WO2018097139A1 - Dispositif de transfert d'article - Google Patents

Dispositif de transfert d'article Download PDF

Info

Publication number
WO2018097139A1
WO2018097139A1 PCT/JP2017/041857 JP2017041857W WO2018097139A1 WO 2018097139 A1 WO2018097139 A1 WO 2018097139A1 JP 2017041857 W JP2017041857 W JP 2017041857W WO 2018097139 A1 WO2018097139 A1 WO 2018097139A1
Authority
WO
WIPO (PCT)
Prior art keywords
support
power supply
power
article
support body
Prior art date
Application number
PCT/JP2017/041857
Other languages
English (en)
Japanese (ja)
Inventor
椎野真
田口和浩
宮本雅哉
Original Assignee
株式会社ダイフク
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社ダイフク filed Critical 株式会社ダイフク
Publication of WO2018097139A1 publication Critical patent/WO2018097139A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical

Definitions

  • the present invention relates to an article transfer device for transferring an article between a plurality of transfer target locations.
  • An article transfer device for example, a fork that moves up and down along the vertical direction facing a plurality of transfer target portions arranged side by side in the vertical direction, and transfers the articles between the plurality of transfer target locations.
  • an article storage facility using an article conveyance device (for example, a stacker crane) provided with If a power failure occurs during transfer of an article due to a fork, the article may collapse from the transfer device. In addition, goods and forks (stacker cranes) may be damaged due to collapse of cargo.
  • an operator visually confirms whether or not there is a load collapse or damage of an article or a stacker crane.
  • the control device acquires fork position monitoring information and, when a power failure is detected, causes the fork states of the plurality of stacker cranes to be collectively displayed on the display unit.
  • the operator can select a stacker crane that requires visual confirmation and manual return and a stacker crane that does not require visual confirmation and manual return and can be restored by remote operation by looking at the display device.
  • the return time of the entire article storage facility can be shortened (see [0002] to [0008] etc.).
  • the article transfer device such as a fork provided in the stacker crane is configured so as not to cause the collapse of the load even in the event of a power failure during the transfer.
  • the article transfer device in view of the above is an article transfer supported by a lifting body that moves up and down along a vertical direction facing a plurality of transfer target portions arranged side by side in the vertical direction.
  • a device A support for placing and supporting the article;
  • Support body drive for moving the support body back and forth between a retracted position in which the support body is retracted toward the lifting body and a protruding position in which the support body is protruded toward the transfer target portion side.
  • a support control device for controlling the drive of the support drive device;
  • a main power supply that receives power for operating the support driving device and the support control device and supplies power to the support driving device and the support control device, and
  • An auxiliary power supply for supplying power to the support driving device and the support control device when power supply to the main power supply is interrupted;
  • the support control device uses the power of the auxiliary power supply to drive the support drive device to move the support in and out. Execute processing preferentially.
  • the article storage facility 100 includes a storage shelf 102 that includes a plurality of storage units 101 that store articles B, and a stacker crane 30 that transports the articles B.
  • a storage shelf 102 that includes a plurality of storage units 101 that store articles B
  • a stacker crane 30 that transports the articles B.
  • two storage shelves 102 are installed at an interval so that the direction in which the article B is put in and out faces each other.
  • the stacker crane 30 automatically travels on a moving path 103 formed with a traveling rail 105 between two storage shelves 102.
  • a plurality of storage units 101 are arranged side by side vertically and horizontally.
  • a pair of loading platforms 108 are installed on one end side of the movement path 103 with the traveling rail 105 interposed therebetween, and a ground-side controller 107 (GND-CTRL) that gives an input / output command to the stacker crane 30 is installed.
  • GND-CTRL ground-side controller 107
  • the stacker crane 30 includes a traveling carriage 32 that travels along the traveling rail 105, a pair of masts 31 (two masts 31) erected on the traveling carriage 32, and the mast 31. And a fork device 37 (support) provided on the lifting / lowering body 34.
  • the direction along the traveling direction of the traveling carriage 32 is the front-rear direction Y, and the two masts 31 are arranged one by one at both ends of the traveling carriage 32 in the front-rear direction Y.
  • the mast 31 has a lower end portion fixed to the traveling carriage 32 and an upper end portion connected to the upper frame 115.
  • the upper frame 115 is guided along a guide rail 106 provided along the traveling rail 105 on the ceiling side.
  • the elevating body 34 is suspended and supported by two elevating chains 44 connected to both ends in the front-rear direction Y in the traveling direction of the traveling carriage 32.
  • an upper driven pulley 46 is provided at each of the front end portion and the rear end portion of the upper frame 115.
