出所取樣之資訊之所有平 均值等習知之處理取代此種處理。 又’進行撈取處理時之物品載置體29之突出位置，亦 即從退離位置至突出位置之物品載置體29之突出量設定成 按物品移載位置之高度而預先訂定之不同之突出量。 又’構造成進行卸下處理時之物品載置體29之突出位 置’亦即，從退離位置至突出位置之物品載置體29之突出 量設定成下述值，前述值係於按物品移載位置之高度而預 先訂定之不同之突出量減掉對應於對應載置於物品載置體 29之物品B之重量資訊之撓曲量(R-D)而訂定之補正值E者。 此補正值係訂定成撓曲量(R-D)越大，便越大之值者， 舉例言之，可以將撓曲量(R-D)區分成複數階段，訂定按各 階段之補正值E之形態實施。 按物品載置位置之高度，預先訂定成不同之值之突出 量係在不將物品B載置於物品載置體29之狀態下，使堆高式 起重機5實驗性地作動，測量使物品載置體29突出至在其突 33 201236960 出退離方向之適當位置所需之量而訂定者，此種資訊作為 基本資訊而記憶於運轉控制機構Η之記憶部。 亦即’柱13以其下端支撐於行走台車12，且其上端部 為自由狀態之形態而設時，於使不載置物品Β之狀態之物品 載置體29從退離位置突出時或使載置物品Β之狀態之物品 載置體29從退離位置突出時，如第16圖及第18圖所示，行 走台車12及柱13於物品載置體29之突出方向傾斜，且其傾 向量當物品Β之重量越大，便越大。 因而，因在使物品載置體29從退離位置突出一定量之 狀態下，行走台車12及柱13於物品載置體29之突出方向傾 斜，故物品載置體29之突出量即使在不載置物品Β之狀態 下，仍有物品移載位置之高度越高，便越過大（即，大於適 切之量）之傾向，而使在未載置物品Β之狀態之物品載置體 29之從退離位置之突出量預先記憶於運轉控制機構Η之記 憶部作為上述基本資訊。 亦即，在撈取處理，以依據基本資訊而求出之突出量， 將物品載置體29從退離位置操作至突出位置。 又，因行走台車12及柱13之傾斜量當載置於物品載置 體29之物品Β之重量越大時便越大，故在使物品載置體29 從退離位置以依據基準資訊而訂定之突出量突出之狀態 下，有物品Β之重量越大，行走台車12及柱13之傾斜越大， 物品Β之突出量便越過大（大於適切之量）之傾向。 因此，需將作為上述基本資訊之突出量補正成物品Β之 重量越大時便越小。具體言之，對應於對應載置於物品載置 34 201236960 體29之物品B之重量資訊的撓曲量(R-D)，訂定補正值E，而 將突出量訂定為從基本資訊之突出量減掉補正值E之值。 亦即，將載置於物品載置體29之物品B卸下至收納部1 或物品載置部1〇之處理之際，當僅使物品載置體突出對應 於基本資訊之突出量時，如第18(a)圖所示，卸下物品0之 位置J1比設定適當位置J0，於物品載置體29之突出方向側 過大，接著，於進行撈取處理之際，使物品載置體29以對 應於基本資訊之突出量使物品載置體突出時，如第17(b)圖 所示，物品載置體29導致在比原本應載置之位置靠前端側 之位置載置物品B之弊端。 對此’將卸下處理之物品載置體29之突出量從基本資 訊之突出量減掉對應於對應載置於物品載置體29之物品B 之重量資訊的撓曲量(R-D)而訂定之補正值e而補正，當以 此已補正之突出里使物品載置體29突出時，如第16(a)圖所 示’卸下物品B之位置J1靠近設定適當位置j〇，接著，於進 行撈取處理之際，當使物品載置體29以對應於基本資訊之 突出量突出時’如第16(b)圖所示’物品載置體29便將物品 B載置於原本應載置之位置。201236960 VI. Description of the invention:  [splash " FIELD OF THE INVENTION The present invention relates to a stacking crane, The stacker crane is provided with a lifting platform that is driven up and down in a state guided by a column that is erected from the traveling trolley. Item carrier and flexion and extension linkage device, And configured to connect the base end portion of the flexing and extension link mechanism that can protrude away from the vehicle body width direction to the lifting platform, and connect the base end portion of the object carrier to the front end portion of the flexing and extension connecting rod device, And by the protruding retreat action of the aforementioned flexion and extension linkage device, The article carrier is protruded away from the retracted position to be retracted to the retracted position on the side of the elevating table and the projecting position to the outside.  c Previous J Background of the Invention Such a stacker crane is generally used for the upper and lower directions of the plurality of storage portions for accommodating articles. The article storage rack is arranged in the horizontal direction to store articles.  which is, Take the walking trolley and walk along the set walking path. And the lifting platform is raised and lowered. The article loading table can be moved to the item that is swayed in the up and down direction and the horizontal direction of the storage portion of the storage item (4). The item transfer position of the item mortuary department and the item transfer position of the item warehousing part are mainly used for storing the warehousing to the item mortuary part in the accommodating part and storing the items stored in the accommodating part. Outbound work to the item delivery department.  Incidental - mention, Items stored in the warehousing department of the item or items stored in the collection part of 201236960 shall be placed on the item carrier for disposal. The ranking process is at a height below the item. Extending the article carrier to the protruding position, after that, Raise the lift, With this, Take items, also, To remove the item placed on the item carrier to the storage unit or the item delivery unit, Can be removed, The unloading process is performed at a height above the article mounting surface of the storage unit or the article storage unit. Projecting the article carrier to the protruding position,  After that, the lifting platform is lowered. With this, Remove the item to the item loading surface of the storage unit or the item storage unit.  Further, since the storage rack is generally installed on both sides in the width direction perpendicular to the length of the moving space of the stacker crane, Therefore, it is configured to be equipped with a spiral frame on the lifting platform. Connecting the base end of the flexing and extension connecting rod device to the winding frame, By twisting around the frame, It is switchable to a state in which the article carrier is protruded to one side in the width direction of the traveling carriage and a state to protrude to the other side of the traveling carriage.  In addition, When the articles stored in the storage unit are long in the width direction of the stacker crane, Perform the following actions, The foregoing action causes the article carrier to be rotated 90 degrees in the retracted position. And the length of the article is oriented along the front and rear of the stacker (ie, The posture of the long space of the moving space, Walk the stacker crane.  that is, In the posture of the long direction of the article along the front and rear of the stacker crane, Let the walking trolley walk and lift the lifting platform, then, After the winding frame is rotated 90 degrees at the item transfer position, The article carrier is protruded from the retracted position to the protruding position.  The item to be transported by such a stacking crane is a container in which a glass substrate for a liquid crystal display or a display is stored in a laminated state (a state in which the interval is 8 4 201236960 in the vertical direction).  Incidentally, In recent years, due to the tendency of glass substrates to become large, Therefore, the weight of the container in which the glass substrate is stacked in a stacked state tends to be as large as 5 〇〇kg.  Further, a stacker that transports a container in which a glass substrate is stacked in a stacked state is generally installed in a clean room such as a downflow type (see, for example, Patent Document 1).  As disclosed in Patent Document 1, A stacking crane installed in a clean room is constructed such that the traveling trolley has traveling wheels on both sides of the left and right (width direction). The column is supported by the trolley at its lower end. Further, the upper end portion is provided in a free state (a state not supported by other members).  that is, When the upper end of the column is also guided by the guiding track, Dust is generated by the guiding support, Therefore, it is necessary to expand the spacing of the walking wheels on the left and right sides of the walking trolley. Even if the item carrier protrudes to the protruding position,  Walking trolleys are also not easy to tilt left and right. With this, The upper end of the column is configured not to guide the support by the guiding track, And form a free state.  The prior art document Patent Literature Patent Literature 1 Japanese Patent Laid-Open Publication No. 2009-184787 C. The summary of the invention The problem to be solved by the invention In the stacking crane, It is desirable to detect the weight of the article placed on the article carrier.  201236960 That is, The column is supported by the trolley at its lower end. And when the upper end portion is in the form of a free state, when the "loading body of the money item is protruded from the retreat position, The traveling trolley and the column are inclined in the protruding direction of the article carrier. The amount of tilt varies depending on the weight of the article.  In addition, In the state where the item is not placed on the item mounting table, When the article carrier protrudes from the retracted position, There is also the weight of the item carrier or the flexion and extension linkage device. The walking trolley and the column are inclined in the protruding direction of the article carrier, Of course, the amount of tilt is less than the case where the article is placed on the article carrier.  in this way, When the article placed on the article carrier is removed to the accommodating portion, the unloading process is performed. The case where the traveling carriage and the column are inclined in the protruding direction of the article placing body is the appropriate position where the article is removed to the accommodating portion in the direction in which the article carrier is protruded and retracted, and the weight of the article is considered. Set the protruding position of the item, that is, The amount of protrusion from the retreat position to the protruding position It is desirable to detect the weight of the article placed on the article carrier.  In addition, When performing the removal process, When the article is detached from the accommodating portion, when the protruding direction of the article carrier is changed from the appropriate position, When carrying out the fishing process, Because the load on the item acts on the item carrier, The walking trolley and the column are not inclined in the protruding direction of the article carrier. Or not to be greatly inclined, Therefore, the article carrying the article carrier is placed on the article carrier at a position offset from the position to be placed on the front end side. result, When the removal process is followed, The position at which the item is removed is more significantly deviated than the appropriate position. However, there is a difficulty in that the unloading process cannot be properly performed.  The structure for detecting the weight of the article placed on the article carrier is in view of the fact that the article carrier on which the article is placed protrudes The extension and extension of the flexural link 6 8 201236960 is prepared for the large deflection of the lower side, and considers the article carrier to protrude from the retracted position to the protruding position. Detecting the position of the article carrier on the lift table, And check the weight of the item.  However, when it is such a structure, it is due to the following circumstances. It is not easy to properly check the weight of the item. The foregoing is in the process of projecting the article carrier from the retracted position to the protruding position. The flexion and extension linkage device in an extended state is irregularly vibrated up and down or left and right due to various vibration causes. There is a tendency for the article carrier to vibrate irregularly up and down on the ascending and descending platform. or, Due to the large deflection of the flexion and extension linkage device in the extended state on the lower side, In the inclined posture which is formed toward the front end side, the article carrier is also inclined to the front end side. The state below, Therefore, the weight of the article on the article carrier is greatly changed depending on the weight of the article.  Incidentally, the column is supported by the trolley at its lower end. And when the upper end portion is in the form of a free state, And the column is supported by the trolley at its lower end, Further, when the upper end portion is provided in the form of the guide rail guiding support, when the article carrier on which the article is placed protrudes from the retracted position, By tilting the brakes and the column in the protruding direction of the article carrier, The tendency of the article carrier to be greatly inclined so as to be toward the front end side is lower.  Therefore, the application state of the article carrier due to the weight of the article greatly changes due to the change in the weight of the article. It is even more difficult to properly detect the weight of the item.  The present invention has been invented in view of the above actual circumstances, Its purpose is to provide effective use of the original structure, A stacker that properly detects the weight of the item placed on the article carrier.  Means for solving the problem 201236960 The stacker of the present invention is provided with a lifting platform that is driven up and down in a state guided by a column that is erected from the traveling trolley. Item carrier and flexion linkage device, And configured to connect the base end portion of the flexing and extension connecting rod device that can be protruded away from the width direction of the vehicle body, And connecting the base end portion of the article carrier to the front end of the flexing and extension connecting rod device, And by the above-mentioned squeezing and stretching the cup a, the outstanding retreat action is prepared. The article carrier is protruded away from the retracted position to be retracted to the retracted position on the side of the elevating table and the protruding position protruding to the outside. The stacker is provided with a deflection amount detecting mechanism that detects the amount of deflection of the article carrier located at the retreat position to the lower side. And, With a deflection amount acquisition mechanism, The deflection amount acquisition means is when the article placement body is positioned at the retreat position in an article placement state. The amount of deflection detected by the aforementioned deflection amount detecting means is obtained as the weight information of the article placed on the article carrier.  That is, the amount of deflection of the article carrier located at the retreat position to the lower side is detected by the deflection amount detecting means. then, The deflection amount obtaining mechanism is located when the article carrier is in the retracted position when the article is placed. The amount of deflection detected by the deflection amount detecting means is obtained as the weight information of the article placed on the article carrier.  That is, because the article placement system has its base end attached to the front end of the flexion and extension linkage device, Therefore, the article carrier is cantilevered to the flexion and extension linkage device (i.e., the state in which only one side of the article carrier is supported), Therefore, due to the weight of the placed article, the flexion and extension linkage device is flexed and deformed below. And the amount of deflection increases or decreases according to the weight of the item.  And detecting the amount of deflection by the deflection amount detecting mechanism, The deflection amount obtaining mechanism is when the article planting body is located at the retreat position. Obtaining the deflection amount detecting mechanism 8 201236960 The measured deflection amount is used as the weight information of the article placed on the article carrier.  