TW201332862A - Article storage facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article storage facility capable of determining, by a simple process, timing for starting protrusion operation of an article holding part from a retracted position. SOLUTION: Movement control is performed which controls movement of a movement base so that if a storage part as a transfer work target is instructed among a plurality of storage parts, it is accelerated to a set moving speed from a movement start position and it is moved at the set moving speed, and then it is decelerated to be moved to a target stop position for the storage part as the transfer work target, and protrusion control is performed which starts protrusion operation from a retracted position when an elapsed time clocked by a clocking means reaches a time shorter, by a protrusion set time, than a time required for movement of the movement base from the movement start position to the target stop position, and starts to make the article holding part in a transfer device to protrude and operate from the retracted position toward a protrusion position before the movement base stops at the target stop position.

Description

Item storage equipment Field of invention

The present invention relates to an article storage device including: a moving base, which is disposed on a front surface side of a storage rack in which a plurality of storage articles are arranged, and is moved in an arrangement direction of the storage portion; The transfer device is mounted on the moving base, and moves the article holding portion forward and backward at a retracted position retracted to the moving base side and a protruding position protruding to the storage portion side, and is transferred between the storage portion and the storage portion. And the operation control system is configured to control the movement of the moving base and the forward movement of the article holding unit; and the operation control system is configured to indicate the storage unit to be transferred as the storage unit in the plurality of storage units. The movement control and the protrusion control are implemented, and the movement control system is configured to move the moving base to the target stop position, accelerate from the start of the movement position to the set movement speed, and control the movement after the movement speed is set, and the protruding control system Controlling the movement of the article holding portion from the retracted position toward the protruding position, the operation Based-system is configured by the shift control in the movement stopped at the base before the target stop position, the protrusion control starts.

Background of the invention

In the article storage apparatus as described above, the moving base is moved to the target stop position with respect to the storage unit of the transfer work object, and the article holding unit in the transfer device is moved forward and backward to be stored in the transfer work target. Transfer items between departments. The accommodating portion of the transfer work object transfers the article to the transfer device, takes out the article stored in the accommodating portion, and transfers the article to the accommodating portion of the transfer work object from the transfer device, and stores the article in the storage device. The article is transported by the storage unit. Before the moving base stops at the target stop position, the article holding portion in the transfer device is caused to protrude from the retracted position toward the protruding position, and the time required for the moving base to move the article after moving to the target stop position is shortened.

An example of such an article storage apparatus is disclosed in Japanese Laid-Open Patent Publication No. 2006-327759 (Patent Document 1). In Patent Document 1, the moving base moves to the target stop position in the arrangement direction of the storage portion, and when the moving base moves to the travel speed determining position that is set to be higher than the target stop position, the start of the protruding position setting is performed. Set the start position to be processed. Further, when the moving base is moved to the initial protruding position, the article holding portion is caused to start to protrude from the retracted position toward the protruding position.

Incidentally, in the initial position setting processing of Patent Document 1, the traveling speed of the moving base in the traveling speed determining position is detected, and the starting protruding position is calculated based on the traveling speed of the moving base. When the moving base moves to the initial protruding position calculated as described above, the protruding operation of the article holding portion is started, whereby the article holding portion is protruded in advance before the moving base moves to the target stop position, and the moving base movement is shortened. The time required to transfer the item to the target stop position.

In the article storage device of Patent Document 1, the moving speed of the moving base in the direction in which the storage portion is arranged is in the middle of the movement of the moving base. Degree, calculate the starting position. When the starting position is calculated based on the moving speed, the burden on the operation control system becomes large, and there is a problem that the processing by the operation control system takes time. Therefore, it is desirable to obtain a point in time at which the article holding portion starts to actuate from the retracted position by simple processing.

Summary of invention

In view of the foregoing background, it is desirable to realize an article storage apparatus in which the time at which the protruding movement of the article holding portion from the retracted position is started can be obtained by a simple process.

The article storage device according to the present invention is characterized in that the moving base is moved to the front side of the storage rack in which the storage portions of the plurality of storage articles are arranged, and is moved in the arrangement direction of the storage portion; the transfer device is equipped The moving base and the article holding portion move forward and backward at a retracted position retracted to the moving base side and a protruding position protruding to the storage portion side, and the article is transferred between the storage portion and the operation portion; and the operation control system Controlling the movement of the moving base and the movement of the article holding unit; the operation control system is configured to perform movement control and protrusion control when the storage unit to be transferred is instructed in the plurality of storage units. And the movement control system is configured to move the moving base to the target stop position, accelerate from the start of the moving position to the set moving speed, and control to decelerate after moving at a set moving speed, wherein the protruding control causes the article holding unit to be from the foregoing Controlling the retracted position toward the protruding position, the operation control system being Moving the movable control causes the base station The above-described protrusion control is started before stopping at the target stop position. Here, the operation control system further includes a time measuring unit that counts an elapsed time from the movement of the moving base station, and is configured to The above-described protrusion control is started, that is, the time period for which the timing unit is timed is configured to be shorter than the required predetermined time required for the moving base to move from the start movement position to the target stop position. .

In other words, the protrusion control is performed as a condition to start the projecting operation of the article holding portion from the retracted position, that is, the moving base is highlighted by the elapsed time after the start of the movement control from the start of the movement position. The set time is shorter than the time required to move the base station to the target stop position.

Accordingly, when the moving base station reaches the target stop position, the protruding movement of the article holding portion from the retracted position is started with the set time advanced. Therefore, compared with the protruding movement of the article holding portion from the retracted position after the moving base moves to the target stop position, the time necessary for the moving base to move the article after moving to the target stop position can be shortened.

In the state in which the moving base is decelerated from the set moving speed by the setting of the deceleration, for example, when the article holding portion is moved from the retracted position toward the protruding position, the protruding setting time is calculated and set in advance based on the set deceleration. With the set time, it is not necessary to calculate the highlight setting time by the operation control system, and the time at which the article holding portion starts to protrude from the retracted position can be obtained by a simple process.

Therefore, the following items can be realized, that is, by simple means For the reason, the time at which the article holding unit starts to protrude from the retracted position is obtained.

Hereinafter, examples of preferred embodiments of the present invention will be described.

In the embodiment of the article storage device according to the present invention, it is preferable that the storage rack has a member supporting member arranged at a plurality of intervals in a frame width direction, and the storage portion is formed in a widthwise direction of the frame. Between the adjacent member supporting members, the article is stored in a state of being supported by the member supporting member that is adjacent to the shelf width direction, and is arranged in a plurality of rows in the lateral direction of the frame, and is smaller than The amount of protrusion of the article holding portion that protrudes in the protruding direction to the protruding amount of the article supporting member is set as the set protruding amount, and the protruding setting time is set to the time required for the movement plus the protruding portion When the time required for the movement is less than the time required for the movement, the article holding portion is overlapped with the holding member that overlaps the article supporting member of the article that has been stored in the storage portion of the transfer operation object in the frame width direction. After the range, the time required for the moving base to move to the target stop position, the aforementioned prominent place Time-based article holding portion projecting to the time required for setting the amount of projection from the retired position.

That is, the set time for the protrusion is set to the time required for the movement plus the time required for the time required for the protrusion, and the time required for the movement is that the article holding portion moves to the target stop position after the range is repeated by the holding portion. It is necessary that the time required for the protrusion is such that the article holding portion protrudes from the retracted position to the set amount of protrusion, whereby the project holding portion starts the protruding movement of the article holding portion before the holding portion repeats the range.

Moreover, the article holding portion that is smaller than the retracted position protrudes in the protruding direction thereof The amount of protrusion to the protruding amount of the member for supporting the article is set as the set amount of protrusion, and therefore the article holding portion does not interfere with the article supporting member.

Therefore, compared with the protrusion of the article holding portion after the article holding portion is overlapped by the holding portion, the protruding movement of the article holding portion can be started at a time point earlier than or shorter than the time required for the protrusion.

In an embodiment of the article storage device according to the present invention, it is preferable that the position detecting unit further includes: a position detecting unit that detects a position of the moving base relative to an arrangement direction of the storage frame in the storage unit; and a protrusion detecting unit The detection control system is configured to protrude to the set protrusion amount; the operation control system is configured to determine that the article holding unit is moved by the protrusion control, and is determined based on the detection information of the position detection unit. The article holding portion is located in the overlapping portion of the holding portion, and when the protrusion detecting portion detects that the article holding portion has protruded to the set protrusion amount, the protrusion interruption control is performed, and the protrusion interruption control causes the article holding portion to be held The portion is controlled to stop the protruding movement of the article holding portion by decelerating the deceleration, and the set protrusion amount is set to a protrusion amount, that is, the aforementioned item can be held by the protrusion control by the protrusion interruption control The protruding direction of the aforementioned article holding portion is in the aforementioned article Stopper with the front member.

That is, when the article holding portion is located in the holding portion repetition range, and the protrusion detecting portion detects that the article holding portion has protruded to the set protrusion amount, the protrusion interruption control is performed. Further, the set amount of protrusion is set to the following amount of protrusion, that is, when it is assumed that the protrusion interruption control has been performed, the article holding portion can be stopped in front of the article supporting member in the protruding direction. Specifically In other words, by the protrusion detecting unit detecting that the article holding portion has protruded to the set protrusion amount, and the operation control system performs the protrusion interruption control to issue a signal for stopping the item holding portion in the protruding movement, the article can be held. The amount of protrusion in which the article holding portion is stopped in contact with the article supporting member is set as the set amount of protrusion.

According to this, in the case where the article holding portion is located in the overlapping range of the holding portion due to the moving base approaching the target stop position, even when the article holding portion has protruded to the set amount of protrusion, when the protrusion interruption control has been performed, the article can be made Since the article holding portion does not come into contact with the article supporting member and stops before it, it is possible to prevent the article holding portion from coming into contact with the article supporting member.