  • a lifting platform side driven pulley 48 is provided on the lower surface side of the central portion of the lifting body 34 in the front-rear direction Y.
  • a traveling carriage side driven pulley 47 is provided at one end side (front end side or rear end side) and the central portion of the traveling carriage 32 in the front-rear direction Y, and a driving pulley driven by a lifting motor 39 at the one end side. 49 is also provided.
  • the elevating chain 44 is wound around an upper driven pulley 46, a traveling cart side driven pulley 47, an elevating table side driven pulley 48, and a drive pulley 49.
  • the drive pulley 49 is rotated in the forward or reverse direction by the lifting motor 39, the lifting chain 44 moves, and the lifting body 34 suspended and supported by the lifting chain 44 moves up and down.
  • the lifting body 34 is provided with a lifting platform-side rotary encoder 51 that detects the lifting position on the lifting path.
  • a sprocket that meshes with a chain laid in the vertical direction of the mast 31 is attached to the rotating shaft of the elevator base-side rotary encoder 51, and this sprocket rotates when the elevator 34 moves up and down.
  • the lift position is detected based on the lift distance of the lift body 34 from a predetermined lift reference position (for example, the lower end of the lift path).
  • the traveling carriage 32 is provided with two traveling wheels 33 (33a and 33b) that rotate on the traveling rail 105 in the front and rear directions.
  • one traveling wheel 33 in the front-rear direction Y is a driving traveling wheel 33a for propulsion driven by a traveling motor 38
  • the other traveling wheel 33 in the front-rear direction Y is The driven traveling wheel 33b.
  • the traveling carriage 32 is also provided with a vehicle body-side rotary encoder 52 that detects a traveling position on the movement path 103.
  • a sprocket that meshes with a chain laid along the traveling rail 105 is attached to the rotation shaft of the vehicle-body-side rotary encoder 52, and this sprocket rotates when the traveling carriage 32 travels.
  • the travel position is detected based on the travel distance of the travel carriage 32 from a predetermined travel reference position (for example, a reference position set at one end of the movement path 103).
  • the fork device 37 provided in the elevating body 34 is a transfer device that transfers the article B (pallet P) between the loading table 108 and the stacker crane 30 or between the storage unit 101 and the stacker crane 30.
  • 10 article transfer device
  • the fork device 37 projects from the stacker crane 30 in the direction of the storage unit 101 (or the loading platform 108) in a state where the pallet P on which a plurality of articles B are loaded in a stacked state is supported.
  • the article B is transferred from 30 to the storage unit 101 (or the loading table 108).
  • the fork device 37 is retracted from the storage unit 101 (or the loading table 108) to the stacker crane 30 side while supporting the pallet P, so that the stacker is moved from the storage unit 101 (or the loading table 108).
  • the article B is transferred to the crane 30.
  • the fork device 37 is driven to move in and out by the motor 20 for moving in and out.
  • the form which has the two motors 20 for exit / exit (the 1st exit / retreat motor 21 and the 2nd exit / exit motor 22) is illustrated.
  • the stacker crane 30 moves the article B placed on the loading platform 108 to the storage unit 101 by traveling the traveling carriage 32, raising and lowering the lifting body 34, and withdrawing / withdrawing of the fork device 37 (support).
  • a warehousing operation for transferring and a warehousing operation for transferring the article B stored in the storage unit 101 to the loading table 108 are performed.
  • the elevating body 34 is provided with a sensor 55 (SEN) for detecting the placement state of the pallet P placed on the fork device 37.
  • the sensor 55 includes gate-type contacts and is arranged on each of the four sides of the lifting body 34, and a plurality of articles B are loaded in a stacked state depending on whether or not the contacts are in contact with the pallet P or the articles B. The placement state of the placed pallet P is detected.
  • the elevating body 34 may be provided with a camera 56 that images the mounting state of the pallet P mounted on the fork device 37.
  • An image captured by the camera 56 is preferably displayed on the display 109 of the ground-side controller 107.
  • the camera that images the mounting state of the pallet P during transfer between the storage shelf 102 on one side of the pair of storage shelves 102 and the storage on the other side It is preferable that two cameras, that is, a camera for imaging the mounting state of the pallet P at the time of transfer to and from the shelf 102, are provided.
  • FIG. 4 shows a schematic control block diagram of the stacker crane 30.
  • the stacker crane 30 is provided with a crane control device 35 (SC-CTRL) for controlling the stacker crane 30 based on a loading / unloading command from the ground-side controller 107 (GND-CTRL).
  • SC-CTRL crane control device 35
  • a crane control device 35 including a lifting control unit 35a (VM-CTRL) for controlling the lifting body 34 and a traveling control unit 35b (TRV-CTRL) for controlling the traveling vehicle 32 is installed in the traveling vehicle 32.
  • the transfer control unit 12 (F-CTRL) for controlling the fork device 37 is illustrated as being installed on the lifting body 34.