When the item carrier is in the retracted position, Since the flexing and extension connecting rod device is shortened in a state of being bent, even if the weight of the article placed on the article carrier is used, Still in a state where it is not easy to tilt back and forth or left and right, also, Because it is not in the state of flexion and extension, Therefore, it is not easy to vibrate up and down.  thus, The article carrier located at the retracted position can be restrained from tilting due to the tilting of the connecting rod device or the left and right tilting, And suppresses vibration up and down due to vibration of the upper and lower bending link devices, Therefore, it is preferable to appropriately exhibit the change in the weight of the article as the amount of deflection of the article carrier placed at the retracted position in the article-mounted state. Further, the amount of deflection of the article carrier which is a change in the weight of the article as appropriate can be appropriately obtained as the weight information of the article placed on the article carrier.  all in all, According to the structure of the present invention, It is possible to provide an effective structure in which the base end portion of the article carrier is coupled to the front end portion of the flexing and extension connecting rod device. The stacker crane can appropriately detect the weight of the articles placed on the article carrier.  In an embodiment of the stacker crane of the present invention, The aforementioned deflection amount detecting mechanism is preferably constituted by a laser ranging mechanism. The laser ranging mechanism is set up in a description of the lifting platform. The upper and lower positions of the detected portion of the article carrier are detected.  which is, The laser ranging mechanism as the deflection amount detecting means can detect the upper and lower positions of the detected portion of the article carrier.  that is, The difference between the upper and lower positions of the detected portion when the article carrier is not placed and the upper and lower position of the detected portion when the article is placed on the article carrier is the amount of deflection of the article carrier to the lower side.  Further, since the laser ranging mechanism detects the amount of deflection of the article carrier to the lower side in a non-contact state, Therefore, compared with the case where the back surface of the article carrier is attached to the strain gauge as the bending amount detecting mechanism, Due to the deflection of the article carrier, The load does not act on the laser ranging mechanism, However, the deflection of the article carrier can be satisfactorily detected for a long period of time.  and, Since the laser ranging mechanism can detect the upper and lower positions of the detected portion of the article carrier with good precision, Therefore, it is possible to detect the change in the amount of the bending of the article carrier due to the change in the weight of the article with good precision.  In short, according to the above structure, It is possible to provide a stacker crane which can detect the amount of deflection of the article carrier downwards with good accuracy over a long period of time.  In an embodiment of the stacker crane of the present invention, Preferably, the deflection amount acquiring means is configured to be in a measurement period after a set time elapses after the article carrier is retracted from the protruding position to the retreat position.  The deflection amount detected by the deflection amount detecting means is obtained by repeatedly setting the sampling interval, and the obtained complex sampling information is averaged. It is set as the amount of deflection corresponding to the weight information of the article placed on the article carrier.  That is, when the article carrying body in which the article is placed in the state in which the article is placed is retracted from the protruding position to the retracted position, From the measurement period immediately after this to the set time elapses, The amount of deflection detected by the deflection detecting mechanism is obtained repeatedly at a set sampling interval. then, The averaged value of the obtained plural sampled information is set as the amount of deflection corresponding to the weight information of the 201236960 article placed on the article carrier.  in this way, Since the measurement period immediately after the article carrier in the article-mounted state is retracted from the projecting position to the retreat position, Finding the amount of deflection corresponding to the weight information of the article placed on the article carrier, Therefore, compared to the following, The amount of deflection corresponding to the weight information of the article placed on the article carrier can be quickly set, The foregoing situation is after the object carrier is retracted from the protruding position to the retreat position. Standby until the amount of deflection detected by the deflection amount detecting mechanism is stable, The amount of stable deflection is set as the amount of deflection corresponding to the weight information of the article placed on the article carrier.  all in all, According to the above structure of the present invention, A stacker that can quickly sigh the amount of deflection corresponding to the weight information of the articles placed on the article carrier can be provided.  In an embodiment of the stacker crane of the present invention, Preferably, the traveling vehicle is to be carried along an article storage rack provided with a storage portion for storing articles.  Used to control the walking behavior of the aforementioned walking trolley, Lifting and lowering of the forefoot And the operation control mechanism for the protruding retracting operation of the flexion and extension linkage device is configured such that the article carrier is placed at the article transfer position of the front Weiner portion to load the article placed on the article carrier Stored in the state of the storage unit, According to the deflection amount obtained by the aforementioned deflection amount obtaining means, The aforementioned protruding position is set to cause the aforementioned article to be highlighted.  which is, The operation control means stores the article placed on the article carrier in the storage portion. The amount of deflection obtained by the domain deflection amount acquisition mechanism, Set in a state where the object carrier is placed at a position where the article is moved to the storage unit, Make the 201236960 item placement stand out, That is, the "mounting amount from the retreat position to the dog exit position" causes the article carrier to protrude from the retracted position to the protruding position of the setting.  that is, When the upper end of the column is supported by the guide rail, When the item carrier is protruding, Although the inclination of the traveling trolley and the column is suppressed, the flexion and extension linkage device flexes on the lower side due to the weight of the article. With this, In a state in which the article carrier protrudes from the retracted position by a certain amount, The weight of the item is large, On the other hand, the more the amount of deflection on the lower side of the flexing and connecting rod device, the less the amount of protrusion of the article is insufficient. therefore, By setting the protruding position to the greater the weight of the item, the greater the amount of protrusion from the retreat position, When the article placed on the article carrier is removed to the accommodating portion, the unloading process can be performed. The article is removed to an appropriate position in the accommodating portion in the direction in which the article carrier is protruded away.  also, For example, the lower end of the column is supported by the walking trolley. And when the upper end portion is set in a free state, When the article carrier on which the article is placed protrudes from the retracted position, The traveling trolley and the column are inclined in the protruding direction of the article carrier, Then 'because the amount of tilt is greater as the weight of the item increases, Therefore, in a state in which the article carrier protrudes from the retracted position by a certain amount, The weight of the item is large, The more the tilt of the walking trolley and the column, The amount of protrusion of the item is too large (ie, The tendency to be greater than the appropriate amount). thus, By setting the prominent position to the greater the weight of the item, The smaller the amount of protrusion from the retreat position, When the article placed on the article carrier is removed from the storage unit, the unloading process can be performed. The article is detached to an appropriate position in the accommodating portion in the direction in which the article carrier is protruded away.  Incidentally, Supported at the end of the column at the end of the trolley, And when the upper end 8 12 201236960 is set in the form of a free state, Also due to the weight of the item, The flexion and extension linkage device of the extended state flexes toward the lower side. So flexing, In the position of the article that causes the article carrier to protrude from the retracted position - the state of the quantitative state, Generally, compared to the amount of change, Due to the weight of the item, The item carrier and the flexion and extension joint 柃a are also prepared for heavy lifting. The walking trolley and the column are inclined in the protruding direction of the article carrier. With this, An object in a state in which the article carrier is protruded by a certain amount from the retracted position. The amount of change in the position of α is large, Therefore, the lower end of the column is supported by the walking trolley. When the upper end of the column is in the form of a free state, when the column is provided, The protruding position needs to be set to the greater the weight of the item. The smaller the amount of protrusion from the retreat position.  In total, S, According to the above structure, It is possible to provide an appropriate position at which the article can be stored in the storage portion of the mouthpiece storage rack in the protruding direction of the article carrier.  In an embodiment of the stacker crane of the present invention, The traveling carriage is configured such that the traveling wheel has a traveling wheel on both end sides in the width direction of the vehicle body.  The lower end of the column is supported by the aforementioned walking trolley. And the upper end portion is set in the form of a free state, The operation control mechanism is configured to be based on the amount of deflection obtained by the basic hearing and the deflection amount obtaining mechanism. Set to store in the month. ρ is the position at which the article is transferred, so that the article carrier is protruded to the active position. The article placed on the article carrier is stored in the accommodating portion ‘and the basic information is set such that the height of the accommodating portion is higher ” the amount of protrusion protruding from the retreat position is smaller.  which is, The operation control means stores the article placed on the article carrier in the storage portion ‘, and the height of the storage portion is set to be higher. The amount of deflection obtained by the basic information and the deflection amount obtaining mechanism 13 201236960, the less the amount of protrusion protruding from the retreat position, The article placement body is protruded from the retracted position to the protruding position by setting a projecting position at which the article loading body is moved to the article loading position of the accommodating portion.  that is, When the column is supported by the lower end portion of the traveling trolley and the upper end portion thereof is in a free state, When the article carrier on which the article is placed protrudes from the retracted position, The traveling trolley and the column are inclined in the protruding direction of the article carrier. then, In a state where the traveling trolley and the column are inclined in the protruding direction of the article carrier, The column is displaced toward the protruding direction of the article carrier as it goes toward the upper end side thereof. Therefore, when the article carrier on which the articles of the same weight are placed protrudes from the retracted position by a certain amount of protrusion, the article carrier is located at a higher position. The amount of protrusion of the item is too large (ie, More than the appropriate amount).  Therefore, In addition to the amount of deflection obtained by the mechanism based on the amount of deflection, The protruding position of the article carrier is set to be larger, The less the amount of protrusion from the retreat position, Also according to the height of the storage portion, The basic information that makes the amount of protrusion from the retreat position less, The protruding position of the article carrier is set such that the height of the storage portion is higher. The less the amount of protrusion from the retreat position, With this, The article can be removed to the storage portion at an appropriate position in the protruding direction of the article carrier.  all in all, According to the above structure, Available in different heights, A stacking crane in which the article is stored in an appropriate position in the direction in which the article carrier is retracted.  In an embodiment of the stacker crane of the present invention, Preferably, the lifting platform is equipped with a winding frame ′ and the base frame of the flexing and extension connecting rod device is coupled to the winding frame. The rotary-drive motor for winding (4) the aforementioned spiral frame is connected to the support of the lift platform of the 7j 201236960, The aforementioned operation control mechanism is configured to control the description & When the driving motor is driven to move the aforementioned article carrier to the left side of the traveling trolley, When the winding frame is wound to the left side with the red winding position 'and the article carrier is protruded to the right side of the traveling trolley, the revolving frame is rotated to the right side winding position. And, Constructing a deflection amount obtained by the above-mentioned deflection amount obtaining mechanism, The aforementioned left-hand winding position and the aforementioned right-side winding position are set.  which is, The operation control mechanism is configured to control the operation of the winding drive motor, In order to cause the article carrier to protrude to the left side of the traveling trolley, Rotating the convoluted frame of the base end portion of the flexion and extension linkage device to the left side with a convoluted position, And when the article carrier is protruded to the right side of the traveling trolley, By winding the convoluted frame to the right side by the winding position 'when the article storage rack is located on the left and right sides of the traveling carriage, the articles can be transferred to the storage portion of the storage rack.  