In an embodiment of the article storage device according to the present invention, preferably, the protrusion detecting unit is configured to include a signal output unit that outputs a signal corresponding to a protruding movement or a protruding amount of the article holding unit; and a signal The determination unit determines whether or not the article holding unit has protruded to the set protrusion amount based on a signal output from the signal output unit; and the protrusion detection unit is configured to detect that the article holding unit has protruded to the following condition In the above-described setting of the amount of protrusion, it is determined by the signal determination unit that the article holding unit has protruded to the set amount of protrusion.

In other words, when the signal output unit outputs a signal corresponding to the protruding movement or the amount of protrusion of the article holding unit, and based on the signal, the signal determination unit determines that the amount of protrusion has been highlighted, and the operation control system executes Highlight interrupt control. Further, since the signal output unit is configured to output a signal corresponding to the protruding movement or the amount of protrusion of the article holding portion, When the article holding portion has been protruded to the set amount of protrusion, the signal is outputted from the signal output portion appropriately, and the protrusion detecting portion can accurately detect that the article holding portion has protruded to the set amount of protrusion.

In the embodiment of the article storage device according to the present invention, it is preferable that the timekeeping unit is configured to set an elapsed time from the article holding unit to be more time-lapsed, and the protrusion detecting unit includes the timekeeping unit and the timekeeping unit. In the determination unit, the timing determination unit is configured to determine that the article holding unit has protruded to the set protrusion amount when the elapsed time from the time when the timekeeping unit starts to protrude from the article holding unit constitutes the time required for the protrusion. In the above-described projection detecting unit, it is detected that the article holding portion has protruded to the set projection amount, that is, the timing determination unit determines that the article holding portion has protruded to the set projection amount.

In other words, when the timekeeping unit has passed the time required for the protrusion and the time determination unit has determined that the article holding unit has protruded to the set amount of protrusion, the operation control system performs the protrusion interruption control. Further, by counting the elapsed time from the moving base, the elapsed time from the start of the article holding portion is counted, whereby it is not necessary to provide a dedicated timing portion for the protruding detecting portion, thereby simplifying the structure. .

In the embodiment of the article storage device according to the present invention, it is preferable that the operation control system is configured to stop the protruding movement speed of the article holding portion from being decelerated or to stop the movement by the protrusion interruption control. In the state, if the detection information of the position detecting unit is determined, the article holding unit has been repeatedly passed through the holding unit. The periphery holds the article holding portion to the aforementioned protruding position.

In other words, even if the protruding movement speed of the article holding portion is in a state of deceleration or a state in which the protruding movement is stopped by the protrusion interruption control, there is no possibility that the article holding portion passes through the holding portion by the movement of the moving base. When the article holding portion interferes with the member for supporting the article. Therefore, in the state in which the protruding movement speed of the article holding portion is in the state of deceleration or the state in which the protruding movement is stopped by the execution of the protrusion interruption control, when the moving base has passed the range of the holding portion, the article holding portion is protruded to the protruding position. By this, it is possible to prevent the article holding portion from coming into contact with the article supporting member, and to continue or resume the protruding movement of the article holding portion.

In the embodiment of the article storage device according to the present invention, it is preferable that the article supporting member includes a pillar that is erected adjacent to the storage portion, and a mounting support that is attached to the pillar. And extending from the pillar in the lateral direction of the rack toward the inner side of the accommodating portion; the accommodating portion is configured to lie across the pair of mounting supports located between the adjacent struts, thereby placing the article The storage device is configured to transfer the article in a state in which the support article is placed by the article holding portion, and is configured to have a width in the lateral direction of the shelf that is larger than the article holding portion. The wide-width article is supported by the state in which the article holding portion protrudes toward both sides of the lateral direction of the frame, and the operation control system is configured such that the support article is not placed on the article holding portion. In the idling state, in the state in which the article holding portion is moved by the protrusion control, the protrusion interruption control is performed under the condition that the According to the position detecting unit has the The detection information is determined such that the article holding portion is located in the overlapping portion of the holding portion, and the protrusion detecting portion detects that the article holding portion has protruded to the no-load setting amount, and is carried by the article holding portion. In the state in which the support article is placed in the state in which the article holding portion is moved by the protrusion control, the protrusion interruption control is performed under the condition that the detection information of the position detection unit is determined to be The article supported by the article holding portion is located in a range in which the article is overlapped with the pillar in the lateral direction of the frame, and the protrusion detecting portion detects that the article holding portion has protruded to the actual setting projection amount.

That is, in the idling state, the article held by the accommodating portion is picked up by the article holding portion, and the article is transferred from the accommodating portion to the moving base. When the articles in the accommodating portion are collected accordingly, the article holding portion protrudes at a height lower than the lower side of the article. The article holding portion at this time is located at a height that will come into contact with the pillar or the mounting support.

Therefore, in the idling state, it is determined that the position of the article holding portion in the lateral direction of the frame is located in the overlapping portion of the holding portion based on the detection information of the position detecting portion, and the protruding detecting portion detects that the article holding portion has protruded to the set protruding amount. At this time, the protrusion interruption control is performed, whereby it is possible to prevent the article holding portion from coming into contact with the article supporting member (the pillar and the placing support) in the idling state.

Further, in the actual load state, the article held by the article holding portion is unloaded to the accommodating portion, and the article is transferred from the moving base to the accommodating portion. When the article is delivered to the accommodating portion in this manner, the underside of the article protrudes above the upper surface of the mounting support. Item line at this time The height of the contact with the pillars. Further, since the article protrudes from the article holding portion in the lateral direction of the frame, it is easier to come into contact with the pillar than the article holding portion.

Therefore, in the actual load state, it is determined that the position in which the article supporting the article holding portion is placed in the lateral direction of the article is located in the article repeating range, and the object detecting portion is detected by the protruding detecting portion. When protruding to the set amount of the actual load, the protrusion interruption control is performed, whereby the article and the pillar are prevented from coming into contact in the actual load state.

In the embodiment of the article storage apparatus according to the present invention, it is preferable that the set time for protrusion is set in the idling state, and the time required for the movement for no-load is set to be equal to or less than the time required for the protrusion for no-load. The time required for the idling movement is the time required for the moving base to move to the target stop position after the article holding portion passes through the holding portion repeating range, and the time required for the vacant projection is the aforementioned The time required for the article holding portion to protrude from the retracted position to the vacant set projection amount, and the time required for the actual load movement plus the time required for the actual load projection to be set in the actual load state And the time required for the movement of the actual load to pass through the aforementioned item repetition range, the time required for the moving base to move to the target stop position, and the time required for the actual load to be protruded is the article holding unit. The aforementioned retracted position protrudes to the time required for setting the amount of protrusion for the actual load.

In other words, in the idling state, the time required for the idling movement plus the time required for the vacancy projection time is set as the projection setting time. Therefore, the article holding unit starts before the holding portion repeats the range. In the state in which the article holding portion is protruded and the article holding portion is located in the overlapping portion of the holding portion, the amount of protrusion of the article holding portion is smaller than the amount of protrusion of the set projection amount for no-load. Therefore, compared with the protrusion of the article holding portion after the article holding portion is overlapped by the holding portion, the protruding movement of the article holding portion can be started at a time point earlier than or shorter than the time required for the no-load projection. And it is possible to prevent the article holding portion from coming into contact with the article supporting member.

Further, in the actual load state, the time required for the actual load movement time plus the time required for the actual load projection time is set as the protrusion set time, and therefore the article holding portion is started before the article passes the article repetition range. In the state in which the object holding portion is located in the overlapping range of the article, the protruding amount of the article holding portion constitutes a protruding amount smaller than the set projection amount for the actual load. Therefore, the protrusion of the article holding portion can be started at a time point earlier than or shorter than the time required for the actual load to be used, and the protruding movement of the article holding portion can be started, and Prevent items from coming into contact with the pillars.

In an embodiment of the article storage device according to the present invention, at least one or all of the set moving speed, the set acceleration that accelerates to the set moving speed, and the set deceleration that decelerates from the set moving speed are based on the start moving position. The distance to the target stop position or whether or not the article is held by the article holding unit is set to a different value.

That is, for example, when the distance from the start of the movement position to the target stop position is long, the distance from the start movement position to the target stop position is compared In the short case, a larger value can be set as the set moving speed, the set acceleration, and the set moving speed. Or, when the article holding portion is not held by the article holding portion, the larger the value is set as the set moving speed, the set acceleration, the set moving speed, etc., compared to the case where the article is held by the article holding portion. The high speed of the movement of the mobile base is achieved to efficiently transport the articles.

In the embodiment of the article storage device according to the present invention, it is preferable that the operation control system is configured such that an elapsed time from the article holding unit to the retracting movement by the time counting unit is configured to be longer than the article holding unit. When the protruding position retracts and moves to the retracted position for a short period of time for retracting the set time, the movement of the moving base toward the next target stop position is started.

In other words, when the elapsed time from the start of the article holding portion to the retracting movement is shorter than the time required for the retraction position of the article holding portion to retreat from the protruding position to the retracted position is shorter, the movement of the base station toward the next target stop position is started. mobile.

According to this, compared with the retracted position of the article holding portion, the movement of the moving base from the start of the moving position starts with the set time for retracting, and therefore, the moving base is started after the article holding portion retreats to the retracted position. By moving the mobile to the location, the time required to transfer the next item can be shortened.