  • the transfer control unit 12 is configured in the control unit 11 installed in the elevating body 34 together with a power supply circuit for supplying power to the fork device 37 and the like.
  • the crane control device 35 including the travel control unit 35b and the elevation control unit 35a is instructed to travel the traveling carriage 32 using the detection information of the vehicle body side rotary encoder 52 based on the loading / unloading command from the ground side controller 107.
  • the lift 34 is moved up and down using the detection information of the lift platform side rotary encoder 51 and stopped at the commanded target stop position.
  • the transfer control unit 12 provided in the control unit 11 transfers the article B by controlling the fork device 37 based on the loading / unloading command from the ground-side controller 107.
  • the loading / unloading command includes at least a loading command and a shipping command, and may include a movement command for moving the article B between different storage units 101.
  • the ground controller 107 sets one of the loading platforms 108 as a transfer target location (transfer source), and sets one of the plurality of storage units 101 as a transfer target location (transfer source), and one of the loading platforms 108 is transferred.
  • a movement command one of the plurality of storage units 101 is set as a transfer target location (transfer source), and the transfer of the plurality of storage units 101 is performed.
  • One storage unit 101 different from the loading source is set as a transfer target location (transfer destination).
  • the warehousing command, the warehousing command, and the movement command are not limited to commands for performing all the warehousing operations, all the warehousing operations, and all the moving operations, respectively. Only one of the scooping command to be performed and the unloading command for performing the unloading operation using the fork device 37 to the transfer destination may be used. In other words, after the craving command for warehousing is given and the craving operation is completed, the unloading command for warehousing is given and the unloading operation is performed, and the warehousing operation by the warehousing command as a whole is performed. Good. The same applies to delivery and movement.
  • the traveling control unit 35b executes the traveling control based on the scooping command, causes the traveling carriage 32 to travel and stops at the traveling target stop position
  • the lifting control unit 35a executes the raising / lowering control to raise / lower the raising / lowering body 34 (preferably raising from the lower end of the raising / lowering path) and stopping at the target raising / lowering stop position.
  • the transfer control unit 12 executes transfer control, and a scooping operation for scooping the article B from the transfer target location (transfer source) is performed.
  • the transfer control unit 12 causes the fork device 37 to protrude and retracts the fork device 37 while the fork device 37 supports the article B.
  • the lifting control unit 35a executes the lifting control to lower the lifting body 34 to the lower end of the lifting path.
  • the crane control device 35 causes the travel control unit 35b to execute the travel control to cause the travel carriage 32 to travel and stop at the travel target stop position, and the lift control unit 35a executes the lift control. Then, the elevating body 34 is raised and lowered (preferably raised from the lower end of the elevating path) and stopped at the elevating target stop position. Next, the transfer control unit 12 executes transfer control, and a lowering operation for dropping the article B to a transfer target location (transfer destination) is performed.
  • the transfer control unit 12 causes the fork device 37 to protrude to the transfer destination while the fork device 37 supports the article B, and after the article B is placed at the transfer destination, the fork device 37 is retracted.
  • the elevating control unit 35a executes elevating control to lower the elevating body 34 to the lower end of the elevating path.
  • FIG. 5 shows a schematic control block diagram of the control unit 11 mounted on the transfer apparatus 10.
  • the traveling carriage 32 is provided with a control panel including a crane control device 35, and AC power is supplied to the transfer device 10 from the control panel (crane control device 35). That is, the transfer device 10 is supplied with AC power from the outside of the transfer device.
  • the transfer device 10 includes a power receiving unit that receives power supplied from the crane control device 35 as the main power source 1 (M-PW). From the main power supply 1, a transformer circuit 3 (TRNS), an AC-DC converter 4 (AC-DC), and a brake power supply circuit 5 (B-PW) via an uninterruptible power supply (UPS) as an auxiliary power supply 2 described later. ) Is supplied with power.
  • the main power supply 1 receives power supplied from the outside of the transfer device 10 and supplies power to the transformer circuit 3, the AC-DC converter 4, and the brake power supply circuit 5 via the uninterruptible power supply device.
  • the transformer circuit 3 supplies power to the exit / exit motor drive circuit 6 (DRV) that drives the exit / exit motor 20.
  • DVR exit / exit motor drive circuit 6
  • Two exit / exit motor drive circuits 6 for driving the exit / exit motor 20 are provided.
  • the first exit / exit motor drive circuit 6a for driving the first exit / exit motor 21 and the second exit / exit motor.
  • a second exit / exit motor drive circuit 6 b for driving the motor 22.
