WO2022074953A1 - ストッカ - Google Patents

ストッカ Download PDF

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Publication number
WO2022074953A1
WO2022074953A1 PCT/JP2021/031398 JP2021031398W WO2022074953A1 WO 2022074953 A1 WO2022074953 A1 WO 2022074953A1 JP 2021031398 W JP2021031398 W JP 2021031398W WO 2022074953 A1 WO2022074953 A1 WO 2022074953A1
Authority
WO
WIPO (PCT)
Prior art keywords
crane
sensor
maintenance area
traveling
stocker
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2021/031398
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
▲イン▼ 崔
崇 森脇
一馬 矢河
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Murata Machinery Ltd
Original Assignee
Murata Machinery Ltd
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 Murata Machinery Ltd filed Critical Murata Machinery Ltd
Priority to JP2022555296A priority Critical patent/JP7283640B2/ja
Priority to US18/029,939 priority patent/US12280945B2/en
Priority to EP21877256.4A priority patent/EP4219342A4/en
Priority to IL301798A priority patent/IL301798B2/en
Publication of WO2022074953A1 publication Critical patent/WO2022074953A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier

Definitions

  • This disclosure relates to stockers.
  • Cited Document 1 an article storage shelf provided with a plurality of storage units for storing containers, and a stacker crane installed next to the article storage shelf and moving along the article storage shelf to transport the container.
  • Goods transport equipment equipped with is known.
  • the stacker crane travels in the traveling direction on the traveling rail in the internal area of the article transporting equipment.
  • the evacuation area for performing maintenance work on the stacker crane is formed so as to line up with the transfer area.
  • a moving section for evacuation is set in order to move the stacker crane to the evacuation area.
  • moving the stacker crane to the evacuation area involves various operations and is troublesome for the operator.
  • since the operator manually moves the stacker crane it takes time to move.
  • This disclosure describes a stocker that can quickly and easily move a crane to a maintenance area.
  • the stocker includes a crane traveling on a traveling path extending in the traveling direction, a maintenance area provided on an extension of the traveling path, a controller for traveling the crane toward the maintenance area, and a crane.
  • a first sensor that detects that the crane is located in a close position close to the maintenance area or an approach position that has entered the maintenance area, and a second sensor that detects that the crane has reached the stop position of the maintenance area.
  • the controller decelerates and controls the crane according to the detection result of the first sensor, and stops and controls the crane according to the detection result of the second sensor.
  • the controller controls the crane and drives the crane toward the maintenance area provided on the extension of the travel path.
  • the traveling speed of the crane at this time may be as high as possible until it is close to the crane maintenance area.
  • the controller controls the deceleration of the crane.
  • the controller controls the stop of the crane. In this way, the crane moves at a high traveling speed until it approaches or enters the maintenance area, and decelerates in the maintenance area. Furthermore, the crane automatically stops at the stop position. Therefore, according to this stocker, the crane can be quickly and easily moved to the maintenance area.
  • the first sensor is provided corresponding to a cable device having a cable portion for supplying power to the crane, and by detecting the movement of the cable portion, the crane is located in a close position or an approach position.
  • a second sensor may be provided corresponding to the crane and / or maintenance area to detect that the crane has reached the stop position.
  • the installation positions of the first sensor and the second sensor can be separated from each other, and the degree of freedom in the installation positions of both sensors can be increased.
  • the cable portion includes a first end attached to the central portion in the traveling direction in the stocker and a second end attached to the crane, and the first sensor has a detected portion near the first end of the cable portion. It may be detected that the crane is located in the proximity position or the approach position based on whether or not it is present at the installation position of the first sensor. In this case, the first sensor detects that the crane is located in the proximity position or the approach position based on the presence or absence of the detected portion near the first end. Since the first end is attached to the central portion in the stocker, the first sensor is also provided near the central portion. Various devices are installed in the maintenance area, but it is not necessary to install the first sensor around the maintenance area. The central part of the stocker has more space than the maintenance area, and the degree of freedom in the installation position of the first sensor can be increased. The first sensor can also be used to detect that the crane is located in the main area of the stocker (eg, during normal operation).