1‧‧‧ Storage Department

2‧‧‧ Storage rack

3‧‧‧Head height crane

4‧‧‧ receiving platform

4a‧‧‧ Receiving Department

5‧‧‧Articles for article support

5a‧‧‧ pillar

5b‧‧‧Loading support

6‧‧‧ Walking path

7‧‧‧Walking wheel

8‧‧‧ Walking trolley

9‧‧‧Mast

10‧‧‧ Lifting platform (mobile abutment)

11‧‧‧Transfer device

11a‧‧‧Article Keeping Department

12‧‧‧ rails

13‧‧‧Line material

14‧‧‧Winding

15‧‧‧ Walking position detection sensor (position detection unit)

16‧‧‧ Lift position detection sensor

17‧‧‧Outstanding amount detection sensor (signal output unit)

18‧‧‧No detection sensor

20‧‧‧Timekeeping Department

21‧‧‧Time Setting Department

22‧‧‧Outstanding detection department

23‧‧‧Discrimination section (signal discrimination section)

H‧‧‧Control device (operation control system)

M1‧‧‧Electric motor for walking

M2‧‧‧Electric motor for lifting

W‧‧‧ items

Figure 1 is a perspective view of the article storage device; Figure 2 is a side view of the stacker crane; Figure 3 (a), (b) shows the retracted position and the protruding position of the article holding portion 4(a) and (b) are side views showing the stop position for extraction and the stop position for unloading; Fig. 5 is a plan view showing the state in which the article is placed on the article holding portion; Fig. 6 is a control block diagram Fig. 7 is a plan view showing the amount of protrusion for setting the idling of the article holding portion; Fig. 8 is a plan view showing the amount of set projection for the actual holding of the article holding portion; Fig. 9 is a graph showing the change of the traveling speed; Fig. 10 is a view showing the advance and retreat FIG. 11 is a graph showing the relationship between the walking movement, the lifting movement, and the forward and backward movement; FIG. 12 is a plan view showing the movement of the article holding portion in the extraction processing; and FIG. 13 is a view showing the article holding portion in the unloading process. A plan view of the movement; Fig. 14 is a flow chart of the extraction process; and Fig. 15 is a flow chart of the unloading process.

Form for implementing the invention

Hereinafter, embodiments of the present invention will be described based on the drawings.

As shown in FIG. 1 , the article storage apparatus according to the present embodiment includes a storage rack 2 in which the storage unit 1 for storing the articles W is arranged in the horizontal width direction and the vertical direction of the rack, and the stacking crane 3 is arranged along the rack. The front side of the storage rack 2 in the lateral direction and the receiving and receiving station 4 are provided with the receiving unit 4a at the four corners of the supporting article W.

Further, in Fig. 1, the direction indicated by the arrow mark X is in the lateral direction. The direction indicated by the arrow mark Y is the front-rear direction, and the direction indicated by the arrow mark Z is the up-and-down direction.

[Storage rack]

The storage racks 2 are opposed to each other and are provided at a distance from each other. Each of the storage racks 2 is provided with a member supporting member 5 which is arranged at equal intervals in the horizontal direction of the rack, and supports the article W by a pair of article supporting members 5 adjacent to each other in the lateral direction of the rack. W is housed in the storage unit 1.

When the storage form of the article W in the accommodating portion 1 is described, the article supporting member 5 includes a support 5a that is erected in a state adjacent to the accommodating portion 1, and a mounting support 5b that is attached to The pillar 5a is attached to the pillar 5a in a state in which the pillar 5a protrudes toward the inner side of the housing portion 1 in the lateral direction of the rack; and the article W accommodated in the housing portion 1 spans a pair of mounting supports located between the adjacent pillars 5a. 5b and mounting support.

In the form in which the accommodating portion 1 is formed between the pillars 5a (the article supporting members 5) adjacent to each other in the lateral direction of the rack, the accommodating portion 1 is arranged in a plurality of rows in the rack width direction. Further, the plurality of mounting supports 5b are attached to the support 5a at intervals in the vertical direction, and the storage unit 1 is attached to the mounting support 5b, and the storage unit 1 is attached to the storage rack 2. A plurality of them are arranged in the vertical direction.

Further, the accommodating portion 1 is arranged in a plurality of rows in the lateral direction and the vertical direction. However, in the horizontal width direction and the vertical direction of the racks, in the present embodiment, the rack width direction corresponds to the accommodating portion 1. Arrange the direction.

As shown in Fig. 3, the placement support 5b is mounted across a pair of pillars 5a adjacent in the front-rear direction, and is stacked in the front-rear direction from the pillar 5a. The side of the high-rise crane 3 stands out.

[stack crane]

As shown in Fig. 2, the stacking crane 3 is provided with a traveling carriage 8 which is freely traveled along a traveling path 6 which is formed between a pair of storage racks 2 in the horizontal width direction of the rack, and a lifting platform 10 along which The mast 9 that is erected on the traveling vehicle 8 is freely lifted and lowered; the transfer device 11 is mounted on the lifting platform 10 and is free to transfer the article W in a state in which the article W is placed by the article holding portion 11a; The control device H (see Fig. 6) controls the mover of the stacker crane 3.

Further, by moving the stacker crane 3 in the lateral direction of the rack, the elevating table 10 is moved in the lateral direction of the rack in front of the storage rack 2. The elevating table 10 corresponds to a moving base that is moved in the direction in which the storage unit 1 is arranged in front of the storage rack 2.

Further, the stacker crane 3 rotationally drives the traveling wheel 7 that has been rotated on the guide rail 12 provided along the traveling path 6 by the traveling electric motor M1, thereby causing the traveling carriage 8 to follow the horizontal width direction of the rack. By the electric motor M2 for raising and lowering, the winding drum 14 of the strand 13 which has been connected to the elevating table 10 in the winding is rotationally driven, whereby the elevating table 10 is moved up and down.

As shown in FIG. 3, the transfer device 11 is configured such that the article holding portion 11a on which the support article W is placed moves forward and backward at the retracted position and the projected position, and the article can be transferred between the storage unit 1 or the receiving station 4 and the self. . The retracted position is a position at which the article holding portion 11a is retracted to the side of the elevating table 10 (the position shown in FIG. 3(a) and the position shown by a solid line in FIG. 4), and the protruding position is an article. The position of the article holding portion 11a when the holding portion 11a protrudes to the storage portion side (the position shown in FIG. 3(b) and the position shown by the imaginary line in FIG. 4). Further, the transfer device 11 is configured such that the article holding portion 11a is rotated about the longitudinal axis, and can be selectively protruded to the side of the storage rack 2 of one of the pair of storage racks 2 or the storage rack 2 of the other one. On the side, the article W can be transferred between the storage unit 1 and the storage unit 1 of any one of the pair of storage racks 2 . Moreover, the advancing and retracting direction of the article holding portion 11a is the same direction as the front-rear direction of the rack.

As shown in Fig. 5, the width of the article W transferred by the transfer device 11 in the lateral direction of the shelf is wider than the width of the article holding portion 11a in the lateral direction of the shelf. Therefore, the article holding portion 11a constitutes the article W. The support is supported by the state in which the article holding portion 11a protrudes toward both sides in the lateral direction of the frame. The width of the article W in the lateral direction of the shelf is smaller than the interval between the pillars 5a adjacent to each other in the lateral direction of the shelf, and is larger than the interval between the pair of mounting supports 5b on which the support articles W are placed. Moreover, the width of the article holding portion 11a in the lateral direction of the rack is smaller than the interval between the pair of mounting supports 5b on which the pair of supporting articles W are placed.

As shown in FIG. 6, the stacking crane 3 is provided with a walking position detecting sensor 15 for detecting the position of the horizontal width direction of the lifting platform 10, and a lifting position detecting sensor 16 for detecting the lifting platform. 10 is the position above and below. The walking position detecting sensor 15 and the lifting position detecting sensor 16 are constituted by a magnetic head of a magnetic linear scale, and the walking position detecting sensor 15 is disposed on the traveling trolley 8 and has been disposed along the traveling path 6 The traveling scale (not shown) detects the position information, and the lifting position detecting sensor 16 is provided on the lifting platform 10, and the position information is detected by the lifting scale (not shown) provided along the mast 9.

Moreover, the walking position detecting sensor 15 detects the traveling carriage 8 in the frame width The position of the direction is used to indirectly detect the position of the lifting platform 10 and the article W supported thereon in the lateral direction of the frame, and corresponds to detecting the position of the lifting platform 10 with respect to the storage frame 2 in the lateral direction of the shelf. Position detection unit.

Further, the elevating table 10 is provided with a protrusion amount detecting sensor 17 for detecting that the article holding portion 11a is protruded from the retracted position, and the presence detecting sensor 18 for detecting the article W on the article holding portion 11a. The depositor. The protrusion amount detecting sensor 17 is constituted by a rotary encoder, and is configured to output a pulse signal in conjunction with the advance and retreat movement of the article holding portion 11a. The protrusion amount detecting sensor 17 is a signal output unit that outputs a signal in conjunction with the protruding movement of the article holding unit 11a.

In addition, as shown in FIG. 6, the detected article holding portion 11a has been protruded to the no-load setting projection amount and the projection detecting portion 22 that has been protruded to the actual load setting projection amount by the protrusion amount detecting sensor 17 and the following determination The structure of the department 23. When the determination unit 23 determines that the article holding unit 11a has protruded to the no-load setting projection amount, the detected article holding unit 11a has protruded to the no-load setting projection amount, and the determination unit 23 determines that the article holding unit 11a has been When the protrusion amount is set to the actual load setting amount, the detected article holding portion 11a has protruded to the set projection amount for the actual load. Further, the set amount of protrusion for no-load is equivalent to the set amount of protrusion of the present invention.

As shown in FIG. 7 , the set amount of the vacant load is set to the following amount of protrusion, that is, the protrusion holding unit 11a is protruded to the vacant setting protrusion amount by the protrusion control described later, and the self-protrusion amount detection sensation is set. When the detector 17 outputs a pulse signal, and the projecting speed of the article holding portion 11a is decelerated by the deceleration of the holding portion, the article holding portion 11a can be supported in the article in the protruding direction. Use the front stop of the member 5.

As described above, as shown in Fig. 7, the position of the article holding portion 11a for preventing the interference setting distance from the article supporting member 5 is set to a very stop position, and one half of the protruding amount of the retracted position to the very stop position is obtained. The position of the protruding article holding portion 11a is set to start the deceleration position. In addition, when the article holding portion 11a is protruded to the no-load setting projection amount, the protrusion speed is actually decelerated from the output of the pulse amount signal from the protrusion amount detecting sensor 17, and the control time or the driving time must be configured. The control time is obtained by the protrusion amount detecting sensor 17 outputting the pulse signal until the control device H starts the execution of the protrusion interruption controller described later, and the driving time is started to perform the protrusion interruption control to the projecting speed of the article holding portion 11a. . Therefore, considering the control time or the drive time, the set distance for the time lag is set from the start of the deceleration position to the setting amount of the no-load setting.