And when the article carrier is protruded from the retracted position to the protruding position, Due to items, The weight of the article carrier and the flexion and extension linkage device, Forming a state in which the winding frame stretches in the protruding direction of the article carrier, On the other hand, there is a lifting platform that supports such a stretched spiral frame to cause deformation.  also, When the article mounting body protrudes to the left side of the traveling carriage and the article carrier protrudes to the right side of the traveling trolley, Because the direction of the stretched spiral frame is in the opposite direction, And different, also, When the article carrier is protruded from the retracted position to the protruding position, The tensile force acting on the winding frame varies depending on the weight of the article supported by the article carrier. Therefore, the amount of deformation of the lifting platform varies depending on the weight of the article supported by the article carrier.  in this way, When the lifting table is deformed, there is a support frame for supporting the winding drive motor 15 201236960, That is, the posture of the support frame connected to the lifting platform changes 虞 because of the change of the posture of the branch frame, The body portion of the winding drive motor causes a slight change in the phase of the rotation direction of the output shaft of the elevator. and, When the phase of the body portion changes in the direction of rotation of the output shaft of the lifting platform, The amount of change in the phase varies depending on the weight of the article supported by the article carrier.  According to the above configuration, the amount of deflection obtained by the mechanism is determined by the operation control mechanism in accordance with the amount of deflection. Set the winding position on the left side and the winding position on the right side. Therefore, when the article carrier is protruded, The change in the weight of the object οσ supported by the article carrier, Even if the phase change of the main body of the winding drive motor to the rotation direction of the output shaft of the elevating table is set, the position at which the change can be canceled can be set to the left-hand winding position and the right-hand winding position. The article carrier can be protruded in the proper direction.  all in all, According to the above structure, The following stacking cranes are available.  The above-mentioned stacking crane is even when the article storage rack is located on the left and right sides of the traveling trolley. The articles can also be transferred to the storage portion of the storage rack. and, Regardless of the change in the weight of the item supported by the item carrier, It is also possible to make the article carrier protrude in the proper direction.  BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic plan view of an automated warehouse.  Figure 2 is a front view of the warehouse of Figure 1.  Figure 3 is a side view of a stacker.  Fig. 4 is a side view showing the shortened state of the flexion and extension linkage device.  Figure 5 is a side view of the extended state of the flexion and extension linkage device.  201236960 Fig. 6 is a schematic plan view showing the retracted state of the article carrier.  Figure 7 is a '’’, A schematic plan view showing the protruding state of the article carrier.  Fig. 8 is a longitudinal side view showing the support structure of the winding table in the left-handed state.  Figure 9 is a schematic bottom view showing the cut structure.  Figure 10 is a block diagram showing the control structure.  Figure 11 is a perspective view of the article.  Figure 12 is a flow chart showing the control action.  Figure 13 is a flow chart showing the control action.  Fig. 14 is a view showing the detection data of the deflection amount detecting mechanism.  Figure 15 is a graph showing the relationship between the amount of deflection and the weight of the article.  First, The l6(b) is a schematic front view showing a stacker crane that performs the unloading process and the scooping process.  Figure 17(a), Fig. 17(b) is a schematic plan view showing the winding process of the article carrier.  18(a)U, The first purchase plan is a schematic front view of the stacking crane that performs the unloading process and the list processing before the correction.  [Poverty mode] The form used to implement the invention According to the schema, An embodiment of the present invention will be described.  ,  Figure 1 and Figure 2, In the automatic warehouse, there is a storage rack 2 for storing the items 1 of the articles B in the up-down direction and the horizontal direction. The stacker 5 is moved by the moving space 3 in front of the article storage rack 2. The stacking crane 5 performs a storage operation for storing the articles stored in the storage unit β 17 201236960 and storing the articles in the storage unit.  In addition, although the schema is omitted, This automated warehouse is located in a downflow clean room.  The object storage racks 2 are in a state in which the respective front sides are opposed to each other, Between the article storage racks 2, the longitudinal direction of the racks 2 is viewed in a plane. The above-described moving space 3 is formed.  Each of the article storage racks 2 is vertically erected with a space between the shelf width direction (the longitudinal direction of the storage rack 2 or the moving space 3 viewed in plan) between the pair of pillars 6 (i.e., 'the direction perpendicular to the length of the moving space 3' Two pillars 6) arranged in the direction of the interval Supported by a pair of pillars 6 in front and rear, Further, the mounting support portion 7 is provided at intervals in the vertical direction of the rack. also, Each of the accommodating portions 1 is configured to store the articles B in a state in which the pair of left and right mounting supports 7 are placed on both ends of the support article b in the width direction of the rack.  In this embodiment, Item B is as shown in Figure u. It is an article holder 4 that accommodates a plate-like body such as a glass substrate.  In Figure 11, The article holding body 4 is disposed such that its front side faces the left-hand direction of the drawing, And configured to see the left side of it. thus, One of the rear and right side faces of the article holder 4 cannot be seen. The article holding body 4 is formed of a lattice-shaped upper frame 4a and a lower frame 4b, The two lateral side edges and the rear side edge portion disposed on the upper frame body 乜 and the lower frame body 4b are connected to the upper frame body and the plurality of links 4c of the lower frame body, Set at intervals in the up and down direction, The linear support portion 4d connected to the connected bodies 4c facing in the horizontal direction is formed.  also, The article holding body 4 is configured such that a plate-like body such as a glass substrate that has been taken out through the opening on the front side thereof and placed in a plate-like body such as a glass substrate is placed in a state in which the branch portions are placed on the branch portion 4 in the vertical direction. maintain, also, Structure 201236960 causes air to pass through the upper surface of the article holder 4, Lower part and 4 side parts (front part, The rear part and the left and right side parts) flow out.  As shown in Figure 1, The article storage unit 8A that carries the article B to the article storage rack 2 from the outside, and the article storage unit 8B that carries the article b out of the article storage rack 2 to the outside are provided on the lateral side of each of the pair of article storage shelves 2 Different locations adjacent to each other. The article storage unit 8A and the article storage unit 8B are configured by a conveyance conveyor that carries the conveyed articles B.  In addition, due to the prior art, Therefore, it is not shown in the figure. However, it is constructed such that the goods storage unit 8 A and the item storage unit 8 B are handed over to the stacking crane 5 (ie, Where the item is handed over, the item lifting part for lifting the item B is installed.  On the other hand, a space is formed in which the article placing body 29 which will be described later protrudes below the article B.  also, As shown in Figures 1 and 2, An article processing facility (article processing unit) 9 that performs predetermined processing on a sheet-like body such as a glass substrate held by the article holding body 4 is provided on one of the back sides of the pair of article storage racks 2, The article loading/unloading object placing unit 10 for carrying out the loading and unloading of the article B for the article processing facility 9 is provided in one of the article storage racks 2 of the pair of article storage shelves 2.  The article placing unit 10 is formed such that the article processing facility 9 of the lowermost stage of the article storage rack 2 is disposed adjacent to the article placing unit 10.  In other words, the stacking crane 5 is configured to supply and collect the articles B to the article placing unit 10. Although the article placing unit 10 is not shown in the drawing, However, a position restricting means for restricting the supplied article B to an appropriate position for the delivery of the article processing facility 9 is provided.  The article processing facility 9 is provided with a plate-shaped body transfer device that transfers the plate-shaped body 201236960 such as the glass substrate of the article B one by one.  That is, when the article is supplied to the article placing portion 1〇, The plate-shaped body transfer device installed in the article processing facility 9 takes out the glass substrate stored in the article holding body 4 one by one. Supply to the item handling facility 9, also, The glass substrate on which the processing of the article processing facility 9 is completed is stored in the article holding body 4 by the plate-shaped mounting device provided in the article processing facility 9.  In the floor portion of the moving space 3 between the pair of article storage racks 2, To guide the stacking crane 5', a pair of left and right traveling rails 1 are provided spaced apart in the width direction perpendicular to the longitudinal direction of the moving space 3.  also, As shown in Figures 2 and 3, The stacker 5 has a walk along the walking track 11 and reads the vehicle ^, Placed along the straight field on the column of the walking trolley 12 And the device is placed on the object transfer device 15 of the lifting platform 14.  The column 13 is vertically erected to the front end and the rear end of the traveling trolley 12 in the length of the moving space 3, respectively. Further, the upper end portion of the pair of columns 13 is coupled to the upper frame 16.  Also, the P-pillar 13 is supported by the traveling trolley 12 with its lower end portion. And its upper end is free (ie, It is not in the form of a state in which other members such as a track is cut. For example, Since even the upper end of the column 13 of the column 13 of the column 13 of the traveling trolley 12 is reinforced, Such a reinforcing member has a function as a part of the column 13, Therefore, even if at this time, The upper end is still free.  Before being placed in the trolley 12, it is connected to the lifting platform 14 as shown in Fig. 3. The lifting platform 14 is erected and supported by the column 133⁄4. And 20 201236960 A pair of lifting keyway hanging supports on both sides of the front and rear directions (longitudinal direction of the moving space 3).  After the lifting chain is extended upwards, It is guided by a guide sprocket 18 provided at the upper portion of the column 13, and is guided. Extend to the bottom, after that,  The drive sprocket 2 装 installed at the rear end portion of the traveling trolley 12 is wound to extend upward. The front end portion is connected to the lifting platform 14.  The drive sprocket 20 is configured to be driven in a direction and its opposite direction by a servo-type electric motor for lifting and lowering, respectively.  also, The two electric motors 21 for lifting and lowering which are respectively provided corresponding to the pair of drive sprocket 2 are synchronously driven in the opposite direction and in the opposite direction.  The lifting platform 14 is moved up and down.  As shown in Figure 3, The traveling trolley 12 is provided with a lifting laser range finder 23, The lifting laser range finder is directed to the reflector 22 disposed below the lifting platform u. Projecting the laser light for distance measurement along the lifting direction of the lifting platform 14, The lifting position of the lifting table 14 in the lifting direction of the lifting table 14 is detected.  That is, the lifting laser range finder 23 is configured to receive the projected laser light for reflection by the reflecting plate 22 and to return it. The distance to the reflecting plate 22 is detected as the lifting position of the lifting table 14 in the lifting direction of the lifting table 14. This will project light, A sensor for ranging that receives reflected light is called a radiation receiving type.  also, As shown in Figures 2 and 3, The traveling carriage 12 is configured to have a pair of traveling wheels 24 in a state in which the traveling rails u are spaced apart from each other at both ends in the width direction.  a pair of walking wheels 24, One of the walking wheels 24 is configured to drive the car 21 201236960 round: One or two, 冓 冓 冓 从 从 从 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ = The drive wheels at both ends are driven in the opposite direction.  Using the drive motor 25 in the - direction and again, Constructed so that it will correspond to the left and use electric 5 to synchronize, Turn her towards -h And set up 2 rows of walking trolleys to walk in the track shape - square ^ square (four) _ move 'to make the direction and backward direction) line I, ^ and the direction of the difference (for example, advancement), in this embodiment, As above, The case where two of the four traveling wheels 24 constitute the driving wheel 24a is exemplified. It is also possible to implement four driving wheels ’ ‘and’, and three of the wheels (four) may be configured to drive the wheels 24a.  ▲ also P money. The vehicle 12 is constructed to be formed along a walking track. Also walking the road: Going forward in the positive and negative directions, And moving to the item transfer place of each storage part i of the article storage rack 2, For the item transfer at the item storage unit 8a, The item transfer place of the item delivery unit 8B and the item transfer place of the item placement unit 1〇.  