  • These drive circuits (DRV) are configured with, for example, an inverter circuit as a core.
  • the AC-DC converter 4 supplies power to the fork control unit 8 (F-CTRL) and the sensor 55 (SEN) installed in the transfer device 10.
  • the fork control unit 8 controls the above-described exit / exit motor drive circuit 6 (DRV) to drive and control the exit / exit motor 20.
  • the exit / exit motor 20 is provided with a brake 24 that applies a braking force to the exit / exit motor 20 in a non-energized state.
  • the brake 24 is provided so as not to hinder the rotation of the exit / retreat motor 20 in the energized state.
  • the first exit / exit motor 21 is provided with a first brake 25, and the second exit / exit motor 22 is provided with a second brake 26.
  • the brake power supply circuit 5 (B-PW) supplies electric power to the brake 24 (first brake 25 and second brake 26).
  • the exit / retreat motor 20 and the brake 24 correspond to a support driving device that drives the fork device 37.
  • the support driving device includes the brake 24.
  • the support driving device may be configured simply by the motor (M) without providing such a brake (B).
  • the transfer device 10 (article transfer device) includes a fork device 37 (support body) for mounting and supporting the article B, and a support drive device (exit / retreat motor) for moving the fork device 37 out and out. 20 and the brake 24), a fork control unit 8 (support body control device) for controlling the drive of the support body drive device (exit / retreat motor 20), a support body drive device (exit / exit motor 20 and brake 24), and And a main power source 1 for supplying electric power to the fork control unit 8 (support control device).
  • the support driving device (the motor 20 and the brake 24) is a retracted position where the fork device 37 is retracted toward the lifting body 34 and a protruding position where the fork device 37 protrudes toward the transfer target portion.
  • the fork device 37 is moved back and forth.
  • the main power supply 1 receives electric power for operating the support driving device (the motor 20 and the brake 24) and the fork control unit 8 (support control device) from the outside of the transfer device 10, and these devices (20 , 24, 8).
  • the transfer device 10 further includes power from the outside of the transfer device 10 (from the crane control device 35 in this embodiment) to the main power supply 1.
  • An auxiliary power source 2 is provided to supply power to the support driving device (the motor 20 and the brake 24) and the fork control unit 8 (support control device) when the supply is interrupted.
  • the auxiliary power source 2 is connected to the output side of the main power source 1.
  • the main power supply 1 is connected in parallel with the transformer circuit 3 (TRNS), the AC-DC converter 4 (AC-DC), and the brake power supply circuit 5 (B-PW).
  • the auxiliary power source 2 is connected in series with these subsequent circuits (3, 4, 5) on the output side of the main power source 1. That is, the transformer circuit 3 (TRNS), the AC-DC converter 4 (AC-DC), and the brake power supply circuit 5 (B-PW) are connected in parallel to the auxiliary power supply 2.
  • the auxiliary power source 2 is configured with a rechargeable battery as a core.
  • the rechargeable battery is charged with power input from the main power supply 1.
  • the auxiliary power source 2 outputs the power output from the main power source 1 as it is based on the voltage of the power input to the auxiliary power source 2 (power output from the main power source 1) or outputs the power stored in the rechargeable battery. Switch to do.
  • the auxiliary power source 2 includes a voltage detection circuit
  • the auxiliary power source 2 uses the power output from the main power source 1 as it is when the voltage of the power input from the main power source 1 is within a normal range.
  • the electric power stored in the rechargeable battery is output.
  • the auxiliary power source 2 outputs information (identification information, power failure information, auxiliary power status signal, etc.) indicating whether or not the auxiliary power source 2 is outputting power.
  • the output of this information may be output from a dedicated signal terminal of the auxiliary power supply 2, or the auxiliary power supply 2 may be configured to include a communication circuit and output via the communication circuit.
  • the fork control unit 8 can determine that at least the main power supply 1 has been interrupted (becomes a power failure state). When the power supply to the main power supply 1 is interrupted, the fork control unit 8 uses the power of the auxiliary power supply 2 to support and drive the support body drive device (for exit / retreat). The driving process of the motor 20) is executed with priority. For this reason, it is suppressed that the fork device 37 on the way out and exits suddenly with the interruption of the power supply to the main power source 1 and the load collapses.
  • the fork control unit 8 causes the fork device 37 to project to the projecting position when the fork device 37 has moved from the retracted position to the projecting position when a power failure occurs. Is moved from the protruding position to the retracted position, a one-way moving operation is performed to retract the fork device 37 to the retracted position.
  • a one-way moving operation is performed to retract the fork device 37 to the retracted position.
  • the control of the fork device 37 using the power of the auxiliary power source 2 may be executed only when the article B is supported on the fork device 37.