As a result, since the article holding portion 11a protrudes to the no-load setting projection amount and the pulse signal is output from the protrusion amount detecting sensor 17, the protrusion interrupt control is executed by the control device H, and the self-control device H pairs the transfer device 11 A signal for stopping the article holding portion 11a is issued, and the protruding speed of the article holding portion 11a is decelerated by the deceleration of the holding portion from the start of the deceleration position, whereby the article holding portion 11a is stopped at the very stop position.

In addition, as shown in FIG. 8 , the set projection amount for the actual load is set to the following amount of protrusion, that is, the protrusion holding unit 11a protrudes to the actual load setting amount by the protrusion amount, and the self-protrusion amount When the detection sensor 17 outputs a pulse signal, and the projecting speed of the article holding portion 11a is decelerated by the deceleration of the holding portion, the article supported by the article holding portion 11a can be placed. W is stopped in front of the pillar 5a in the protruding direction.

As described above, as shown in FIG. 8, the position of the article holding portion 11a for preventing the interference setting distance is set to a very stop position from the support 5a, and the article supported by the article holding portion 11a at the retracted position is placed. The position of the article holding portion 11a which is one half of the distance from the end portion of the projecting side of the W to the projecting side end portion of the article holding portion 11a at the very stop position is set to the start deceleration position. Further, in consideration of the above-described control time or drive time, the set distance for the time lag is set from the start of the deceleration position to the set target amount for the actual load.

As a result, the article holding portion 11a protrudes from the set projection amount for the actual load, and the pulse signal is output from the protrusion amount detecting sensor 17, and then the protrusion interrupt control is executed by the control device H, and the article holding portion 11a is caused from the start of the deceleration position. The protruding speed is decelerated by the holding portion at the deceleration, whereby the article holding portion 11a is stopped at the very stop position.

[control device]

As shown in FIG. 6, the detection information of the walking position detecting sensor 15 and the detection information of the lifting position detecting sensor 16 are input to the control device H, and the control device H detects the detection information of the sensor 15 based on the walking position. The position of the horizontal direction of the lifting platform 10 is discriminated, and the position of the upper and lower directions of the lifting platform 10 is determined based on the detection information of the lifting position detecting sensor 16.

Further, the control device H receives the pulse signal from the protrusion amount detecting sensor 17, and includes the determining unit 23 in the form of a program, and the determining unit 23 determines the item holding based on the pulse signal from the protruding amount detecting sensor 17. The amount of protrusion of the portion 11a. The determining unit 23 calculates the coming from the protrusion amount detecting sensor 17 By the pulse signal, it is determined whether or not the article holding portion 11a has protruded to the no-load setting projection amount, and whether the article holding portion 11a has protruded to the actual load setting projection amount. Further, the determination unit 23 corresponds to a signal determination unit that determines whether or not the article holding unit 11a has protruded to the set protrusion amount based on the signal of the protrusion amount detecting sensor 17.

Further, the control device H inputs the detection information of the detection sensor 18, and the control device H determines that the support article W is not placed by the article holding unit 11a based on the detection information of the presence detection sensor 18. In the state, the loaded state of the support article W is placed by the article holding unit 11a.

Further, the control unit H is provided with the time-lapse unit 20 for the elapsed time in the program form, and the time-lapse unit 20 is configured to count the elapsed time from the start of the movement of the elevating table 10, and the elevating table 10 is moved from the start position. The frame moves in a horizontal direction.

Further, the control device H corresponds to an operation control system that controls the movement of the elevating table 10 and the advancement and retreat movement of the article holding unit 11a in the transfer device 11.

For each of the plurality of storage units 1 and the receiving station 4, a movement stop position in which the position in the horizontal width direction of the rack is set as the target stop position is set in advance. In addition, for each of the plurality of storage units 1 and the receiving station 4, an extraction stop position that has been set in the vertical direction and an unloading stop position that is higher than the extraction stop position are set in advance.

As shown in FIG. 3, in the state in which the elevating table 10 is located at the movement stop position, the article holding portion 11a is located at the center of a pair of adjacent pillars 5a in the rack widthwise direction. Further, since the article supporting members 5 (pillars 5a) are provided at equal intervals in the lateral direction of the rack, they are arranged in a plurality of rows in the lateral direction of the rack. The plurality of movement stop positions set in the unit 1 are set at equal intervals in the horizontal width direction of the rack. Incidentally, the interval between the movement stop position set to the delivery tray 4 and the movement stop position set to the storage portion 1 adjacent to the delivery tray 4 at the end portion in the lateral direction of the rack is compared with the plural storage portion 1 The set movement stop position is wide.

As shown in Fig. 4 (a), in a state where the elevating table 10 is at the height of the extraction stop position, the mounting surface on which the article holding portion 11a mounts the support article W is located within the upper width of the mounting support 5b, and As shown in Fig. 4 (b), in the state where the lifting platform 10 is at the height of the unloading stop position, the height of the mounting surface of the article holding portion 11a is placed on the mounting support member 5b. Above the surface.

The control device H is configured to perform the movement control, the elevation control, and the protrusion when the storage unit 1 as the transfer operation target is instructed in the plurality of storage units 1 by the storage unit or the delivery instruction from the upper management unit (not shown). Control and retreat control. In the movement control, the control device H controls the operation of the traveling electric motor M1 so that the elevating table 10 moves in the rack lateral direction to the movement stop position corresponding to the storage unit 1 of the transfer operation target. In the lift control, the control device H controls the operation of the lift electric motor M2 so that the lift table 10 moves in the vertical direction to the extraction stop position or the unloading stop position corresponding to the storage unit 1 of the transfer operation target. In the protrusion control, the control device H controls the operation of the transfer device 11 to cause the article holding portion 11a to protrude from the retracted position to the protruding position. In the retreat control, the control device H controls the operation of the transfer device 11 to move the article holding portion 11a from the protruding position to the retracted position.

In the movement control, the control device H controls the operation of the traveling electric motor M1 according to the following moving speed pattern, thereby controlling the movement of the lifting platform 10 in the lateral direction of the frame, that is, accelerating from the starting moving position with the set acceleration. After the set traveling speed is reached and the set traveling speed is reached, the vehicle is decelerated at the set deceleration and moved to the movement stop position of the storage unit 1 as the transfer operation target.

In the movement control, one or all of the set movement speed, the set acceleration of the acceleration to the set movement speed, and the set deceleration of the self-set movement speed deceleration are based on the distance from the start movement position to the movement stop position or whether or not the article is retained by the article. The portion 11a holds the placed state of the article W and sets it to a different value.

Specifically, the moving distance from the start of the traveling position (moving starting point) to the moving stop position of the moving destination in the lateral direction of the rack is divided into a short distance, a medium distance, and a long distance. Further, as shown in FIG. 9, the moving speed pattern is based on the moving distance and the placed state of the article W, and corresponds to the case where the moving distance is a short distance, the moving distance is a medium distance, and the moving distance is a long distance and is placed. There are four movement modes in the case where the state is the real load state, the moving distance is a long distance, and the mounting state is the no-load state. The set acceleration and the set deceleration in the moving speed pattern are set to the values in the order of the short distance, the middle distance, the long distance and the actual load condition, and the long distance and the no load condition. Become bigger. Further, the set moving speed is set such that the value becomes larger in the case of a short distance, a medium distance, and a long distance, and is a long distance and a real load condition and a long distance and a no load state. Setting phase The same value.

In addition, the movement stop position is set to one section in the movement stop position adjacent to the rack width direction, and the required reservation is set in advance in accordance with the number of sections constituting the movement stop position of the start travel position to the movement stop position constituting the movement destination. The time, the required predetermined time that has been preset in advance, is memorized in the control device H. The required predetermined time is set to be different depending on the above-described four movement forms, and whether the movement stop position constituting the start travel position (movement start point) or the movement stop position constituting the movement destination is the position corresponding to the delivery station 4. The time, each required predetermined time is based on the information of the number of display intervals, the information showing the four movement patterns, and whether the display start movement position (moving start point) or the movement stop position (moving destination) corresponds to the receiving dock 4 The position information corresponds to the form, and the memory is in the required scheduled timetable. The control device H corresponds to the four movement patterns and the memory required for the predetermined time is different in the four movement modes, the set movement speed, the set acceleration, and the set deceleration. Further, whether or not the start movement position or the movement stop position corresponds to the position of the receiving dock 4 and the required predetermined time is memorized is because the moving distance is different even if it is the same number of sections.

The control device H sets the moving speed pattern as follows. First, based on the number of sections constituting the movement stop position of the start travel position (movement start point) to the movement stop position constituting the movement destination, it is determined whether the division of the movement distance belongs to which of the short distance, the medium distance, or the long distance.

Secondly, according to the division of the moving distance and the loading state (in the no-load state or the real-load state), the set moving speed, the set acceleration, and the set deceleration are set, and the moving state is divided according to the moving distance, and is placed in an empty state or Actual load The state) and the start moving position or the moving stop position are positions corresponding to the receiving station 4, and the required predetermined time is set with reference to the required predetermined schedule.

Further, the moving speed pattern is set based on the number of the sections, the set moving speed, the set acceleration, and the set deceleration and the required predetermined time.

In the lift control, the operation of the lift electric motor M2 is controlled in accordance with the lift speed pattern of the lift table 10, thereby controlling the movement of the lift table 10 in the vertical direction. The hoisting and lowering speed type display is accelerated from the starting acceleration position to the set hoisting speed and reaches the set hoisting speed, and is decelerated by the set hoisting speed to move up and down to the target of the transfer operation. The time of the lifting speed of the lifting table 10 of the extraction stop position or the unloading stop position of the accommodating portion 1 changes. Although the detailed description is omitted, in the lifting control, some or all of the set lifting speed, the lifting set acceleration, and the lifting set deceleration are also based on the distance from the start lifting position to the extraction stop position or the unloading stop position (interval). The number is set, and whether or not the article W (the placed state) is held by the article holding portion 11a is set to a value different from the running control.