  • the stocker is further provided with a second crane traveling on the traveling path, and the cable portion for supplying power to the crane and the second cable portion for supplying power to the second crane are in the horizontal width direction orthogonal to the traveling direction. It is separated, and a traveling path may be arranged between the cable portion and the second cable portion. According to this configuration, the two cable portions are arranged on both sides (both sides in the width direction) of the traveling path. Therefore, the two first sensors can be distributed and arranged on both sides of the traveling path, and the stocker can be made compact as a whole.
  • the stocker is further equipped with another crane that travels on another travel path and shares the maintenance area with the crane, and another second sensor that detects when another crane has reached the stop position of the maintenance area.
  • the second sensor and another second sensor may be able to independently detect the arrival of the crane at the stop position and the arrival of another crane at the stop position. According to this configuration, the second sensor and another second sensor do not interfere with each other in detecting the arrival of the two cranes at the stop position.
  • Each second sensor can accurately detect the stop position without being affected by the movement of the crane that is not the detection target.
  • the crane can be moved to the maintenance area quickly and easily.
  • FIG. 1 is a front view showing a stocker according to an embodiment of the present disclosure.
  • FIG. 2 is a perspective view showing a crane provided in the stocker of FIG.
  • FIG. 3 is a block diagram showing a schematic configuration of an operating device, a controller, and a crane.
  • FIG. 4 is a front view showing the moving range of the crane and the position and posture of the cable portion.
  • FIG. 5 is a plan view showing the arrangement of a rail (travel path) and two cranes.
  • FIG. 6 is a perspective view showing the arrangement of rails, two cranes, and two cable portions.
  • FIG. 7 is a perspective view showing a first sensor provided corresponding to the cable device.
  • FIG. 8 (a) and 8 (b) are plan views showing the arrangement of the second sensor at the lower part of the crane, and FIG. 8 (a) shows a state in which the first crane enters from one of the maintenance areas. 8 (b) shows a state in which the second crane enters from the other side of the maintenance area.
  • 9 (a) and 9 (b) are plan views showing the arrangement of the second sensor on the upper part of the crane, and FIG. 9 (a) shows a state in which the first crane enters from one of the maintenance areas.
  • 9 (b) shows a state in which the second crane enters from the other side of the maintenance area.
  • 10 (a) to 10 (c) are views showing a movement operation of a crane to a maintenance area using an operating device.
  • the stocker 1 of the present embodiment includes, for example, a left stocker 2 and a right stocker 3.
  • the stocker 1 includes a plurality of stockers arranged in a predetermined direction.
  • the stocker 1 may include a single stocker.
  • the stacker crane 7 travels inside each of the left stocker 2 and the right stocker 3.
  • a stacker crane 7 transports an article between a plurality of shelves S provided inside each of the left stocker 2 and the right stocker 3 and an entry / exit port (not shown).
  • articles transported by the stacker crane 7 are stored.
  • the articles include, for example, a FOUP (Front-Opening Unified Pod) that houses a wafer processed by a semiconductor manufacturing device or a liquid crystal manufacturing device, and a reticle pod that houses a reticle used in a semiconductor manufacturing device or a liquid crystal manufacturing device. It is a container.
  • the stocker 1 may be, for example, a stocker equipped with a nitrogen purging function.
  • the left stocker 2 and the right stocker 3 are arranged in the traveling direction of the stacker crane 7.
  • two stacker cranes 7 are arranged inside the left stocker 2 and the right stocker 3, respectively.
  • the left stocker 2 includes, for example, a pair of racks 4, a left first stacker crane 7A and a left second stacker crane 7B.
  • the right stocker 3 includes, for example, a pair of racks 4, a right first stacker crane 7C and a right second stacker crane 7D.
  • the left stocker 2 and the right stocker 3 have the same configuration except that the racks 4 have different sizes, for example. Therefore, in the following description, the left stocker 2 may be described, while the right stocker 3 having the same configuration may be omitted.
  • the "stacker crane” is also called a “crane”.
  • the traveling direction of each stacker crane 7 is the X direction
  • the vertical direction is the Z direction
  • the horizontal direction orthogonal to the X direction and the Z direction is the Y direction (width direction)
  • the details of the stocker 1 will be described below. ..
  • the left stocker 2 is formed in a hollow rectangular parallelepiped shape, for example.