As shown in Figure 3, The traveling trolley 12 is provided with a walking laser distance measuring device 27, The laser range finder is along the long track of the walking track. Projecting the beam light for ranging toward one end of the traveling track 11 In order to detect the walking position of the walking direction of the traveling trolley 12, that is, The position of the walking trolley 12 on the path of the walking path is set.  The traveling laser range finder 27 is configured to be reflected by the reflecting plate 26 by receiving the projected ranging laser light, and is reflected back. And the journey to the direction of travel 22 201236960 The distance of the trolley 12 is used as the walking position of the walking trolley u.  As shown in Figure 4 to Figure 7, Item transfer cracking ^ Supported as a free-winding operation around the winding upper and lower shaft lifting platform 14 a pair of winding tables 28, And the article carrier on which the support article B is placed is protruded away from the winding table 28 (ie, Can be highlighted and retired).  Kneeling, that is, a stalking base end connecting material is provided on the slewing base 28 of the slinger 14 at a front end of the flexing and extension connecting rod device 3G, and a plate-shaped article carrier is coupled to the front end portion The base end of 29.  also, It is configured such that the article mounting body 29 can be retracted from the flexing and extension operation of the flexing and extension connecting rod device 3 to retreat from the retracting position to the lifting table side (refer to Fig. 4, Figure 6) and the protruding position protruding to the outside (refer to Figure 5,  Figure 7).  As shown in Figures 8 and 9, The winding table 28 is configured to be rotated by the upper and lower axes p〇 by the operation of the servo-winding electric motor 31 as a winding drive motor provided on the lower side of the winding table 28 (i.e., Rotate).  That is, 'constructed to be wound around the table 28, Optional to watch in the plane,  The article placing body 29 is protruded to one side (for example, the left side) in the width direction of the traveling carriage 12, and the article placing body 29 is projected to the other side (for example, the right side) of the traveling carriage 12, Furthermore, It is configured such that the article carrier 29 can be wound by the winding of the winding table 28 so that its longitudinal direction (longitudinal direction of the article B) is along the forward and backward directions of the stacker 5 (longitudinal direction of the moving space 3) Status (refer to Figure 1).  The stacking crane 5 is configured such that when the moving space 3 is traveling, the 23 201236960 article placing body 29 can be formed in a posture along the front-rear direction. As shown in Fig. 9 and Fig. 17, the winding reference position SK of the winding table 28 is set at a winding position in which the article placing body 29 forms a posture in the front-rear direction.  also, In the following records, The winding position of the winding table 28 when the article placing body 29 is protruded to the left side of the traveling carriage 12 is referred to as the winding table 28 when the left side winding position SL' will protrude the article placing body 29 to the right side of the traveling carriage 12. The winding position is referred to as the right side winding position SR. here, The right side and the left side of the traveling vehicle 12 are viewed in a plane along a direction perpendicular to the longitudinal direction of the moving space. Defined for simplicity of explanation.  Incidentally, Basically, when the article carrier 29 is projected to the left side of the traveling carriage 12, the winding table 28 is rotated 90 degrees from the winding reference position 8 toward the left side. Then, when the article carrier 29 is projected to the right side of the traveling carriage 12,  The winding table 28 is wound 9 turns from the winding reference position SK toward the right side. As will be described later, In the state where the article B is placed on the article carrier 29, The winding table 28 is rotated from the winding reference position SK to the angle of the left side winding position SL and the winding table 28 is rotated from the winding reference position SK to the right side by the angle of the spiral position SR to be set to a winding angle of more than 90 degrees. And, The winding angle is set such that the weight of the article B is larger. It will be bigger. Since Figure 9 is a bottom view, Therefore, the right side is depicted on the left side by the spiral position SR. The left side is illustrated on the right side by the winding position SL.  The flexion and extension linkage device 30 uses a so-called selective compliance assembly robot arm (SCARA:  Constructed by Selective Compliance Assembly Robot Arm or Selective Compliant Articulated Robot Arm) The selective compliance robot arm has a first arm 23 that is coupled to the winding table 28 so that the base end portion is swung around the first vertical axis P1, And the second arm 33 that is rotatably wound around the second vertical axis P2 is connected to the front end portion of the first arm 32, 8 24 201236960.  also, The base end portion of the article placing body 29 is rotatably coupled to the front end portion of the second arm 33 so as to be rotatable around the third vertical axis P3.  As shown in Figure 8, In order to cause the article carrier 29 to actuate and retreat, An electric motor 34 for projecting and retracting, which is provided with a speed reducer, is provided on the lower side of the winding table 28, with the base end portion of the first arm 32 being swayed by the winding table 28.  that is, The body portion 34A of the protruding and retracting electric motor 34 is supported by the winding table 28, The output shaft 34B of the electric motor 34 for protruding and disengaging is coupled to the first arm 32.  also, Although the detailed illustration is omitted, However, in order to connect the operation of the first arm 32 with the operation of the second arm 33, A chain interlocking device is placed across the shaft portion of the first vertical axis P1 and the shaft portion of the second vertical axis P2.  also, By pairing the pair of first arms 32, one pair of protrusions are separated and driven by the electric motor 34 in synchronization with each other. And the pair of first arms 32 are synchronized, Shaking around the first vertical axis P1, And the second arm 33 is caused to swing around the second vertical axis P2, thereby causing the flexion and extension device 30 to flex and extend as described above. Further, the retreating operation can be protruded to the position where the article carrier 29 is retracted to the elevating table side (see Fig. 4, Figure 6) and the protruding position protruding to the outside (refer to Figure 5,  Figure 7).  As shown in Figures 8 and 9, The elevating table 14 is formed in a box shape in which a plan view shape is a quadrangular shape. The electric motor 31 for winding is supported by a support frame 35 as a support body supported by the elevating table 14.  That is, the main body portion 31A of the electric motor 31 for winding is supported by the support frame 35,  The output rotating portion 31B of the winding electric motor 31 is coupled to the winding table 28.  In addition, as shown in Figure 8, The winding table 28 is supported by the winding bearing 36 for lifting 25 201236960. The table 14 is rotatably supported. The first arm 32 of the flexing and connecting rod device 30 is supported by the arm bearing 37 so as to be rockable.  The lifting frame 14 supports the support frame 35 of the winding electric motor 31 to be in the side wall portion of the lifting platform 14, The wall portion corresponding to the rear side of the traveling vehicle 12 and the main body portion 31A of the electric motor 31 for winding are horizontally arranged to be horizontal.  As shown in Fig. 10, the winding position at which the detecting winding table 28 is provided is the winding reference position detecting sensor 38 which is wound around the reference position SK.  This winding reference position detecting sensor 38 is not shown in FIG. However, it is constructed by a conventional projection receiving sensor. that is, The sensor has a light projecting portion that is supported by the lifting platform 14 and is opposed to the light projecting portion. The light receiving portion is supported by the light receiving portion of the lifting platform 14 in a state in which the light projecting portion is opened. Further, when the winding position of the winding table 28 is supported by the winding table 28 as the winding reference position SK, a detected plate between the light projecting portion and the light receiving portion, Shading the light of the projection, With this,  The winding position of the detecting winding table 28 is the winding reference position SK. The winding reference position detecting sensor 38 may also be fixed to the lifting platform 14, Projectors and receivers adjacent to each other, And when the winding position of the winding table 28 is fixed to the winding table 28, the winding reference position SK is This configuration is replaced by a reflector that reflects light from the light projecting portion to the light receiving portion. The winding reference position detecting sensor 38 is not limited to this configuration, Other known sensors can be utilized.  And as shown in Figure 8, The winding electric motor 31 is provided with a winding amount of the winding table 28 after the winding reference position detecting position S K is detected by the winding reference position detecting sensor 38. A rotary encoder 39 for winding the winding position of the winding table 28 is detected. also, Rotary encoder 39 for winding, Detecting the winding reference position SK,  further, Detecting the winding position of the winding table 28, It is also possible to use the quasi-position detecting sensor 38 as a winding base 26 201236960.  also, As shown in Figure 10, The retreat state detecting sensor 4 is provided with the detecting article carrier 29 at a retreating position in which the projecting object is retracted.  This retreat state detecting sensor 40 is the same as the wraparound reference position detecting sensor 38, It is composed of a projection receiving sensor.  In other words, the "returning state detection sensor 40" is attached to the light-receiving portion of the winding table 28 and the light-receiving portion to be positioned at an appropriate position such as the base end portion of the first arm 32 of the flexion and extension link device 3 ( Or a reflecting plate) to shield (or reflect) the projected light, The detected article carrier 29 is located at the retreat position. Similarly to the winding reference position detecting sensor 38, Other conventional sensors can be utilized as the fallback state detecting sensor 40.  As shown in Figure 8, The amount of protrusion of the article carrier 29 after the protruding retreat electric motor 34 detects the protruding retreat position of the article carrier 29 by the protruding retreat state detecting sensor 40, Further, a rotary encoder 41 for projecting the protrusion for detecting the amount of rotation of the output shaft 34B of the motor motor 34 for the extension is provided. This retracting rotation encoder 41 can also be used as the retreat state detecting sensor 40.  The relationship between the detected value of the protruding retracting rotary encoder 41 and the amount of protrusion protruding from the retracted position of the article carrier 29 can be calculated in advance. The memory portion of the operation control unit ^1 that controls the operation of the stacker 5 is recorded.  As shown in Fig. 10, the "operation control mechanism" is configured to perform the above-described warehousing operation and delivery operation. Controlling the walking operation of the traveling trolley 12 and the lifting operation of the lifting platform ’ the gift placing device 15 or the article body 29 is moved to the article loading position of the accommodating portion 1 of the article storage rack 2, Item loading department 27 201236960 8A Item transfer position, The item transfer position of the item delivery unit 88 and the item transfer position of the item placement unit 10, also, Controlling the loading and unloading operation of the article placing device 15 and the lifting operation of the lifting platform 14 In a state where the article transfer device 15 is moved to the article transfer position, Carry out the processing of the item b (ie, Submission processing) or unloading of item B (ie, Charge processing).  That is, the 'operation control mechanism Η causes the traveling electric motor 25 to operate, When the traveling vehicle 12 is traveling, the traveling position of the traveling vehicle 12 detected by the traveling laser distance measuring device 27 is the moving position of the traveling vehicle 12 in the traveling direction of the traveling vehicle 12, Stopping the traveling electric motor 25, With this, The article placing device 15 is placed at the article shifting position in the traveling direction of the traveling carriage 12.  Further, the operation control mechanism causes the electric motor 21 for lifting and lowering to operate. When the lifting platform 14 is lifted and lowered, the lifting position of the lifting table 14 detected by the lifting laser range finder 23 is the moving position of the article in the lifting direction of the lifting platform 14,  Stopping the electric motor 21 for lifting and lowering, With this, The article transfer device 15 is placed at the article transfer position in the ascending direction of the elevator table 14.  Further, when the article transfer position for lifting and lowering the article transfer device 15 is performed for picking up the article, The article carrier 29 is placed at a position below the height of the article. also, When you are unloading the unloaded item,  The article carrier 29 is placed at a height above the article placement surface where the article β is removed.  The fishing processing is carried out by the article carrier 2 9 to the article B of the article storage unit 8 a, The article B stored in the storage portion of the storage rack 2, And the processing of the article B existing in the article placing portion 10, Specifically, In the south of the lower side of the item B of the object to be taken, Projecting the article carrier 29 to the protruding position, 8 28 201236960 'To raise the lift 14 by a predetermined target amount, With this, The article B is placed on the article carrier 29, after that, The article carrier 29 is retracted to the retracted position.  