In the protrusion control, the protruding movement of the article holding portion 11a is controlled in accordance with the protruding speed pattern. The protruding speed pattern shows a temporal change of the protruding speed of the article holding portion 11a for projecting from the retracted position to the protruding position, and is a speed pattern in which the acceleration of the holding portion is accelerated to the advance and retreat speed of the holding portion. When the advancement/retraction speed is reached by the holding portion, the holding portion is decelerated by the deceleration.

Further, in the retreat control, the retracting movement of the article holding portion 11a is controlled in accordance with the retracting speed pattern. Retired speed type system display to make it self-protruding The time change of the retreating speed of the article holding portion 11a at the retracted position is retracted to the following speed pattern, that is, after the acceleration of the holding portion is accelerated to the advancing and retracting speed of the holding portion and reaches the advancing and retracting speed of the holding portion, the holding portion is maintained. Decelerate with deceleration.

In the protrusion control and the retraction control, as shown in FIG. 10, the acceleration for the holding portion, the deceleration for the holding portion, and the advancing and retracting speed for the holding portion are set to different values depending on the actual load state or the idling state, as compared with In the actual load state, the acceleration for the holding portion, the deceleration for the holding portion, and the advancing and retracting speed for the holding portion are set to a large speed.

When the storage instruction or the delivery instruction is issued from the upper management, the control device H performs the extraction processing and the unloading processing to transfer the article W. In other words, when the delivery instruction is issued, the extraction processing of the article W on the delivery tray 4 is performed, and the unloading process of unloading the extracted article W to the storage unit 1 is performed, and the article W is stored in the storage unit 1. In addition, when the delivery instruction is issued, the extraction processing of the article W stored in the storage unit 1 is performed, and the unloading process of unloading the extracted article W onto the delivery platform 4 is performed, and the storage unit 1 is stored. The item W is taken out to the receiving station 4.

In response to this, the control device H is configured to control the operation of the stacker crane 3 based on the warehousing command or the warehousing command issued by the upper management.

When the storage unit 1 or the receiving station 4 of the transfer operation object performs the extraction processing, the movement control and the elevation control are performed based on the detection information of the traveling position detecting sensor 15 or the lifting position detecting sensor 16 and The lifting table 10 in the idling state is moved to the movement stop position with respect to the accommodating portion 1 or the receiving table 4 of the transfer operation object in the horizontal direction of the rack, and is directed to the upper and lower portions. The movement is moved to the extraction stop position with respect to the storage unit 1 or the receiving station 4 of the transfer operation target. In addition, the article holding portion 11a in the idling state is protruded to the protruding position, and the lifting control is performed to raise and lower the lifting table 10 to the unloading stop position, and the retracting control is executed to bring the article holding portion in the loaded state. 11a is retracted to the retracted position, and the article W accommodated in the accommodating portion 1 is taken up by the article holding portion 11a.

Further, when the storage unit 1 or the delivery table 4 of the transfer operation object is unloaded, the movement control and the elevation control are performed based on the detection information of the traveling position detecting sensor 15 or the lifting position detecting sensor 16, and In the horizontal direction of the rack, the elevating table 10 in the actual load state is moved to the movement stop position with respect to the accommodating portion 1 of the transfer operation object, and is moved to the accommodating portion 1 for the transfer work target or the vertical direction in the vertical direction. The unloading stop position of the cargo bed 4. In addition, the article holding portion 11a in the loaded state is protruded to the protruding position, and the lifting and lowering control is performed to lower the lifting table 10 to the extraction stop position, and the retracting control is executed to bring the article holding portion in the idling state. The 11a is retracted to the retracted position, and the article W on the article holding portion 11a is unloaded to the accommodating portion 1.

When the extraction process is performed, the control device H starts the transfer control and the lift control at the same time. When the movement in the lateral direction of the lifting platform 10 by the movement control is completed earlier than the movement in the upper and lower directions of the lifting platform 10 by the lifting control, the protrusion control is retained until the lifting platform 10 is positioned relative to the horizontally wide direction of the frame. When the storage unit 1 of the work object or the movement stop position of the delivery table 4 is moved, the movement is stopped to the storage stop position of the storage unit 1 or the delivery station 4 of the transfer operation object. Also, if the lifting platform 10 is controlled by lifting Moving to the storage stop position of the storage unit 1 or the delivery table 4 of the transfer operation object, and constituting the elevating table 10 in the rack width direction, the storage unit 1 or the receiving station 4 for the transfer operation target The movement stop position is in a state in which the vertical direction is in the state of the extraction stop position with respect to the storage unit 1 or the delivery table 4 of the transfer operation object, and the protrusion control is performed.

On the other hand, when the movement in the up-down direction of the elevating table 10 by the elevating control is earlier than the movement in the lateral direction of the elevating table 10 by the movement control, as shown in FIG. 11, the control device H is attached to the elevating table 10 The protrusion control is started before the movement stop position of the storage unit 1 or the delivery table 4 of the transfer operation object is stopped by the movement control. The control device H is configured such that the set time for the projection is required to move from the start position to the movement stop position of the lift table 10 when the time period from the lift table 10 to the movement in the lateral direction of the rack is counted by the timer unit 20. When the required predetermined time is short, the operation of the transfer device 11 is controlled to start the protruding movement from the retracted position. In addition, the elapsed time period from the start of the projecting movement by the article holding unit 11a by the timekeeping unit 20 is such that the set time for lifting and lowering is shorter than the time required for the article holding portion 11a to protrude from the retracted position to the protruding position. Then, the movement of the lifting platform 10 is controlled to start the upward movement from the stop position for extraction. In addition, the transfer device 11 is controlled such that the elapsed time after the elevating table 10 has started to rise from the stop position for extraction is shorter than the time required to move from the stop position for extraction to the time for stopping the stop position for unloading. This is actuated to cause the article holding portion 11a to retreat from the protruding position. Further, the elapsed time after the article holding portion 11a is retracted from the protruding position is moved from the protruding position to the retracted position from the protruding position of the article holding portion 11a. When the required time is short and the set time is retracted, the movement of the elevating table 10 is controlled so that the elevating table 10 is moved to the accommodating portion 1 or the receiving table 4 of the next transfer operation object. Move in the width direction.

When the unloading process is performed, the control device H starts the transfer control and the lift control at the same time as in the case of performing the extraction control. When the movement in the lateral direction of the lifting platform 10 by the movement control is completed earlier than the movement in the upper and lower directions of the lifting platform 10 by the lifting control, the protrusion control is retained until the lifting platform 10 is positioned relative to the horizontally wide direction of the frame. In the state in which the storage unit 1 of the work object is placed or the movement stop position of the delivery table 4 is moved to the unloading stop position with respect to the storage unit 1 or the delivery station 4 of the transfer operation object. Further, when the elevating table 10 is moved to the unloading stop position with respect to the accommodating portion 1 or the receiving table 4 of the transfer operation object by the elevating control, the elevating table 10 is placed in the frame width direction with respect to the transfer operation. The protrusion control is performed in a state in which the storage unit 1 of the object or the delivery table 4 is moved to the stop position of the storage unit 1 or the delivery table 4 in the vertical direction.

On the other hand, when the movement in the up-down direction of the elevating table 10 by the elevating control is earlier than the movement in the lateral direction of the elevating table 10 by the movement control, the control device H is attached to the elevating table as in the case of performing the extraction processing. The movement control is stopped by the movement control before the movement stop position with respect to the storage unit 1 or the delivery table 4 of the transfer operation object. The control device H is configured such that the set time for the projection is required to move from the start position to the movement stop position of the lift table 10 when the time period from the lift table 10 to the movement in the lateral direction of the rack is counted by the timer unit 20. Shorter required time At the time, the operation of the transfer device 11 is controlled to start the protruding movement from the retracted position. In addition, the elapsed time period from the start of the projecting movement by the article holding unit 11a by the timekeeping unit 20 is such that the set time for lifting and lowering is shorter than the time required for the article holding portion 11a to protrude from the retracted position to the protruding position. Then, the movement of the lifting platform 10 is controlled to start the downward movement from the stop position for unloading. In addition, the transfer device 11 is controlled such that the elapsed time after the elevating table 10 has started to descend from the unloading stop position is shorter than the time required to move from the unloading stop position to the extraction stop position. This is actuated to cause the article holding portion 11a to retreat from the protruding position. In addition, when the elapsed time after the article holding portion 11a is retracted from the protruding position is longer than the time required for the article holding portion 11a to retreat from the protruding position to the retracted position for a short period of time for retracting, the elevating table 10 is controlled. The movement is performed such that the lifting table 10 moves in the rack widthwise direction with respect to the movement stop position of the storage unit 1 or the delivery table 4 of the next transfer operation object.

The control device H is configured to detect the sensor 15 based on the traveling position detection state in the state in which the article holding portion 11a is moved by the protrusion control in the idle state in which the support article W is not placed by the article holding portion 11a. The information is determined as the holding portion overlapping range of the article holding portion 11a and the article supporting member 5 in the lateral direction of the rack, and the projection detecting portion 22 detects that the article holding portion 11a has protruded to the no-load setting amount. The article holding portion 11a stops the protrusion interruption control of the protruding movement of the article holding portion 11a by decelerating the holding portion by the deceleration.

Further, the control device H is configured to be placed on the article holding portion 11a. In the state in which the article holding portion 11a is held by the protrusion control, the article holding portion 11a determines that the article W supported by the article holding portion 11a is placed based on the detection information of the walking position detecting sensor 15 When the protrusion detecting portion 22 detects that the article holding portion 11a has protruded to the set projection amount for the actual load, the protrusion 5a performs the protrusion interruption control.

Further, when the control device H is in a state in which the projecting moving speed of the article holding portion 11a is in a state of deceleration or a state in which the protruding movement is stopped by the protrusion interruption control, the control device H is configured to detect the sensor 15 according to the traveling position. The detection information is determined such that the article holding portion 11a has passed the holding portion repeating range, and the movement of the transfer device 11 is controlled so that the article holding portion 11a protrudes to the protruding position, and the article holding portion 11a is controlled by the protrusion interruption control in the actual load state. When the protruding movement speed is in the state of deceleration or the state in which the movement is stopped, if it is determined that the article W has passed the article repetition range based on the detection information of the walking position detecting sensor 15, the operation of the transfer device 11 is controlled so that The article holding portion 11a protrudes to the protruding position.