  • the fork control unit 8 projects the fork device 37 to the projecting position when the fork device 37 supporting the article B is moved from the retracted position to the projecting position when a power failure occurs.
  • a one-way moving operation for retracting the fork device 37 to the retracted position may be executed.
  • the fork device 37 is kept moving in and out in this manner, thereby suppressing the collapse of the article B during transfer.
  • the fork device 37 is provided with a slip stopper or a pressing member to suppress the collapse of the load, or the fork device 37 is provided with a fixing member to fix the article B to the fork device 37.
  • the anti-slip or pressing member may cause collapse of the load without being able to suppress the movement of the article B.
  • the fork device 37 itself may be damaged by the inertial force.
  • the structure of the fork device 37 becomes complicated if a slip stopper, a pressing member, and a fixing member are provided.
  • the pressing member or the fixing member needs to be movable, so that the structure of the fork device 37 is further complicated.
  • the fork device 37 is continuously moved in and out so that the moving-in / out operation does not stop suddenly during the transfer, thereby suppressing the generation of inertial force. That is, the structure of the fork device 37 is not complicated in order to suppress the generation of inertial force that causes a load collapse.
  • the power capacity of the rechargeable battery mounted on the auxiliary power source 2 can complete the movement of the fork device 37 so that even if a power failure occurs in the middle of the transfer of the article B, it is difficult for the cargo to collapse. At least the capacity that can be produced is necessary (ie, the power capacity to move one way).
  • the completion of the moving of the fork device 37 is preferably because the moving motor 20 operates, the brake 24 does not act, and the fork control unit 8 can control the moving motor drive circuit 6.
  • the power capacity of the auxiliary power source 2 is preferably an appropriate capacity as required. If the capacity of the auxiliary power source 2 is set to, for example, about twice that of the above-described power capacity for moving one way, it is preferable that the standard is clear. Therefore, it is preferable that the power capacity of the auxiliary power source 2 is equal to or greater than the power that can move the fork device 37 one way and less than the power that can reciprocate the fork device 37.
  • the auxiliary power source 2 is charged by the power supplied from the main power source 1. If the amount of discharge from the auxiliary power source 2 increases in a power failure state, the time until the power is restored by charging also increases. If a power failure occurs again before the power is restored, even if power is supplied from the auxiliary power supply 2, the fork device 37 may not be able to complete the exit / retreat movement. Accordingly, when the fork device 37 has been moved out and out in a power failure state, it is preferable to cut off the power supply from the auxiliary power source 2. For example, it is preferable that the fork control unit 8 stops the power supply from the auxiliary power source 2 when the fork device 37 has been moved in and out in a power failure state.
  • the fork control unit 8 controls the output control circuit of the auxiliary power supply 2 via the external control terminal and The power supply can be cut off. Further, the fork control unit 8 notifies the auxiliary power source 2 that the fork device 37 has been moved in and out, and the output control circuit of the auxiliary power source 2 cuts off the power supply from the auxiliary power source 2. Also good.
  • the auxiliary power source 2 includes a rechargeable battery (secondary battery) and is charged by the power supplied from the main power source 1 at a normal time has been shown as a preferable mode.
  • the auxiliary power source 2 may be constituted by a primary battery instead of a secondary battery.
  • the auxiliary power source 2 is a primary battery, it is preferable to have a power capacity that allows the fork device 37 to move one way multiple times. In this case, it is preferable that the auxiliary power source 2 is appropriately replaced according to the number of power outages and the like. Further, even when the auxiliary power source 2 is configured to have a rechargeable battery, it may not be charged by the power supplied from the main power source 1. In this case, it is preferable to replace the charged auxiliary power source 2 as appropriate.
  • the fork device 37 illustrated the form which transfers the pallet P in which the several goods B were stacked.
  • the stacker crane 30 is not limited to the one that transfers and conveys such an article B.
  • the article B to be transferred may be a single item, for example, a container or a FOUP (Front Opening Unified Unified Pod) that accommodates a semiconductor substrate.
  • FOUP Front Opening Unified Unified Pod
  • the slide fork type fork device 37 has been exemplified.
  • the present invention is not limited to the slide fork type, and may be a scalar arm type, for example.
  • the power failure countermeasure as described above is also useful in a stacker crane that transfers and conveys containers and FOUPs.
  • the article transfer device in view of the above is an article transfer supported by a lifting body that moves up and down along a vertical direction facing a plurality of transfer target portions arranged side by side in the vertical direction.
  • a device A support for placing and supporting the article;