The unloading processing system detaches the article B placed on the article carrier 29 to the article storage unit 8B, Storage unit 1 of storage rack 2 And the handling of the article placing unit 1〇,  Specifically, in the case of the item delivery unit 8B, The height above the article mounting surface of the storage unit 1 and the article placing unit 1〇, The article carrier 29 is caused to protrude to the protruding position ' and then the lifting table is lowered by a predetermined target amount. With this,  The article placed on the article carrier 29 is detached to the article placement surface. after that,  The article carrier 29 is retracted to the retracted position.  further, Explain, When the operation control mechanism performs the warehousing and delivery operations, First, in the state where the winding table 28 is located at the winding reference position SK, Controlling the operation of the traveling electric motor 25 and the lifting electric motor 21, The item transfer device 15 is moved to the item transfer position.  then, In order to rotate the winding table 28 to the left side with the winding position or the right side with the winding position SR' according to the detection information of the rotary encoder for winding, Controlling the operation of the winding electric motor 34, The difficult article carrier 29 is in the retracting direction.  after that, According to the detection assets of the rotary encoder 41 for protruding withdrawal, Skillfully highlighting the retreat (4) riding 34, Make the item charm (four) suddenly (four) move to the prominent position.  then, When doing the list processing, Controlling the operation of the electric motor 34 for the retraction of the protrusions, and moving the article carrier located at the transfer position of the article to the protruding position, According to the liter-f shooting distance meter, the lifting electric material is used up, View, Make the heart of the 吏 29 201236960 After the article B of the list object is placed and supported on the object carrier 29', the operation of the electric motor 34 for controlling the retreat is controlled.  The buckle body 29 is retracted to operate. at this time, When the retreat state detecting sensor 40 detects the article carrier 29 as the retreat position, The retreat of the article carrier 29 is stopped.  also, When it is processed, Control the movement of the electric motor with a large amount of retreat, After the article carrier 29 located at the item transfer position is actuated to the dog out position, The lifting motor is actuated by the electric motor 21 according to the detection information of the lifting laser range finder 23, With this, Lowering the lifting platform 14 by a set distance corresponding to the target amount of the lowering, The article B of the object to be picked up is placed on the article mounting surface supported at the place where the object is removed. after that, Controlling the movement of the retracting electric motor 34, The article carrier 29 is retracted to operate. at this time, When the retreat state detecting sensor 40 detects the article carrier 29 as the retreat position, The retreat of the article carrier 29 is stopped.  As shown in Figure 4, The stacking crane 5 is provided with a deflection amount detecting mechanism Q for detecting an amount of bending or deflection of the article placing body 29 located at the retreating position.  also, The operation control mechanism is configured such that when the article carrier 29 is in the retracted position, The amount of deflection detected by the deflection amount detecting means Q is obtained as the weight information of the article placed on the article carrier 29.  that is, In this embodiment, When the article carrier 29 is in the retracted position, The amount of deflection obtained by the deflection amount detecting means Q is used as the deflection amount obtaining means for the weight information of the article placed on the article placing body 29, using the rotation control means Η.  8 30 201236960 The summer measuring mechanism Q is composed of a laser range finder 43 for detecting the amount of bending of the laser ranging mechanism. The laser ranging mechanism has a light projecting portion and a light receiving portion that detect the vertical position of the light reflector 4 as the detected portion of the article carrier 29. also, The deflection amount detecting laser range finder 43 is equipped with a pair of left and right sides for projecting the article carrier 29 to be retracted from the operation to the left side of the winding table 28 by the winding position SL, and the user and the article carrier 29 are protruded. The user is removed from the retracting operation to the right side of the winding table 28 by the winding position SR.  The deflection amount detecting laser range finder 43 is configured such that the light receiving unit receives the ranged laser light projected from the light projecting portion and reflects it by the light reflector 42 and returns it. The distance to the light reflector 42 is detected.  That is, when the article b is not placed on the article carrier 29, The deflection amount is detected by the distance detected by the laser range finder 43 and when the article B is placed on the article carrier 29, The difference between the distances detected by the laser range finder 43 for the amount of curvature measurement is the amount of deflection of the article carrier 29 in the state in which the article is placed. In this embodiment,  The operation control mechanism is configured to be ready to start the fishing process, Detecting the distance detected by the laser range finder 43 according to the amount of deflection, Find the initial value r and remember, Then, 'after the fishing process is completed', the distance detected by the laser range finder 43 is measured according to the amount of deflection, Find the actual measured value d in the state in which the article is placed,  The difference (R-D) between the initial value R and the actual measured value D is obtained as the amount of deflection corresponding to the weight information of the article B placed on the article carrier 29.  An example of the relationship between the amount of deflection (R-D) and the weight of the article β is shown in Fig. 15.  As shown in this illustration, It can be seen that the amount of deflection (R-D) is approximately proportional to the weight of the article B (i.e., 'an almost substantially proportional relationship).  31 201236960 In addition, in this embodiment, It is assumed that the weight of the article B is in the range of about i9 〇 Kg to about 500 kg.  In other words, the weight of the article holding body 4 in which the plate-like body such as the glass substrate is not accommodated is about 19 k k s. The weight of the article holder 4 which accommodates the maximum number of plate-shaped bodies such as a glass substrate is about 500 kg.  Incidentally, It can also be implemented in the following form instead of when it is processed. Find the initial value R, The above configuration is in a state where the article B is not placed on the article carrier 29, The initial value R is obtained by using the distance detected by the laser range finder 43 for the deflection amount detection.  The process of obtaining the above actual measured value D is explained. As shown in Fig. 14, the operation control mechanism is configured to be used for fishing processing. During the measurement period from the ejecting position of the article mounting body 29 immediately after the article is placed from the protruding position to the retracted position until the set time (for example, 400 ms) elapses, Set the sampling interval (predetermined sampling time interval, For example, l〇ms) repeatedly obtains the detection distance detected by the laser range finder 43 for the deflection amount detection, The averaged value of the obtained plurality of sampled information (data) is set as the actual measured value D.  Constructed into an averaging process in this embodiment, A process of determining the average value of the maximum value and the minimum value in the information sampled during the set time is performed.  Further, the 'averaging processing can replace the processing using a conventional process such as finding all the average values of the sampled information, and the processing for obtaining the initial value R described above will be explained. The operation control mechanism is configured to perform the dialing process' in a state where the winding table 28 is located at the winding reference position SK, Moving the article transfer device 15 to the object β of the object to be picked up 8 32 201236960 After the product transfer position ' When the winding table 28 is wound to the left side with the winding position SL or the right side with the winding position SR, The measurement time from the immediately after this to the set time (for example, 400ms), The amount of deflection detected by the deflection amount detecting mechanism Q is obtained by repeatedly setting the sampling interval (for example, 丨oms). The averaged value of the obtained plurality of sampling information (data) is memorized as an initial value.  In the present embodiment, the averaging process when the initial value is obtained is the same as when the actual measured value D is obtained. A process of determining the average value of the maximum value and the minimum value among the information sampled during the set time is performed.  Further, the 'averaging process' can replace such a process by a conventional process such as finding all the average values of the sampled information.  Further, the protruding position of the article carrier 29 when the fishing process is performed, That is, the amount of protrusion of the article carrier 29 from the retreat position to the projecting position is set to a different amount of protrusion which is predetermined in advance according to the height of the article transfer position.  Further, 'the protruding position of the article carrier 29 when the unloading process is performed' is The amount of protrusion of the article carrier 29 from the retreat position to the protruding position is set to the following value, The aforementioned value is a correction value determined by subtracting the amount of deflection (RD) corresponding to the weight information of the article B corresponding to the article carrier 29, which is set in advance according to the height of the article transfer position. E.  This correction value is determined as the amount of deflection (R-D) is larger. The greater the value,  For example, The amount of deflection (R-D) can be divided into plural stages. It is implemented in the form of the correction value E of each stage.  According to the height of the item placement position, The amount of protrusion set in advance to a different value is in a state where the article B is not placed on the article carrier 29, The stacker 5 is experimentally actuated, The measurement is made such that the article carrier 29 protrudes to the amount required for the position of the protrusion 33 201236960 to retreat, This information is stored as a basic information in the memory of the operation control organization.  That is, the column 13 is supported by the trolley 12 at its lower end. And when the upper end portion is in the form of a free state, When the article carrier 29 is in a state in which the article is not placed, the article carrier 29 is protruded from the retracted position or the article carrier 29 in the state in which the article is placed is protruded from the retracted position. As shown in Figures 16 and 18, The trolley 12 and the column 13 are inclined in the protruding direction of the article carrier 29, And the weight of the object is greater as the weight of the item. It will be bigger.  thus, Because the article carrier 29 is protruded by a certain amount from the retracted position, The traveling trolley 12 and the column 13 are inclined in the protruding direction of the article carrier 29, Therefore, the amount of protrusion of the article carrier 29 is even in the state where the article is not placed. The higher the height of the item's transfer position, Go over big (ie, a tendency to be greater than the appropriate amount, The amount of protrusion from the retreat position of the article carrier 29 in the state in which the article is not placed is previously stored in the memory portion of the operation control unit 作为 as the basic information.  that is, In the fishing process, The amount of protrusion obtained based on basic information,  The article carrier 29 is operated from the retracted position to the protruding position.  also, The amount of tilt of the traveling trolley 12 and the column 13 is larger as the weight of the article placed on the article carrier 29 is larger. Therefore, in a state in which the article carrier 29 is protruded from the retreat position in accordance with the reference information, The greater the weight of the item, The greater the inclination of the walking trolley 12 and the column 13,  The tendency of the item to become oversized (greater than the appropriate amount).  therefore, It is necessary to correct the amount of the above-mentioned basic information into the article, and the smaller the weight, the smaller. Specifically, Corresponding to the amount of deflection (R-D) corresponding to the weight information of the article B placed on the article placement 34 201236960 body 29, Set the correction value E, The amount of protrusion is determined as the value of the correction value E is subtracted from the amount of the basic information.  that is, When the article B placed on the article carrier 29 is detached to the accommodating portion 1 or the article placing portion 1 ,, When only the item carrier is highlighted to correspond to the amount of protrusion of the basic information, As shown in Figure 18(a), The position J1 of the item 0 is removed, and the appropriate position J0 is set. The protruding side of the article carrier 29 is too large, then, On the occasion of the fishing process, When the article carrier 29 is caused to protrude from the article carrier by the amount of protrusion corresponding to the basic information, As shown in Figure 17(b), The article carrier 29 causes the drawback that the article B is placed at a position closer to the front end than the position to be placed.  In this regard, the amount of protrusion of the unloaded article carrier 29 is reduced from the amount of protrusion of the basic information by the amount of deflection (RD) corresponding to the weight information of the article B placed on the article carrier 29. Correct the value e and correct it, When the article carrier 29 is protruded in this highlighted protrusion, As shown in Fig. 16(a), the position J1 of the unloaded item B is close to the set appropriate position j〇, then, On the occasion of the fishing process, When the article carrier 29 is caused to protrude in a protruding amount corresponding to the basic information, the article carrier 29 as shown in Fig. 16(b) places the article B at a position to be placed.