[Relationship between mobile control and outstanding control]

As described above, in the extraction processing and the unloading processing, when the movement in the horizontal width direction of the lifting table 10 by the movement control is earlier than the movement in the upper and lower directions of the lifting table 10 by the lifting control, even if the movement control is used When the movement of the lifting platform 10 in the lateral direction is completed, if the movement of the upper and lower directions by the lifting control is not completed and the article holding portion 11a is not located in the extraction stop position or the unloading stop position in the vertical direction, the protrusion control is also retained. When the lifting platform 10 is lifted up and down using the lifting control When the component holding portion 11a is in the state of the extraction stop position or the unloading stop position, the protrusion control is started. On the other hand, when the movement in the up-down direction of the elevating table 10 by the elevating control is earlier than the movement in the lateral direction of the elevating table 10 by the movement control, the control device H is stopped by the elevating table 10 by the movement control. Before the movement stop position of the storage unit 1 or the delivery table 4 of the transfer operation object, the protrusion control for causing the article holding portion 11a of the transfer device 11 to protrude from the retracted position toward the protruding position is started. Second, the relationship between mobile control and prominent control is explained.

In the extraction processing (the article holding portion 11a is in the no-load state), the time required for the idling movement plus the time required for the vacancy projection or the time shorter than the time required for the vacant projection is added. The article holding member 11a is set to be the shelf-setting time, and the article holding member 11a is placed on the article supporting member 5 that has been placed in the storage unit 1 in the storage unit 1 of the transfer operation object. When the holding portion overlaps in the width direction, the lifting table 10 is moved to the movement stop position, and the time required for the no-loading projection is required for the article holding portion 11a to protrude from the retracted position to the no-load setting projection amount. In other words, in the extraction processing, the time required for the no-load movement time plus the time required for the no-load projection time is set as the protrusion setting time.

Further, as shown in FIG. 12, when the extraction processing is performed, the elapsed time from the start of the movement of the elevating table 10 by the timer unit 20 constitutes the set time for highlighting plus the time for setting the time lag. When the time is short, the control begins to be highlighted.

The set time for the time lag is determined by the timing unit 20 after the time is counted. The manufacturing device H performs the time of the protrusion control, or is set by the time when the control device H performs the protrusion control until the article holding portion 11a actually starts to protrude from the retracted position. In other words, when the extraction process is performed, if the required predetermined time is set to T1, the set time for highlighting (the time required for the movement for no-load movement plus the time required for the time for the projection for no-loading) is T2, and When the set time for the time lag is set to T3, the time of the period T1-(T2+T3) is counted by the timer unit 20 after the lifting table 10 starts moving, and the protrusion control is started. As a result, when the time of the period T1-T2 has been counted by the time measuring unit 20 after the lifting table 10 starts moving, the article holding portion 11a starts to protrude from the retracted position, and the required reservation has already been made after the lifting table 10 starts moving. At time T1, the lifting platform 10 is moved to the movement stop position.

In the unloading process (the article holding unit 11a is in the actual load state), the time required for the actual load movement plus the time required for the actual load projection or the time required to add the time required for the actual load projection is shorter. The setting time is set as the protrusion setting time, and the time required for the movement of the actual load is placed on the article repeating range in which the article W supported by the article holding portion 11a is overlapped with the column 5a in the frame width direction, and then the lifting table 10 is moved to When the movement stop position is required, the support post 5a is adjacent to the storage unit 1 of the transfer operation object, and the time required for the actual projecting projection is required for the article holding portion 11a to protrude from the retracted position to the actual set projection amount. . In other words, in the unloading process, the time required for the actual load movement time plus the time required for the actual load projection time is set as the highlight setup time.

Further, as shown in FIG. 13, when the unloading process is performed, the same as in the case of performing the extracting process, the timing unit 20 starts counting from the lifting platform 10. The elapsed time of the movement constitutes the time when the set time plus the set time of the time lag is shorter than the required predetermined time, and the protrusion control is started.

In other words, when the unloading process is performed, if the required predetermined time is set to T1, the set time for highlighting (the time required for the actual load movement time plus the time required for the actual load projection time) is set to T4. When the set time for the time lag is set to T5, the time of the period T1-(T4+T5) is counted by the timer unit 20 after the lifting table 10 starts moving, and the protrusion control is started. As a result, when the time of the period T1-T4 has been counted by the time measuring unit 20 after the lifting table 10 starts moving, the article holding portion 11a starts to protrude from the retracted position, and the required reservation has already been made after the lifting table 10 starts moving. At time T1, the lifting platform 10 is moved to the movement stop position.

In the present embodiment, the time measuring unit 20 counts the elapsed time from when the control device H starts the movement control, and the elapsed time after the lifting table 10 starts moving in the frame width direction.

In the extraction processing or the unloading processing, when the article holding portion 11a repeats the range by the holding portion, the moving speed of the lifting table 10 is in the middle of setting the moving speed to decelerate the set deceleration. Therefore, the time required for the no-load movement or the time required for the actual load movement is determined by the set deceleration of the elevating table 10 in a desired time. In other words, when the extraction process is performed, if the division of the movement distance (short distance, medium distance, and long distance) is the same, since the set deceleration is the same, the time required for the no-load movement is the same. Further, when the unloading process is performed, if the difference in the moving distance is the same, since the set deceleration is the same, the time required for the actual load movement is the same. Therefore, the time required for the no-load movement and the time required for the actual load movement correspond to the movement, respectively. The time is set in advance by the distance.

The time setting unit 21 that can set the setting time for the change highlighting is set. The set time for highlighting in the extraction process can be set between a time longer than the time required for the movement for no-load movement and a time required for the movement of the no-load movement plus the time required for the protrusion for no-load use, in the unloading process The set time for highlighting can be set between a time longer than the time required for the movement of the actual load and a time required for the movement of the actual load plus the time required for the projection for the actual load.

Next, the extraction processing will be described based on the flowchart shown in FIG. First, the storage unit 1 that accommodates the article W to be transferred is used as the storage unit 1 for the transfer operation, and the storage unit 1 of the transfer operation target is moved based on the start movement position (the movement stop position of the previous unloading process). The movement setting distance of the movement stop position is performed, and extraction setting processing such as setting the required time or moving speed pattern is performed. (S1)

When the movement control is started and the retraction control of the article holding unit 11a in the current unloading process is completed and the article holding unit 11a is retracted to the retracted position, the elevating control is started. In other words, the movement of the elevating table 10 in the lateral direction of the rack is started before the article holding portion 11a moves to the retracted position in the current unloading process. However, the movement of the elevating table 10 in the up and down direction is currently unloaded. The in-process article holding portion 11a moves to the retracted position and starts moving. (S2 to S4)

When the elevating table 10 counted by the time measuring unit 20 starts moving from the start of the movement position in the horizontal direction of the rack, the elapsed time is reached (the set time for highlighting plus the set time for the time lag) When the lifting control is ended and the article holding portion 11a is positioned at the unloading stop position in the vertical direction, the protrusion control is started. (S5 to S7)

When the article holding portion 11a is detected in the state in which the article holding portion 11a is located in the overlapping portion of the holding portion based on the detection information of the traveling position detecting sensor 15, and the protrusion detecting portion 22 detects that the article holding portion 11a has protruded to the no-load setting amount, Then implement the outstanding interrupt control. Then, if it is detected that the article holding portion 11a has passed the holding portion overlap range based on the detection information of the walking position detecting sensor 15 before the preset standby setting time elapses, the protrusion control is resumed. When the standby setting time is elapsed, it is not possible to detect that the article holding unit 11a has passed the holding portion repetition range based on the detection information of the traveling position detecting sensor 15, and it is determined that the abnormality has occurred and an alarm is issued. (S8 to S11)

In addition, the time after the article holding portion 11a counted by the time measuring unit 20 starts to protrude from the retracted position (in the present embodiment, the time after the control device H starts the protrusion control) may be replaced by a projection amount detecting sensor. The time after the pulse signal of 17 is generated.) When the time for starting the lift control is configured, the lift control is started, and the time after the lift table 10 counted by the timer unit 20 starts to rise from the stop position for extraction (in the present embodiment, The control device H starts to extract the time after the rise control. Alternatively, the time when the detection information of the lift position detecting sensor 16 is switched from the unchanged state to the changed state may be used. When the retraction control is started, the time after the article holding unit 11a counted by the timekeeping unit 20 starts to retreat from the protruding position (in the present embodiment, the control device H starts). The time after the control is retired. Alternatively, the time after the generation of the pulse signal of the amount detecting sensor 17 can be made. When the time for starting the elevation control is started, the next unloading process is started, and the article holding portion 11a is retracted to the retracted position, whereby the extraction process is completed. (S12 to S17)

Next, the unloading process will be described based on the flowchart shown in FIG.