  • Support body drive for moving the support body back and forth between a retracted position in which the support body is retracted toward the lifting body and a protruding position in which the support body is protruded toward the transfer target portion side.
  • a support control device for controlling the drive of the support drive device;
  • a main power supply that receives power for operating the support driving device and the support control device and supplies power to the support driving device and the support control device, and
  • An auxiliary power supply for supplying power to the support driving device and the support control device when power supply to the main power supply is interrupted;
  • the support control device uses the power of the auxiliary power supply to drive the support drive device to move the support in and out. Execute processing preferentially.
  • the support body control device causes the support body to project to the projecting position.
  • the support is moving from the protruding position to the retracted position, it is preferable to perform a one-way movement operation that retracts the support to the retracted position.
  • the support driving device can continue the movement of the support and move the support to the protruding position or the retracted position. . Since the support body moves to the projecting position or the retraction position, which is the target of the exit / retreat movement, and stops, the support body on the exit / retreat suddenly stops due to the interruption of the power supply to the main power source, causing the collapse of the load. Such a thing is suppressed. In other words, according to this configuration, it is possible to provide an article transfer device configured to be less likely to collapse even if a power failure occurs during the transfer of the article.
  • the auxiliary power source is reciprocated more than electric power capable of moving the support body one way from the retracted position to the protruding position or from the protruding position to the retracted position with the article placed and supported. It is preferable to have a power capacity capable of supplying less than the power that can be generated to the support driving device and the support control device.
  • the power capacity of the auxiliary power source is such that the support drive device and support control device can move the support in and out so that it will not easily collapse even if a power failure occurs during the transfer of goods.
  • a capacity capable of completing the exit / retreat movement to the protruding position or the retraction position, which is the target of the exit / retreat movement is required (that is, a power capacity for moving one way).
  • the power capacity of the auxiliary power source is preferably an appropriate capacity as required. If the upper limit capacity is set based on the power capacity for one-way movement described above, the reference is clear.
  • the power capacity of the auxiliary power source is equal to or greater than the power capable of moving the support one way and less than the power capable of reciprocating the support.
  • the auxiliary power supply supplies power to the support driving device and the support control device in the power outage state, and outputs information indicating that the power outage is present, and the support control device It is preferable that the supply of power from the auxiliary power supply is stopped after completing the execution of the driving process of the support driving device using the power of the auxiliary power supply.
  • the auxiliary power source is a rechargeable power source
  • the time required for charging becomes long.
  • the support is moved out and out in a power failure state, it is not necessary to supply power from the auxiliary power source. Therefore, when the support movement of the support is completed in the power failure state, it is preferable that power saving can be realized if the power supply from the auxiliary power supply is stopped.
  • the support driving device includes a motor that moves the support and a brake that applies a braking force to the motor in a non-energized state.
  • the article transfer device may be provided with a brake configured to release the braking force in the energized state and to apply the braking force in the state where the power supply is cut off for fail-safe. . In the case where such a brake is provided, when the power supply to the main power supply is interrupted, a stronger braking force acts on the support.
  • the article being transferred may collapse.
  • Auxiliary power supply shares power to the support drive unit including the motor and brake, so even if the power supply to the main power supply is interrupted, the brake does not generate braking force and the support completes moving out Until then, the strong braking force of the brake does not act on the support. Even if such a brake is provided, it is possible to provide an article transfer device configured to be less likely to collapse when a power failure occurs during transfer of an article.
  • Fork control unit support control device
  • Transfer device article transfer device
  • Exit / exit motor support drive unit
  • First motor for exit / exit support drive device
  • Second motor for exit / exit support drive device
  • Brake support drive unit
  • First brake support drive unit
  • Second brake support drive unit
  • Stacker crane goods conveying device
  • Lifting body 37 Fork device (support)
  • B Article P Pallet article
  • T Transfer target location W Container (article)