即，運轉控制機構Η依據所取得之撓曲量(R_D)，將物 品載置體29之突出位置訂定成當撓曲量(R_D)越大時，從退 離位置突出之突出量便越少’而且，依據將從退離位置突 出之突出量訂定成當收納部1之高度越高時，便越少之基本 資訊，將物品載置體29之突出位置訂定成當收納部t之高度 越南時’從退離位置突出之犬出里越少，藉此，可將物品B 35 201236960 卸下至收納部1在物品載置體之突出退離方向之設定適當 位置J0。 附帶一提’由於物品載置部10設於對應於上下排列之 收納部1之最下段收納部1的高度，故可使用基本資訊中對 應於最下段收納部1之資訊。 又，構造成進行卸下處理時之左側用旋繞位置SL或右 側用旋繞位置SR如上述，按載置於物品載置體29之物品B 之重量而設定。 亦即，當使物品載置體29從退離位置突出至突出位置 時，因物品B、物品載置體29、及屈伸連桿設備30之重量， 形成旋繞台28對升降台14，於物品載置體29之突出方向拉 伸之狀態，而有支撐如此拉伸之旋繞台28之升降台14引發 變形之虞。 又，升降台14之變形狀態因在物品載置體29突出至行 走台車12之左側時及物品載置體29突出至行走台車12之右 側時，旋繞台28拉伸之方向不同而不同’又’使物品載置體 29從退離位置突出至突出位置時，作用於旋繞台28之拉伸力 係因物品載置體29支撐之物品B之重量而變化者，故升降台 14之變形量因物品載置體29支撐之物品之重量而變化。 加以說明，在本實施形態中，如在上面參照第8圖所說 明，對升降台14支撐旋繞用電動馬達31之支撐框35以在升 降台14之側壁部中相當於行走台車12之後方側之後壁部與 旋繞用電動馬達31之本體部31A間延伸成水平之姿勢配置。 因此，如在第9圖以虛線所示，使物品載置體29突出至 ⑧ 36 201236960 行走台車12之左側（由於第9圖為仰視圖，故為右側），承接 支撐旋繞台28，藉此，升降台14全體變形，支撐支撐框％ 之側壁部在平面觀看為傾斜，故支撐框35形成為凸出^左 側之弓形，旋繞用電動馬達31之本體部31Α朝右側（在第9 圖為左側，即，逆時鐘旋轉），故物品載置體29之突出方向 變動至旋繞基準位置SK所在之行走台車12之前方側。 此外，由於第9圖係仰視圖，故在此第9圖中，支撐框 35形成凸出至右側之弓形，旋繞用電動馬達31之本體部3ΐΑ 形成朝左側（逆時鐘方向）旋轉之狀態。 因而，在將物品Β載置於物品載置體29之狀態下，使旋 繞台2 8從旋繞基準位置S Κ旋繞至左側用旋繞位置s L之角 度如第17圖所示，設定成大於9〇度之旋繞角度，且該旋繞 角度设定成物品B之重量越大，便越大。 附帶一提，按物品B之重量之旋繞角度預先以實驗等求 出，而訂定。 又’雖圖中未示，但與使物品載置體29突出至行走台 車12之左側時同樣地，當使物品載置台29突出至行走台車 12之右側時，承接支撐旋繞台28，藉此，升降台14全體變 形’結果’支撐框35形成為凸出至右側之弓形，旋繞用電 動馬達31之本體部31A朝左側旋轉，故物品載置體29之突出 方向變動至旋繞基準位置SK所在之行走台車12之前方側。In other words, the operation control unit 订 sets the protruding position of the article placing body 29 in accordance with the obtained amount of deflection (R_D) so that when the amount of deflection (R_D) is larger, the amount of protrusion protruding from the retreating position is increased. In addition, according to the amount of protrusion protruding from the retreat position, when the height of the accommodating portion 1 is higher, the basic information is less, and the protruding position of the article placing body 29 is set to be the accommodating portion t. At the height of Vietnam, the fewer dogs are protruded from the retreat position, whereby the article B 35 201236960 can be removed to the storage unit 1 at the appropriate position J0 of the protruding direction of the article placement body. Incidentally, since the article placing portion 10 is provided at a height corresponding to the lowermost storage portion 1 of the accommodating portion 1 arranged up and down, the information corresponding to the lowermost accommodating portion 1 in the basic information can be used. Further, the left-hand winding position SL or the right-side winding position SR when the detaching process is configured is set as described above by the weight of the article B placed on the article carrier 29. That is, when the article placing body 29 is protruded from the retracted position to the protruding position, the winding table 28 is formed on the lifting table 14 by the weight of the article B, the article placing body 29, and the flexing and extension connecting device 30. The state in which the carrier body 29 is stretched in the protruding direction is caused by the lifting table 14 that supports the thus-stretched winding table 28 to cause deformation. Further, when the article mounting body 29 protrudes to the left side of the traveling carriage 12 and the article placing body 29 protrudes to the right side of the traveling carriage 12, the direction in which the winding table 28 is stretched is different and different When the article carrier 29 is protruded from the retracted position to the protruding position, the tensile force acting on the winding table 28 is changed by the weight of the article B supported by the article carrier 29, so the amount of deformation of the lifting table 14 It varies depending on the weight of the article supported by the article carrier 29. In the present embodiment, as described above with reference to Fig. 8, the support frame 35 of the electric motor 31 for winding is supported on the elevating table 14 so as to correspond to the side of the traveling vehicle 12 in the side wall portion of the elevating table 14 Thereafter, the wall portion and the main body portion 31A of the winding electric motor 31 are arranged to extend horizontally. Therefore, as shown by a broken line in Fig. 9, the article placing body 29 is projected to the left side of the traveling carriage 12 (the right side is shown in Fig. 9 as the bottom view), and the support winding table 28 is received. The lifting platform 14 is entirely deformed, and the side wall portion supporting the support frame % is inclined in plan view, so that the support frame 35 is formed in a bow shape protruding from the left side, and the main body portion 31 of the winding electric motor 31 is turned to the right side (in the ninth figure) On the left side, that is, counterclockwise rotation, the protruding direction of the article carrier 29 is changed to the front side of the traveling trolley 12 where the winding reference position SK is located. Further, since the ninth drawing is a bottom view, in the ninth drawing, the support frame 35 is formed in a bow shape which is convex to the right side, and the main body portion 3 of the winding electric motor 31 is formed to rotate toward the left side (counterclockwise direction). Therefore, in the state where the article stack is placed on the article carrier 29, the angle at which the winding table 28 is rotated from the winding reference position S to the left side winding position s L is set to be larger than 9 as shown in FIG. The winding angle of the twist, and the winding angle is set such that the greater the weight of the article B, the larger. Incidentally, the winding angle by the weight of the article B is determined in advance by experiments or the like. Further, although not shown, when the article placing body 29 is protruded to the left side of the traveling carriage 12, when the article placing table 29 is projected to the right side of the traveling carriage 12, the winding table 28 is supported. The entire lifting table 14 is deformed and the result frame 35 is formed to be convex to the right side, and the body portion 31A of the winding electric motor 31 is rotated to the left side. Therefore, the protruding direction of the article carrier 29 is changed to the winding reference position SK. The side of the trolley 12 is on the front side.

因而，在將物品B載置於物品載置體29之狀態下，使旋 繞台2 8從旋繞基準位置s κ旋繞至右側用旋繞位置S R之角 度設定成大於90度之旋繞角度，且該旋繞角度設定成物品B 37 201236960 之重量越大，便越大。 附帶一提，按物品B之重量之旋繞角度預先以實驗等求 出，而訂定。 如此，因運轉控制機構Η構造成依據物品載置體29之撓 曲量(R - D) ’設定左側用旋繞位置S L及右側用旋繞位置s R， 故使物品载置體29突出時，因物品載置體29支撑之物品b 之重量之變化，即使旋繞用驅動馬達31之本體部31對升降 台14之輸出軸31B的旋轉方向之相位變化，仍可使物品載置 體29朝適當之方向突出。 接著，就運轉控制機構Η執行之控制作動中之撈取處理 及卸下處理，依據第I2圖及第13圖之流程圖作說明。 首先，參照第12圖，就撈取處理作說明。 此撈取處理係在使旋繞台28位於基準旋繞位置SK之狀 態下，使物品移載裝置15之物品載置體29移動至對撈取對 象之物品Β之物品移載位置，之後，使旋繞台28旋繞至左側 用旋繞位置SL或右側用旋繞位置SR後開始。 附帶一提，運轉控制機構Η於進行撈取處理前，取得撓 曲量檢測用雷射測距計43檢測之距離，進行求出上述初始 值R之處理。 又，進行此撈取處理時之左側用旋繞位置SL或右側用 旋繞位置SR係使旋繞台28從旋繞基準位置SK朝左方或右 方旋繞90度之位置。 首先，開始物品載置體29之突出作動(#1)，接著，依據 基本資訊，判定物品載置體29是否突出至訂定之突出位置 ⑧ 38 201236960 (#2)，繼續突出作動至物品載置體29位於突出位置為止。 在#2，當判別物品載置體29突出至突出位置時’便開 始使物品載置體29上升作動(#3)，接著’判別是否已上升設 定之目標量(#4)，繼續上升作動至物品載置體29上升設定之 目標量為止。 在#4，當判別物品載置體29上升設定之目標量時，便 開始物品載置體29之退離作動(#5)，接著，判別物品載置體 29是否退離至退離位置(#6)，繼續退離作動至物品載置體29 退離至退離位置為止。 在#6，當判別物品載置體29退離至退離位置時，開始 以設定取樣間隔取得撓曲量檢測用雷射測距計4 3之檢測資 訊之取樣(sampling)(#7)，接著，判別設定時間是否已經過 (#8)，繼續取樣至設定時間經過為止。 在#8 ’當判別設定時間經過時，執行依據所取樣之資 訊，求出平均值之平均化處理(#9)。 此平均化處理係求出於設定時間内取樣之資訊中之最 大值與最小值之平均值的處理（或習知之其他平均化處 理），將以該平均化處理所求出之值記憶作為實際測量值D。 接著，參照第13圖，就卸下以上述撈取處理載置於物 品載置體29之物品B之却下處理作說明。 此卸下處理係在使旋繞台28位於旋繞基準位置SK之狀 態下，使物品移載裝置15，亦即物品載置體29移動至進行 卸下處理之物品移載位置，之後，使旋繞台28旋繞至左側 用旋繞位置SL或右側用旋繞位置811後開始。 39 201236960 此外’卸下處理之左側用旋繞位置SL或右側用旋繞位 置SR依據減掉初始值R與實際測量值D而求出之物品載置 體29之撓曲量(R-D)’訂定於從旋繞基準位置SK旋繞之旋繞 角度形成為大於90度之角度的位置。 首先，進行求出進行卸下處理時之物品載置體29之突 出位置，亦即，從退離位置至突出位置之物品載置體29之 突出量的突出位置運算處理(#11)。 此突出位置運算處理係從按物品移載位置之高度預先 訂定突出量之基本資訊之突出量，減掉對應於對應載置於 物品載置體29之物品B之重量資訊之撓曲量（R-D)而訂定之 補正值E的處理。 之後’開始物品載置體29之突出作動(#12),接著，判 別物品載置體29是否突出至以突出位置運算處理之運算結 果訂定之突出位置(#13)，繼續突出作動至物品載置體29突 出至突出位置為止。 在#13，當判別物品載置體29位於突出位置時，便開始 物品載置體29之下降作動（#14)，接著，判別是否下降設定 之目標量(#15) ’繼續下降動作至物品載置體29下降設定之 目標量為止。 在#15 ’當判別物品載置體29下降設定之目標量時，開 始物品載置體29之退離作動(#16)，接著，判別物品載置體 29是否退離至退離位置(#17)，繼續退離作動至物品載置體 29位於退離位置為止。 其他實施形態 40 ⑧ 201236960 接著，列舉其他實施形態。 (1) 在上述實施形態中，例示了雷射測距機構作為撓曲 量檢測機構，亦可使用上下軸或臂等屈伸連桿設備30之一 部份或配置於物品載置體29之應變計等其他機構。 (2) 在上述實施形態中，例示了柱之上端部為自由狀態 之情形，亦可以以引導軌道支撐柱之上端部之形態實施。 此時’因使物品載置體從退離位置突出至突出位置之 際，行走台車或柱為不於物品載置體之突出方向傾斜者， 故可僅考慮屈伸連桿設備往下方之撓曲，依據撓曲量取得 機構所取得之撓曲量’設定使載置有物品之物品載置體突 出之突出位置。 (3) 在上述實施形態中，將物品載置體未載置物品之狀 態之旋繞框之左側用旋繞位置及右側用旋繞位置訂定於從 旋繞基準位置旋繞90度的位置，而於在不將物品載置於物 品載置體之狀態下，使物品載置體從退離位置突出至突出 位置時，因升降台或旋繞用驅動馬達之支撐框之變形，物 品載置體之突出方向從適當方向偏離時，將未載置物品之 狀態之左側用旋繞位置及右側用旋繞位置訂定於從旋繞基 準位置旋繞大於90度之位置，而使物品載置體突出至所期 之適當方向。 (4) 在上述實施形態中，例示了分別設物品入庫部及物 品出庫部之情形，亦可以設兼用物品入庫及物品出庫之物 &入庫出庫部的形態實施 (5) 在上述實施形態中，例示了物品為保持玻璃基板等 41 201236960 板狀體之物品保持體的情形，本發明之堆高式起重機亦可 適用於收納其他各種物品之自動倉庫。 (6) 在上述實施形態中，例示了控制堆高式起重機之運 轉之運轉控制機構構成撓曲量取得機構之情形，亦可使用 專用控制裝置，構成撓曲量取得機構。 (7) 在上述實施形態中，例示了於上下方向具備4段收 納部之收納架之情形，將收納部上下排列之段數可作各種 變更。 (8) 在上述實施形態中，例示了僅依據以撓曲量檢測機 構檢測之撓曲量，設定從基本資訊之突出量減掉之補正值 之情形，而需按收納部之高度，變更補正值時，亦可以按 撓曲量及收納部之高度設定補正值之形態實施。 I：圖式簡單說明3 第1圖係自動倉庫之概略平面圖。 第2圖係第1圖之倉庫之正面圖。 第3圖係堆高式起重機之側視圖。 第4圖係顯示屈伸連桿設備之縮短狀態的側視圖。 第5圖係屈伸連桿設備之伸長狀態的側視圖。 第6圖係顯示物品載置體之退離狀態之概略平面圖。 第7圖係顯示物品載置體之突出狀態之概略平面圖。 第8圖係顯示左旋繞狀態之旋繞台之支撐構造的縱斷 側視圖。 第9圖係顯示支撐構造之概略底面圖。 第10圖係顯示控制結構之方塊圖。 ⑧ 42 201236960 第11圖係物品之立體圖。 第12圖係顯示控制作動之流程圖。 第13圖係顯示控制作動之流程圖。 第14圖係顯示撓曲量檢測機構之檢測資料的圖。 第15圖係顯示撓曲量與物品之重量之關係的圖。 第16(a)圖、第16(b)圖係顯示進行卸下處理及撈取處理 之堆高式起重機之概略正面圖。 第17(a)圖、第17(b)圖係顯示物品載置體之旋繞過程之 概略平面圖。 第18(a)圖、第18(b)圖係進行補正前之卸下處理及撈取 處理之堆高式起重機之概略正面圖。 【主要元件符號說明】 1...收納部 8B...物品出庫部 2...物品收納架 9...物品處理設施 3...移動空間 10...物品載置部 4...物品保持體 11...行走軌道 4a...上框體 12...行走台車 4b...下框體 13…柱 4c...連結體 14...升降台 4d...支撐部 15…物品移載裝置 5...堆高式起重機 16...上部框架 6...支柱 17...升降用鏈 7...載置支撐部 18...引導鏈輪 8A...物品入庫部 20...驅動鏈輪 43 201236960 21.. .伺服式升降用電動馬達 22，26...反射板 23.. ·升降用雷射測距計 24.. .行走車輪 24a...驅動車輪 24b...從動車輪 25.. .行走用電動馬達 27.. .行走用雷射測距計 28.. .旋繞台 29·.·物品載置體 30.. .屈伸連桿設備 31.. .伺服式旋繞用馬達 31A...本體部 31B...輸出旋轉部 32…第1臂 33.. .第2臂 34.. .電動馬達 34A...本體部 34B...輸出軸 35.. .支撐框 36.. .旋繞用軸承 37.. .臂用軸承 38.. .