First, the storage unit 1 that accommodates the article W to be transferred is used as the storage unit 1 for the transfer operation, and the storage unit 1 of the transfer operation target is moved based on the start movement position (the movement stop position of the previous extraction process). The movement distance of the movement stop position is performed, and the unloading setting process such as setting the required time or moving speed pattern is performed. (S21)

In addition, the movement control is started, and the retraction control of the article holding unit 11a in the previous extraction process is completed, and the article holding unit 11a is retracted to the retracted position, and then the elevating control is started. (S22 to S24)

When the elevating table 10 that has been counted by the timekeeping unit 20 starts moving from the start of the movement position in the horizontal direction of the rack, the elapsed time reaches the start of the protrusion control time (the set time for highlighting plus the time ratio of the set time for the time lag) When the predetermined time period is short, and the elevation control is ended and the article holding portion 11a is positioned at the extraction stop position in the vertical direction, the protrusion control is started. (S25 to S27)

When it is detected that the article W supported by the article holding portion 11a is placed in the article repeating range based on the detection information of the walking position detecting sensor 15, the projection detecting portion 22 detects that the article holding portion 11a has been highlighted. When the set amount of protrusion is used, the outstanding interruption control is performed. Then, according to the walking position detection before passing the preset standby set time The detection information of the sensor 15 detects that the item W has passed the item repetition range, and the protrusion control is restored. When the set-up time for standby is started after the start of the break control, it is impossible to detect that the article W has passed the article repeating range based on the detection information of the travel position detecting sensor 15, and it is determined that the abnormality has occurred and an alarm is issued. (S28 to S31)

In addition, the time after the article holding portion 11a counted by the time measuring unit 20 starts to protrude from the retracted position (in the present embodiment, the time after the control device H starts the protrusion control) may be replaced by a projection amount detecting sensor. The time after the pulse signal of 17 is generated.) When the time for starting the lift control is configured, the lift control is started, and the time after the lift table 10 counted by the timer unit 20 starts to fall from the stop position for unloading (in the present embodiment, The control device H starts to extract the time after the rise control. Alternatively, the time when the detection information of the lift position detecting sensor 16 is switched from the unchanged state to the changed state may be used. When the retraction control is started, the time after the retraction of the article holding unit 11a by the timekeeping unit 20 is started from the protruding position (in the present embodiment, the time after the control device H starts the retreat control) may be replaced by a sense of the amount of protrusion detection. The time after the pulse signal of the detector 17 is generated.) The time for starting the lifting control is started, and the next extraction process is started, and the next extraction process is started. A retirement unit to retire holding position 11a, whereby the unmount process is completed. (S32 to S37)

According to this, if the elapsed time period after the movement control is started from the start of the movement position and the set time is shorter than the required time, the protrusion control is performed to start the article holding portion 11a from the retracted position. The prominent movement. Therefore, compared to the lifting platform 10 moving to the target stop After the position, the article holding portion 11a starts to protrude from the retracted position, and the time required for transferring the article W can be shortened.

Further, since the set time for the protrusion is calculated and set in advance based on the deceleration of the elevation table 10 decelerated from the set movement speed, it is not necessary to calculate the protrusion setting time by the control device H, and the article can be held by simple processing. The portion 11a starts the time point of the protruding movement from the retracted position.

[Other Embodiments]

(1) In the above embodiment, the frame width direction is set as the arrangement direction of the accommodating portion 1, and the movement stop position is set as the target stop position, and the moving base is moved in the frame widthwise direction. The protrusion control is started before the movement base stops at the movement stop position. However, the vertical direction may be set as the arrangement direction of the storage unit 1, and the extraction stop position or the unloading stop position may be used as the target stop position. In a state where the table moves up and down in the up and down direction, the protrusion control is started before the moving base stops at the extraction stop position or the unloading stop position.

(2) In the above-described embodiment, in the state in which the article holding portion 11a is moved by the protrusion control, when the article holding portion 11a is positioned in the holding portion overlapping range and the article holding portion 11a is protruded to the set protruding amount, the projection is performed. The interrupt control, however, may also be constructed such that the outstanding interrupt control is not implemented.

In addition, when the amount of protrusion is set to the following amount of protrusion, that is, when the article holding portion 11a that has been in the protruding movement has been protruded to the set amount of protrusion and the pulse signal is output, the article holding portion 11a is decelerated by the deceleration of the holding portion. The article holding portion 11a can be stopped in front of the article supporting member 5 in the protruding direction thereof. However, the amount of protrusion is set to be less than the following amount. The amount of protrusion may be such that the article holding portion 11a at the retracted position protrudes in the protruding direction to reach the article supporting member 5.

(3) In the above-described embodiment, when the protruding movement speed of the article holding portion 11a is in a state of deceleration or the state in which the protruding movement is stopped by the execution of the protrusion interruption control, the detection information is determined based on the detection information of the position detecting portion. The article holding portion 11a has been extended by the holding portion to extend the article holding portion 11a to the protruding position. However, the projecting holding speed of the article holding portion 11a may be decelerated by the execution of the protrusion interrupt control. When the state or the state in which the movement is stopped is determined, even if it is determined that the article holding portion 11a has passed the holding portion overlap range based on the detection information of the position detecting portion, the protruding movement of the article holding portion 11a is stopped and the stopped state is maintained.

(4) In the above-described embodiment, the transfer device 11 is configured to freely transfer the article W while the article holding portion 11a is placed on the support article W, and is configured to have a width ratio in the lateral direction of the shelf. The article W having a wide width of the holding portion 11a is supported by the state in which the article holding portion 11a protrudes toward both sides in the lateral direction of the frame. However, the transfer device 11 may be configured to be supported by a pair of articles. 11a is a state in which the article W is freely transferred in the state in which the article W is gripped in the lateral direction of the frame, and is held in a state in which the article holding portion 11a is positioned on both sides in the lateral direction of the article W.

Incidentally, when the transfer device 11 is configured to hold the article W by the article holding portion 11a, the article supporting member 5 may be configured to include the support 5a and the article support, and the support 5a may be erected The article supporting system is stretched across the pillars 5a adjacent to each other in the lateral direction of the rack between the housing portions 1 arranged in the lateral direction of the rack.

In addition, in the state in which the article holding portion 11a is not moved by the pair of article holding portions 11a in the idling state, the article holding portion 11a is moved by the protrusion control in a state in which the article holding portion 11a is not moved by the pair of article holding portions 11a. It is determined that one of the separated states is located in the holding portion overlapping range, and when the protruding detecting portion 22 detects that the article holding portion 11a has protruded to the set protruding amount, the projection interruption control is executed. In the state in which the article W is held by the pair of article holding portions 11a, the object holding portion 11a is moved to the article holding portion 11a by the protrusion control in the state of the approaching state, and it is determined that one of the proximity states is determined. When the article holding portion 11a is located in the holding portion overlap range, and the protrusion detecting portion 22 detects that the article holding portion 11a has protruded to the actual load setting amount, the protrusion interruption control is executed.

Incidentally, the repetitive range of the holding portion in the idling state is one of the separated states in which the separation of the articles W by the pair of article holding portions 11a is released, and the article holding portion 11a and the support are already accommodated. In the range in which the pillars 5a of the articles W in the storage unit 1 of the work object are overlapped in the lateral direction of the rack, the overlapping range of the retaining portions in the loaded state is such that the articles W are held by the pair of article holding portions 11a. One of the approaching states overlaps the article holding portion 11a and the support 5a of the article W that has been stored in the storage portion 1 of the transfer operation object in the frame width direction.

Further, as the set time for highlighting, it is also possible to set the time required for the movement for no-load movement plus the time required for the projection for no-loading in the no-load state or to add a time shorter than the time required for the projection for no-load. The time, and the time required for the movement of the idling movement is one of the separated states, and the moving of the base is moved to the target after the article holding portion 11a repeats the range by the holding portion in the idling state. In the case where the stop position is required, the required time for the no-load projection is required for the article holding portion 11a to protrude from the retracted position to the set projection amount for no-load, and the time required for the actual load movement is set in the actual load state. The time required for the actual load to be protruded or the time shorter than the time required for the actual load to be protruded is added, and the time required for the movement of the actual load is one of the close states to the article holding portion 11a. After the holding portion overlaps in the loaded state, the moving base is moved to the target stop position, and the time required for the actual projecting projection is required for the article holding portion 11a to protrude from the retracted position to the set projection amount for the actual load.

(5) In the above embodiment, the set time for protrusion is set to be different between the idle state and the actual load state. However, the set time for highlighting may be set to the same time in the idle state and the actual load state. .

Specifically, for example, in the time required for the no-load movement to be added, the time required for the no-loading projection and the time required for the actual loading movement plus the time required for the actual loading projection, The short time is used as the highlight set time for the no-load state and the set time for the highlight state of the actual load state.

(6) In the above embodiment, all of the set moving speed, the set acceleration, and the set deceleration are set to different values depending on whether the distance from the start movement position to the target stop position or whether the article W is held by the article holding unit 11a. However, a part of the set moving speed, the set acceleration, and the set deceleration may be set to different values depending on whether the distance from the start moving position to the target stop position or whether the article W is held by the article holding portion 11a.

Specifically, for example, it can also be set to set the moving speed according to The distance from the start of the movement position to the target stop position or whether the article W is held by the article holding portion 11a is set to a different value, and the set acceleration or the set deceleration is the distance from the start of the movement position to the target stop position or whether it is retained by the article. The portion 11a holds the article W and sets the same value.

Further, it is also possible to set the set moving speed, the set acceleration, and the set deceleration to the same value regardless of whether the distance from the start of the movement position to the target stop position or whether or not the article W is held by the article holding portion 11a.

(7) In the above-described embodiment, the elapsed time from the start of the retracting movement from the article holding portion 11a by the timekeeping unit 20 is shorter than the time required for the article holding portion 11a to retreat from the protruding position to the retracted position. The time of time causes the moving base to start moving toward the next target stopping position, and before the article holding portion 11a retreats to the retracted position, the moving base starts to move toward the next target stopping position, however, it can also be made After the article holding portion 11a is retracted to the retracted position, the moving base unit starts moving toward the next target stop position.

(8) In the above-described embodiment, the storage unit 1 is arranged in the vertical direction and the horizontal width direction of the storage unit 2, but the storage unit 1 may be arranged in the horizontal direction of the rack only in the storage rack 2. Alternatively, the storage unit 1 may be arranged in the vertical direction only in the storage rack 2.

(9) In the above embodiment, the traveling position detecting unit is configured by the magnetic head of the magnetic linear scale. However, the traveling position detecting unit may be configured by a laser range finder or a rotary encoder.

(10) In the above embodiment, the operation control system is based on the detection of the traveling position detecting unit that detects the position of the traveling carriage 8 in the lateral direction of the rack. In the measurement information, it is determined whether or not the article holding portion 11a has passed through the holder. However, the operation control system may be configured to detect the presence or absence of the article supporting member 5 based on both end portions of the article holding portion 11a in the frame width direction. The detection information of the sensor determines whether or not the article holding portion 11a has passed through the holder.