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un dispositif de transfert d'article conçu de sorte qu'un effondrement de charge ne puisse se produire facilement même lorsqu'une panne de courant survient pendant le transfert d'articles. Un dispositif de transfert d'article (10) comprend : un dispositif d'entraînement (20) de corps de support pour étendre et rétracter un corps de support (37) sur lequel un article (B) est placé et soutenu entre une position rétractée et une position projetée; un dispositif de commande (8) de corps de support; et une source d'alimentation électrique principale (1) qui reçoit le courant et qui alimente en courant le dispositif d'entraînement (20) de corps de support et le dispositif de commande (8) de corps de support. Le dispositif de transfert d'article (10) comprend en outre une source d'alimentation électrique auxiliaire (2) qui alimente en courant le dispositif d'entraînement (20) de corps de support et le dispositif de commande (8) de corps de support lorsque l'alimentation électrique de la source d'alimentation principale (1) est interrompue. Le dispositif de commande (8) de corps de support utilise le courant provenant de la source d'alimentation électrique auxiliaire (2) et donne la priorité à l'exécution du processus d'entraînement pour le dispositif d'entraînement (20) du corps de support afin d'étendre et de rétracter le corps de support (37) lorsqu'il y a une panne de courant et que l'alimentation électrique de la source d'alimentation principale (1) est interrompue.
PCT/JP2017/041857 2016-11-28 2017-11-21 Dispositif de transfert d'article WO2018097139A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-230456 2016-11-28
JP2016230456A JP6724746B2 (ja) 2016-11-28 2016-11-28 物品移載装置