旋繞基準位置檢測感測器 39.. .旋繞用旋轉編碼器 40.. .退離狀態檢測感測器 41.. .突出退離用旋轉編碼器 42.. .光反射體 43.. .撓曲量檢測用雷射測距計 B...物品 H_.·運轉控制機構(撓曲量取得 機構） J0...設定適當位置 J1·.·卸下物品B之位置 P0...旋繞用上下軸心 P1...第1上下軸心 P2…第2上下軸心 P3…第3上下軸心 Q...撓曲量檢測機構 SK. ..旋繞基準位置 SL. ..左側用旋繞位置 SR...右側用旋繞位置 步驟 步驟 44Therefore, in a state where the article B is placed on the article carrier 29, the winding table 28 is rotated from the winding reference position s κ to the right side of the winding position SR to be set to a winding angle of more than 90 degrees, and the winding is performed. The angle is set to the larger the weight of the item B 37 201236960. Incidentally, the winding angle by the weight of the article B is determined in advance by experiments or the like. In this manner, the operation control mechanism Η is configured to set the left side winding position SL and the right side winding position s R according to the amount of deflection (R - D) of the article placing body 29, so that when the article placing body 29 is protruded, The change in the weight of the article b supported by the article carrier 29 enables the article carrier 29 to be appropriate even if the phase of the rotation direction of the output shaft 31B of the elevator table 14 is changed by the body portion 31 of the winding drive motor 31. The direction is outstanding. Next, the fishing process and the unloading process in the control operation performed by the operation control unit , will be described based on the flowcharts of Figs. 2 and 13 . First, referring to Fig. 12, the fishing process will be described. In the state in which the winding table 28 is positioned at the reference winding position SK, the article loading body 29 of the article transfer device 15 is moved to the article transfer position for the article to be picked up, and then the winding table 28 is caused. Rotating to the left side starts with the winding position SL or the right side with the winding position SR. Incidentally, the operation control means obtains the distance detected by the deflection amount detecting laser measuring unit 43 before performing the fishing process, and performs the process of obtaining the initial value R. Further, the left side winding position SL or the right side winding position SR at the time of performing the fishing process is such that the winding table 28 is rotated 90 degrees from the winding reference position SK to the left or right. First, the projecting action of the article carrier 29 is started (#1), and then, based on the basic information, it is determined whether or not the article carrier 29 protrudes to the predetermined protruding position 8 38 201236960 (#2), and the action is continued until the article is placed. The body 29 is located at the protruding position. At #2, when it is determined that the article placing body 29 is projected to the protruding position, the article placing body 29 is started to move up (#3), and then it is determined whether or not the target amount (#4) has been raised, and the operation is continued to rise. Until the article carrier 29 is raised by the target amount set. At #4, when it is determined that the article carrier 29 is raised by the target amount set, the retreat operation of the article carrier 29 is started (#5), and then it is determined whether or not the article carrier 29 is retracted to the retreat position ( #6), continue to retreat until the item carrier 29 retreats to the retreat position. At #6, when it is determined that the article carrier 29 is retracted to the retreat position, sampling (#7) of the detection information of the deflection amount detecting laser range finder 4 is started at the set sampling interval, Next, it is determined whether or not the set time has elapsed (#8), and the sampling is continued until the set time elapses. When it is judged that the set time elapses in #8 ', the averaging processing (#9) of the average value is performed based on the information sampled. This averaging process is a process of determining the average value of the maximum value and the minimum value among the information sampled during the set time (or other averaging process known in the art), and the value obtained by the averaging process is memorized as actual Measured value D. Next, referring to Fig. 13, the description will be made assuming that the article B placed on the article carrier 29 by the above-described pick-up processing is removed. In the state in which the winding table 28 is placed at the winding reference position SK, the article transfer device 15, that is, the article carrier 29 is moved to the article transfer position where the unloading process is performed, and then the winding table is rotated. 28 is wound to the left side with the winding position SL or the right side with the winding position 811. 39 201236960 In addition, the amount of deflection (RD) of the article carrier 29 obtained by subtracting the initial value R from the actual measured value D from the left-hand winding position SL or the right-hand winding position SR is determined. The winding angle from the winding reference position SK is formed at a position greater than an angle of 90 degrees. First, the protruding position calculation processing (#11) of the protruding position of the article placing body 29 at the time of the unloading process, that is, the protruding amount of the article placing body 29 from the retreating position to the protruding position is obtained. The projection position calculation process preliminarily sets the amount of protrusion of the basic information of the amount of protrusion from the height of the item transfer position, and subtracts the amount of deflection corresponding to the weight information of the item B corresponding to the item carrier 29 ( RD) is the processing of the correction value E. Then, 'the starting operation of the article carrier 29 is started (#12), and then it is determined whether the article carrier 29 protrudes to the protruding position determined by the calculation result of the projection position calculation processing (#13), and the operation is continued until the article is loaded. The body 29 protrudes to the protruding position. At #13, when it is determined that the article placing body 29 is at the protruding position, the lowering operation of the article placing body 29 is started (#14), and then it is determined whether or not the target amount of the setting is lowered (#15) 'Continue to descend to the article. The carrier 29 is lowered by the target amount set. When it is determined that the article placement body 29 is lowered by the target amount set by #15', the retreat operation of the article carrier 29 is started (#16), and then it is determined whether the article carrier 29 is retracted to the retreat position (# 17), continue to retreat until the article carrier 29 is at the retreat position. Other Embodiments 40 8 201236960 Next, other embodiments will be described. (1) In the above embodiment, the laser distance measuring mechanism is exemplified as the deflection amount detecting means, and a part of the flexion and extension link device 30 such as the upper and lower shafts or the arm or the strain disposed on the article carrier 29 may be used. Other institutions. (2) In the above embodiment, the case where the upper end portion of the column is in a free state is exemplified, and the upper end portion of the guide rail supporting column may be implemented. At this time, when the article carrier is protruded from the retracted position to the protruding position, the traveling trolley or the column is not inclined in the protruding direction of the article carrier, so that only the deflection of the flexing and extension connecting device can be considered. The amount of deflection obtained by the deflection amount acquisition means is set to a protruding position at which the article carrier on which the article is placed protrudes. (3) In the above-described embodiment, the left side of the winding frame in the state in which the article carrier is not placed is set at a position rotated by 90 degrees from the winding reference position by the winding position and the right side winding position. When the article is placed on the article carrier and the article carrier is protruded from the retracted position to the protruding position, the protruding direction of the article carrier is changed by the deformation of the support frame of the lifting table or the winding drive motor. When the appropriate direction is deviated, the left side of the state in which the article is not placed is set at the position where the winding position and the right side winding position are rotated by more than 90 degrees from the winding reference position, and the article carrier is protruded to the desired direction. (4) In the above-described embodiment, the article storage unit and the item storage unit are separately provided, and the item storage and the item storage and the storage and delivery unit may be provided. (5) In the above embodiment, In the case where the article is an article holder for holding a glass substrate or the like 41 201236960 plate-shaped body, the stacker of the present invention can also be applied to an automatic warehouse for storing various other articles. (6) In the above embodiment, the operation control means for controlling the operation of the stacker is exemplified as the deflection amount obtaining means, and the deflection amount obtaining means may be constituted by using a dedicated control means. (7) In the above-described embodiment, the storage rack having the four-stage storage unit in the vertical direction is exemplified, and the number of the upper and lower sides of the storage unit can be variously changed. (8) In the above-described embodiment, it is exemplified that the correction value subtracted from the amount of protrusion of the basic information is set only in accordance with the amount of deflection detected by the deflection amount detecting means, and the correction is required according to the height of the accommodating portion. In the case of the value, the correction value may be set in accordance with the amount of deflection and the height of the accommodating portion. I: Simple description of the drawing 3 Fig. 1 is a schematic plan view of the automatic warehouse. Figure 2 is a front view of the warehouse of Figure 1. Figure 3 is a side view of a stacker. Fig. 4 is a side view showing the shortened state of the flexion and extension linkage device. Figure 5 is a side view of the extended state of the flexion and extension linkage device. Fig. 6 is a schematic plan view showing the retracted state of the article carrier. Fig. 7 is a schematic plan view showing the protruding state of the article carrier. Fig. 8 is a longitudinal side view showing the support structure of the winding table in the left-handed state. Figure 9 is a schematic bottom view showing the support structure. Figure 10 is a block diagram showing the control structure. 