  • the left stocker 2 includes one traveling rail 31 on which the left first crane 7A and the left second crane 7B travel, and one auxiliary rail 32 arranged so as to face the traveling rail 31 in the Z direction. Is laid along the X direction.
  • the left first crane 7A and the left second crane 7B travel (move) along the traveling rail 31 and the auxiliary rail 32. That is, the left first crane 7A and the left second crane 7B travel on the traveling path T extending in the X direction.
  • the left first crane 7A and the left second crane 7B are transport devices for transporting articles between the shelf S and the warehousing / delivery port and transferring the articles to the shelf S.
  • Each rack 4 is provided in the left stocker 2 along the X direction.
  • the pair of racks 4 are arranged so as to face each other via the traveling rail 31.
  • Each rack 4 is provided with a plurality of shelves S for accommodating articles.
  • each crane 7 includes a traveling unit 71, a mast 72, a transfer unit 75, and an auxiliary traveling unit 90.
  • the traveling unit 71 has a traveling motor 78 and an elevating motor 82.
  • the traveling unit 71 travels along the traveling rail 31.
  • the traveling unit 71 includes driving wheels that roll along the upper surface of the traveling rail 31.
  • the traveling motor 78 is a drive source for traveling drive wheels.
  • the elevating motor 82 is a drive source for the elevating table 73.
  • a housing (not shown) for accommodating the traveling motor 78 and the elevating motor 82 may be provided.
  • the mast 72 is erected in the Z direction above the traveling portion 71.
  • the transfer unit 75 transfers the article to and from the shelf S, and also transfers the article to and from the warehousing / delivery port.
  • the auxiliary traveling unit 90 travels along the auxiliary rail 32.
  • the auxiliary traveling unit 90 includes a pair of drive wheels that roll while sandwiching the auxiliary rail 32.
  • each crane 7 travels on the traveling path T.
  • the traveling motor 78 is, for example, a servo motor, and can be controlled to an arbitrary rotation speed by the controller 30.
  • the controller 30 can control the traveling motor 78 to drive the crane 7 at an arbitrary traveling speed.
  • the traveling motor provided in the crane 7 may be another controllable actuator.
  • the left stocker 2 includes a left maintenance area M1 and a central maintenance area M2 arranged on both sides of the rack 4 in the X direction.
  • the right stocker 3 includes a central maintenance area M2 and a right maintenance area M3 arranged on both sides of the rack 4 in the X direction.
  • Ladder and scaffolding are installed in each maintenance area. The operator can perform maintenance of the crane 7 in each maintenance area, and also perform maintenance of the shelf S on the maintenance step or the like installed in front of the rack 4.
  • the maintenance area is also called the "maintenance dock”.
  • Any crane 7 can be accommodated in each of the left maintenance area M1, the central maintenance area M2, and the right maintenance area M3.
  • the left first crane 7A can be moved on the traveling rail 31 to accommodate the left first crane 7A in the left maintenance area M1, and the left second crane 7B can be moved on the traveling rail 31.
  • the left second crane 7B can be accommodated in the central maintenance area M2 (see FIG. 4).
  • the right first crane 7C can be moved on the traveling rail 31 to accommodate the right first crane 7C in the central maintenance area M2, and the right second crane 7D can be moved on the traveling rail 31. Therefore, the right second crane 7D can be accommodated in the right maintenance area M3.
  • the central maintenance area M2 is shared by the left stocker 2 and the right stocker 3.
  • the left second crane 7B can enter the central maintenance area M2 from one side (left side shown in FIG. 1), and the right first crane 7C can enter from the other side (right side shown in FIG. 1).
  • the central maintenance area M2 can accommodate either one of the left second crane 7B and the right first crane 7C. Therefore, the traveling rail 31 and the auxiliary rail 32 of the left stocker 2 and the traveling rail 31 and the auxiliary rail 32 of the right stocker 3 are connected in a straight line, respectively (see FIGS. 8 and 9).
  • the central maintenance area M2 can also accommodate both the left second crane 7B and the right first crane 7C (two units). In that case, neither the left second crane 7B nor the right first crane 7C can reach the stop position P2 described later.
  • each crane 7 moves on the traveling path T under the control of the controller 30, for example, when an operator operates the operating device 50, and moves to one of the maintenance areas. enter in.