Publications (1)

Publication Number Publication Date
WO2018097139A1 true WO2018097139A1 (fr) 2018-05-31

Family

ID=62195267

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/041857 WO2018097139A1 (fr) 2016-11-28 2017-11-21 Dispositif de transfert d'article

Country Status (2)

Country Link
JP (1) JP6724746B2 (fr)
WO (1) WO2018097139A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021127182A (ja) * 2020-02-10 2021-09-02 住友重機械プロセス機器株式会社 コークス炉用移動装置
JP2024075198A (ja) * 2022-11-22 2024-06-03 株式会社ダイフク 物品搬送設備

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09278120A (ja) * 1996-04-18 1997-10-28 Daifuku Co Ltd 物品保管装置
JPH10181811A (ja) * 1996-10-24 1998-07-07 Kito Corp 防爆・冷凍用自動倉庫の信号・給電装置
JP2006347706A (ja) * 2005-06-16 2006-12-28 Daifuku Co Ltd 物品収納設備
JP2016016934A (ja) * 2014-07-08 2016-02-01 村田機械株式会社 自動倉庫の搬送車

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002078196A (ja) * 2000-08-22 2002-03-15 Murata Mach Ltd 画像形成装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09278120A (ja) * 1996-04-18 1997-10-28 Daifuku Co Ltd 物品保管装置
JPH10181811A (ja) * 1996-10-24 1998-07-07 Kito Corp 防爆・冷凍用自動倉庫の信号・給電装置
JP2006347706A (ja) * 2005-06-16 2006-12-28 Daifuku Co Ltd 物品収納設備
JP2016016934A (ja) * 2014-07-08 2016-02-01 村田機械株式会社 自動倉庫の搬送車

Also Published As

Publication number Publication date
JP6724746B2 (ja) 2020-07-15
JP2018087060A (ja) 2018-06-07

Similar Documents

Publication Publication Date Title
TWI380939B (zh) 物品搬運裝置
WO2015127828A1 (fr) Véhicule à guidage sur rail intelligent pouvant se déplacer de manière tridimensionnelle, et son procédé de commande
TWI721222B (zh) 物品搬送設備
JP6340963B2 (ja) 自動倉庫の搬送車
JP2018111589A (ja) 水平搬送台車
JP6822567B2 (ja) 搬送システム及び搬送方法
JP2010212648A (ja) 移載装置
JP2008024493A (ja) 物品移載装置
TW201815646A (zh) 高架搬送車及搬送系統
JPWO2020153041A1 (ja) 搬送システム
WO2018097139A1 (fr) Dispositif de transfert d'article
JP6593287B2 (ja) 物品搬送設備
JP2003226406A (ja) スタッカークレーン
JP5217696B2 (ja) 電源設備
JP6952873B2 (ja) 横方向に動作する積載物取扱装置
JP7143122B2 (ja) 駐車装置
KR20210092269A (ko) 보관 시스템
JP6128085B2 (ja) 昇降装置および補助駆動ユニット
JP3092481B2 (ja) リフト装置
JP5399010B2 (ja) 物品収納設備
JP6459295B2 (ja) 搬送システム
JP2023524114A (ja) 限定空間における真空システム構成要素の搬送装置及び移動方法
JP2018043812A (ja) 搬送設備
JP2010058931A (ja) 給電式荷役装置
JP4577567B2 (ja) 物品搬送装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17873337

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17873337

Country of ref document: EP

Kind code of ref document: A1