8 42 201236960 Figure 11 is a perspective view of the item. Figure 12 is a flow chart showing the control action. Figure 13 is a flow chart showing the control action. Fig. 14 is a view showing the detection data of the deflection amount detecting mechanism. Figure 15 is a graph showing the relationship between the amount of deflection and the weight of the article. Fig. 16(a) and Fig. 16(b) are schematic front views showing the stacker crane for performing the unloading process and the scooping process. Figs. 17(a) and 17(b) are schematic plan views showing the winding process of the article carrier. Fig. 18(a) and Fig. 18(b) are schematic front views of the stacker with the unloading process and the fishing process before the correction. [Description of main component symbols] 1: accommodating portion 8B... article storage unit 2... article storage rack 9... article processing facility 3... moving space 10... article placing unit 4.. Article holding body 11...walking rail 4a...upper frame 12...traveling trolley 4b...lower frame 13...column 4c...connecting body 14...lifting platform 4d...support Part 15 ... article transfer device 5 ... stacker crane 16 ... upper frame 6 ... strut 17 ... lifting chain 7 ... placing support portion 18 ... guiding sprocket 8A. .. item storage unit 20... drive sprocket 43 201236960 21.. servo electric motor 22, 26...reflector 23.. ...drive wheel 24b... driven wheel 25.. walking electric motor 27.. walking laser range finder 28.. winding table 29·. item carrier 30.. Connecting rod device 31.. Servo winding motor 31A... Main body portion 31B... Output rotating portion 32... First arm 33.. Second arm 34.. Electric motor 34A... Main body portion 34B ...output shaft 35.. support frame 36.. winding bearing 37.. arm bearing 38.. winding reference position detecting sensor 39.. Rotary Encoder for Rotary Encoder 40.. Retreat State Detection Sensor 41.. Retraction Rotary Encoder 42.. Light Reflector 43.. Deflection Detection Laser Ranger B ... Item H_.·Operation control mechanism (deflection amount acquisition mechanism) J0...Set appropriate position J1···Remove position of item BP...Rotate upper and lower axis P1...1st Axis P2...2nd up-and-down axis P3...3rd up-and-down axis Q...Flexing amount detecting means SK. .. winding reference position SL. .. left side winding position SR...right side winding position step step 44

Claims (1)

201236960 七、申請專利範圍： 1. 一種堆高式起重機，係設有在被從行走台車直立設置之 柱所引導之狀態下升降驅動之升降台、物品載置體及屈 伸連桿設備， 該堆高式起重機並構造成於前述升降台連結可朝 車體寬度方向突出退離之前述屈伸連桿設備之基端 部，且於前述屈伸連桿設備之前端部連結前述物品載置 體之基端部，而藉前述屈伸連桿設備之突出退離動作， 將前述物品載置體突出退離操作至使其退離至前述升 降台側之退離位置與突出至外側之突出位置， 該堆高式起重機並設有檢測位於前述退離位置之 前述物品載置體往下方側之撓曲量的撓曲量檢測機構， 且，設有撓曲量取得機構，該撓曲量取得機構係於 前述物品載置體以物品載置狀態位於前述退離位置 時，取得前述撓曲量檢測機構檢測之撓曲量作為載置於 該物品載置體之物品之重量資訊者。 2. 如申請專利範圍第1項之堆高式起重機，其中前述撓曲 量檢測機構以雷射測距機構構成，該雷射測距機構係設 置於前述升降台，以檢測前述物品載置體之被檢測部之 上下位置。 3. 如申請專利範圍第1或2項之堆高式起重機，其中前述撓 曲量取得機構構造成在從前述物品載置體由前述突出 位置退離操作至前述退離位置後經過設定時間為止之 測量期間，以設定取樣間隔反覆取得前述撓曲量檢測機 45 201236960 構檢測之撓曲量，將所取得之複數取樣資訊經平均化處 理之值，5又疋為與載置於前述物品載置體之物品之重量 資訊對應的撓曲量。 4.如申請專利範圍第1項之堆高式起重機，其中前述行走台 車設成沿著設有收納物品之收納部的物品收納架行走， 用以控制前述行走台車之行走作動、前述升降台之 升降作動、及前述屈伸連桿設備之突出退離作動的運轉 控制機構，係構造成在使前述物品載置體位於對前述收 納部之物品移載位置，以將載置於前述物品載置體之物 品收納於前述收納部之狀態下，依據前述撓曲量取得機 構所取知之則述撓曲量，設定使前述物品載置體突出作 動之前述突出位置。 5·如申請專利範圍第4項之堆高式起重機，其中前述行走台 車構造成於前述車體寬度方向之兩端側具有行走車輪， 前述柱係以下端部支撐於前述行走台車，且其上端 部為自由狀態之形態而設置， 前述運轉控制機構構造成依據基本資訊與前述撓 曲量取仔機構所取得之前述撓曲量，設定在對前述收納 部之前述物品移載位置使前述物品載置體突出作動之 突出位置，以將載置於前述物品載置體之物品收納於前 述收納部，且前述基本資訊係訂定成前述收納部之高度 越高，從前述退離位置突出之突出量便越少。 &amp;如申料鄕或5項之堆^起重機，其中於前述 升降台裝備有旋繞框，且於該旋繞框連結前述屈伸連桿 46 201236960 設備之基端部， 用以旋繞操作前述旋繞框之旋繞用驅動馬達以連 接於前述升降台之支撐體支撐， 前述運轉控制機構構造成控制前述旋繞用驅動馬 達之作動，以於使前述物品載置體突出至前述行走台車 之左側時，使前述旋繞框旋繞至左側用旋繞位置，且使 前述物品載置體突出至前述行走台車之右側時，使前述 旋繞框旋繞至右側用旋繞位置，且，構造成依據前述撓 曲量取得機構所取得之撓曲量，設定前述左側用旋繞位 置及前述右側用旋繞位置。 47201236960 VII. Patent application scope: 1. A stacking crane is provided with a lifting platform, an article carrying body and a flexing and extension connecting rod device which are lifted and driven in a state guided by a column which is erected from a walking trolley. The high-rise crane is configured to connect the base end portion of the flexing and extension connecting rod device that can protrude away from the width direction of the vehicle body, and connect the base end of the article carrier to the front end of the flexing and extension connecting rod device And extending, by the protruding retracting action of the flexing and extension connecting rod device, the article carrying body protruding away from the retracted position of the lifting platform side and the protruding position protruding to the outer side, the stacking height The crane is provided with a deflection amount detecting mechanism that detects the amount of deflection of the article carrier located at the retreat position to the lower side, and a deflection amount acquiring mechanism that is provided in the foregoing When the article placement state is at the retreat position in the article placement state, the amount of deflection detected by the deflection amount detecting means is obtained as the weight of the article placed on the article carrier. Addressee. 2. The stacker of claim 1, wherein the deflection amount detecting mechanism is constituted by a laser ranging mechanism, and the laser ranging mechanism is disposed on the lifting platform to detect the article carrier The detected portion is above and below the position. 3. The stacker according to claim 1 or 2, wherein the deflection amount acquiring means is configured to elapse a set time after the article carrier is retracted from the protruding position to the retreat position During the measurement period, the deflection amount detected by the deflection amount detecting machine 45 201236960 is repeatedly obtained at a set sampling interval, and the obtained complex sampling information is averaged, and is again loaded and placed on the above-mentioned articles. The amount of deflection corresponding to the weight information of the item. 4. The stacker according to claim 1, wherein the traveling trolley is arranged to travel along an article storage rack provided with a storage portion for storing articles, for controlling the walking operation of the traveling trolley, and the lifting platform An operation control mechanism for lifting and lowering and a protruding retracting operation of the flexing and extension connecting rod device is configured such that the article placing body is placed at an object transfer position to the storage portion to be placed on the article carrier In the state in which the article is stored in the storage portion, the protruding position at which the article carrier is protruded is set in accordance with the amount of deflection which is obtained by the deflection amount acquiring means. 5. The stacker of claim 4, wherein the traveling trolley is configured to have traveling wheels on both end sides of the width direction of the vehicle body, and the lower end of the column is supported by the traveling trolley and the upper end thereof The part is provided in a free state, and the operation control means is configured to set the amount of deflection obtained by the amount of deflection and the amount of the deflection according to the basic information, and set the position of the article to the storage unit to move the item to The protruding position of the protruding movement is performed to store the article placed on the article carrier in the storage portion, and the basic information is defined such that the height of the storage portion is higher, and the protruding from the retreat position The less you have. &amp; </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> The winding drive motor is supported by a support body connected to the lift table, and the operation control mechanism is configured to control the operation of the winding drive motor to cause the winding of the article carrier to protrude to the left side of the traveling carriage When the frame is wound to the left-hand winding position, and the article carrier is protruded to the right side of the traveling trolley, the winding frame is wound to the right-hand winding position, and is configured to be obtained according to the deflection amount obtaining mechanism. The amount of curvature is set to the aforementioned left-hand winding position and the aforementioned right-side winding position. 47
TW100146462A 2011-02-14 2011-12-15 Stacker crane TWI564237B (en)

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Publication number Priority date Publication date Assignee Title
TWI729148B (en) * 2016-10-31 2021-06-01 日商大福股份有限公司 Transfer machine
TWI733929B (en) * 2016-10-31 2021-07-21 日商大福股份有限公司 Transport vehicle

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JP5590411B2 (en) 2014-09-17
CN102633211A (en) 2012-08-15

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