(11) In the above embodiment, the signal output unit is configured by a rotary encoder that outputs a pulse signal in accordance with the protruding movement of the article holding portion 11a. However, the amount of protrusion corresponding to the article holding portion 11a may be used. The laser range finder that outputs the signal constitutes the signal output unit, and the signal output unit may be provided with a limit switch, and the restriction opening is related to the article holding portion 11a when the article holding portion 11a has protruded to the set amount of protrusion. The opening operation is performed by the contact action, and a signal is output.

Further, in the above-described embodiment, the protrusion detecting unit 22 is configured to include the signal output unit and the signal determining unit. However, the item holding unit 11a may be protruded by a specific speed pattern, and the time measuring unit 20 may be provided. When the elapsed time from when the article holding unit 11a starts to protrude, and the determination unit 23 as the timing determining unit, when the elapsed time from the time when the timekeeping unit 11 starts to protrude from the time keeping unit 11a constitutes the time required for the protrusion, It is determined that the article holding unit 11a has been protruded to the set amount of protrusion, and the protrusion detecting unit 22 is configured to include the time measuring unit 20 and the determining unit 23, and the determining unit 23 determines that the article holding unit 11a has protruded to the set amount. The detected article holding portion 11a has been protruded to the set protruding amount.

(12) In the above embodiment, the set time for the time lag is set in consideration of the control time and the drive time. However, only the drive time may be considered. The set distance for the time lag is set without considering the control time. For example, the distance from the start of the deceleration position can be determined by considering the distance of the drive time and setting the amount of protrusion. In other words, the set protrusion amount may be set to a value in which the operation control system issues a signal to stop the article holding portion 11a during the protruding movement when the set protrusion amount is protruded, and then the article holding portion 11a does not. It will come into contact with the article supporting member 5 and can be stopped before it.

(13) In the above-described embodiment, the control device H is an article storage device configured to set an extraction process or an unloading of the command with reference to a required predetermined schedule when a delivery instruction or a delivery instruction is issued. The predetermined time required for the processing may be, however, the control device H may be an article storage device configured as follows, that is, when the storage instruction or the delivery instruction is issued, the required predetermined time is calculated by calculation.

(14) In the above-described embodiment, the chronograph unit 20 is exemplified as the elapsed time from when the control device H starts the movement control, and the elapsed time after the lifting table 10 starts moving in the horizontal direction of the rack, however, instead, The timekeeping unit 20 counts the elapsed time from when the detection information of the traveling position detecting sensor 15 shifts from the unchanging state to the changed state, as the elapsed time after the lifting table 10 starts moving in the horizontal width direction.

5‧‧‧Articles for article support

5a‧‧‧ pillar

5b‧‧‧Loading support

11‧‧‧Transfer device

11a‧‧‧Article Keeping Department

Claims (10)

An article storage device includes a moving base that is moved in an arrangement direction of the storage unit in a front surface side of a storage rack in which a plurality of storage articles are arranged, and a transfer device is mounted on the mobile base. And moving the article holding portion forward and backward at a retracted position retracted to the moving base side and a protruding position protruding to the storage portion side, and transferring the article between the storage portion and the operation control system; The movement of the moving base and the advancement and retreat of the article holding unit; the operation control system is configured to perform movement control and protrusion control when the storage unit as the transfer operation target is instructed in the plurality of storage units, and the movement is performed The control system is configured to move the moving base to the target stop position and accelerate from the start of the moving position to the set moving speed, and to control the deceleration after moving at the set moving speed, wherein the protruding control causes the article holding portion to move from the retracted position toward Controlling the protruding position of the protruding position, the operation control system is configured to be moved by the aforementioned The operation control system further includes a timekeeping unit that controls the elapsed time from the movement of the mobile base station before the movement base stops at the target stop position, and the time adjustment unit is configured to The above-described protrusion control is started as a condition that the setting time for the protrusion is shifted from the start movement position to the aforementioned target by the time period in which the timing unit is timed. The time required to stop the position is shorter than the required time. The article storage device according to the first aspect of the invention, wherein the storage rack is provided with a member supporting member arranged at intervals in a plurality of frames in a lateral direction, and the storage portion is formed in the article adjacent to the lateral direction of the shelf. The support member is configured to store the article in a state of being supported by the member supporting member adjacent to the lateral direction of the frame, and to arrange the plurality of articles in the lateral direction of the frame, and to be more than the retracted position. The item holding portion is protruded in the protruding direction until the amount of protrusion reaching the article supporting member is set as the setting amount, and the protruding setting time is set to the time required for the movement plus the time required for the protrusion. In the time period of the movement, the time required for the movement is such that the article holding portion overlaps with the holding portion that overlaps the article supporting member of the article that has been stored in the storage portion of the transfer operation object in the horizontal width direction. The time required for the moving base to move to the target stop position, the time required for the protrusion is the aforementioned The product holding portion protrudes from the aforementioned retracted position to the time required to set the amount of protrusion. The article storage device of claim 2, further comprising: a position detecting unit that detects a position of the moving base relative to an arrangement direction of the storage rack in the storage unit; and a protrusion detecting unit that detects the item The holding portion has been protruded to the above-mentioned setting protrusion amount; the operation control system is configured such that when the article holding portion is moved by the protrusion control, and the position detecting portion is The detection information is determined such that the article holding portion is located in the overlapping portion of the holding portion, and when the protrusion detecting portion detects that the article holding portion has protruded to the set protrusion amount, the protrusion interruption control is performed, and the protrusion interruption control is performed. The article holding portion controls the protrusion operation of the article holding portion to be decelerated by the deceleration of the holding portion, and the set protrusion amount is set to a protrusion amount, that is, the protrusion control can be performed by the protrusion control The object holding portion that protrudes and moves is stopped in front of the article supporting member in the protruding direction of the article holding portion. The article storage device according to claim 3, wherein the protrusion detecting unit is configured to include a signal output unit that outputs a signal corresponding to a protruding movement or a protruding amount of the article holding unit, and a signal determining unit. It is determined whether or not the article holding portion has protruded to the set protrusion amount based on a signal output from the signal output unit; and the protrusion detecting portion is configured to detect that the article holding portion has protruded to the set protrusion amount on the condition described below In other words, the signal determination unit determines that the article holding unit has protruded to the set protrusion amount. The article storage device according to claim 3, wherein the timekeeping unit is configured to set an elapsed time from when the article holding unit starts to protrude, and the protrusion detecting unit includes the time measuring unit and the timing determining unit. The timing determining unit is configured to be in the timing unit When the elapsed time from the above-described article holding portion has reached the time required for the protrusion, it is determined that the article holding portion has protruded to the set protrusion amount, and the protrusion detecting portion is configured to be detected under the following conditions. In the above-described article holding unit, the above-described set protrusion amount is determined, that is, the above-described item determination unit determines that the article holding unit has protruded to the set protrusion amount. The article storage device according to any one of claims 3 to 5, wherein the operation control system is configured to cause a protruding movement speed of the article holding portion to be in a state of deceleration or a sudden operation by the protrusion interruption control When it is determined that the article holding portion has passed the above-described holding portion overlap range, the article holding portion is caused to protrude to the protruding position by the detection information of the position detecting portion. The article storage device according to any one of claims 3 to 5, wherein the article supporting member includes a pillar that is erected adjacent to the accommodating portion, and a mounting support that is attached to the aforementioned The pillar is protruded toward the inside of the housing portion in the lateral direction of the bracket; the housing portion is configured to support the mounting support between the pair of adjacent pillars, thereby placing the support The article is stored in the accommodating portion, and the transfer device is configured to transfer the article in a state in which the support member is placed on the article holding portion, and is configured to maintain a width in the lateral direction of the shelf more than the article The wide-width article of the section is supported by the state in which the article holding portion protrudes toward both sides of the horizontal width direction of the frame. Further, the operation control system is configured to perform the above-described condition in a state in which the article holding portion is moved by the protrusion control in a state in which the article holding portion is not moved by the above-described article holding portion in an idling state. The protruding interruption control is determined such that the article holding portion is located in the overlapping portion of the holding portion based on the detection information of the position detecting portion, and the protrusion detecting portion has detected that the article holding portion has been highlighted to the idle setting. In the state in which the support member is placed on the support member by the above-described article holding portion, the above-described article holding portion is moved by the above-described protrusion control, and the above-described protrusion interruption control is performed on the condition described below. In other words, it is determined that the article supported by the article holding portion is placed in the range of the article overlap with the pillar in the lateral direction of the frame, and the detection by the protrusion detecting portion is determined based on the detection information of the position detecting portion. The article holding unit has been highlighted to the actual setting. The article storage device according to claim 7, wherein the set time for highlighting is set in the idling state, and the time required for the movement for no-load movement plus the time required for the time for the protrusion for no-load is set, and The time required for the idling movement is a time required for the moving base to move to the target stop position after the article holding portion passes through the holding portion repeating range, and the time required for the vacant projection is the article holding portion. The time required for the retracted position to protrude to the set projection amount for no-load, and in the actual load state, the time required for the movement for the actual load plus the time required for the projection for the actual load is set, and The time required for the above-mentioned actual load to move is an item passing through the aforementioned item repeating The time required for the moving base to move to the target stop position, the time required for the actual projecting projection is the time required for the article holding portion to protrude from the retracted position to the set projection amount for the actual load. The article storage device according to any one of claims 1 to 5, wherein the set moving speed, the set acceleration of the acceleration to the set moving speed, and some or all of the set deceleration of the set moving speed deceleration, It is set to a different value depending on whether the distance from the start of the movement position to the target stop position or whether the article is held by the article holding portion. The article storage device according to any one of claims 1 to 5, wherein the operation control system is configured to start movement of the moving base toward a next target stop position by using a condition as follows: The time period from the start of the timekeeping unit to the retraction operation from the article holding unit is longer than the time required for the article holding unit to retreat from the protruding position to the retracted position for a short period of time for retracting.