  • the movement of the crane 7 to the maintenance area is automatically performed by pressing the button of the operating device 50 only once.
  • the stocker 1 is equipped with a nitrogen purge function, in order to maintain the airtightness of the main area MA (internal space) in which the rack 4 is installed, the door surface 5 between the maintenance area and the main area MA is provided. Doors etc. will be installed.
  • the door of the side surface 5 is opened, the stopper or the like provided at the lower part is removed, and the operation device 50 is operated.
  • the left stocker 2 includes a first cable device 8A for supplying power to the left first crane 7A and a second cable device 8B for supplying power to the left second crane 7B.
  • the first cable device 8A has a first cable portion 10A connected to a traveling portion 71 of the left first crane 7A.
  • the second cable device 8B has a second cable portion 10B connected to the traveling portion 71 of the left second crane 7B.
  • the configurations of the cable device 8 and the cable portion 10 similarly provided for each of the cranes 7 will be described in detail.
  • the cable portion 10 includes a cable portion 10 for supplying power to the crane 7, a cable guide 20 for guiding and holding a grounding portion (lower stage portion 10z described later) of the cable portion 10, and a cable portion. It has a guide roller 40 that supports the lifted portion (upper portion 10x described later) of the 10th.
  • the cable portion 10 includes a first end 10a attached to the central portion 25 of the left stocker 2 in the X direction and a second end 10b attached to the crane 7. The cable portion 10 moves following the movement of the crane 7.
  • the cable portion 10 has a long shape.
  • the cable portion 10 includes an upper stage portion 10x extending from the crane 7 to one side in the X direction, a U-shaped portion 10y extending downward from the upper stage portion 10x in a U-shape, and the other side in the X direction from the U-shaped portion 10y. Includes a lower portion 10z extending to.
  • the cable portion 10 moves so that the second end 10b and the U-shaped portion 10y stroke (move) to one side or the other side accordingly.
  • the lengths of the upper portion 10x and the lower portion 10z in the X direction change with the movement of the cable portion 10, but the upper portion 10x always includes the second end 10b, and the lower portion 10z always includes the first end 10a.
  • the cable portion 10 has a power cable 11 and a protection guide member 15.
  • the power cable 11 is connected to the crane 7 and is also connected to a power supply unit (not shown) in the stocker 2. As a result, the crane 7 is supplied with power from the power supply unit via the power cable 11.
  • the power cable 11 is not particularly limited, and cables having various shapes or specifications can be used.
  • the protection guide member 15 accommodates the power cable 11 inside and protects the power cable 11. At the same time, the protection guide member 15 guides the power cable 11 so that the power cable 11 follows the movement of the crane 7.
  • the protection guide member 15 constitutes a cable accommodating portion.
  • the protection guide member 15 has a movable end and a fixed end.
  • the movable end forming a part of the second end 10b is connected to the traveling portion 71 of the crane 7.
  • the fixed end constituting a part of the first end 10a is attached to the gantry 9 (see FIGS. 5 and 7) of the stocker 2.
  • the protection guide member 15 is configured to bend only in the direction around the axis along the Y direction.
  • the protective guide member 15 is not particularly limited, and parts having various shapes or specifications can be used.
  • the cable guide 20 is provided so as to extend in the X direction in parallel with the traveling rail 31, and has a guide body 21 accommodating the lower portion 10z of the cable portion 10.
  • the guide body 21 is a member having a U-shaped cross section that is open upward, and while supporting the lower portion 10z, guides the lower portion 10z so that the position in the Y direction does not shift.
  • the guide body 21 is provided so as to extend from the central portion 25 to the side opposite to the crane 7 to which the cable portion 10 is connected.
  • the guide body 21 of the cable guide 20 extends from the central portion 25 to the front of the left maintenance area M1. Note that the cable guide 20 is not shown in FIGS. 4 to 6.
  • the guide roller 40 has a plurality of rollers 41 arranged at predetermined intervals in the X direction. Each roller 41 can rotate, for example, around an axis along the Y direction. Each roller 41 is attached to the gantry 9 via a stay 42 or the like.
  • the guide roller 40 smoothly guides the moving upper stage portion 10x in the X direction as the crane 7 moves, and supports the upper stage portion 10x from below. In FIG. 6, only the roller 41 is shown, and the gantry 9 and the stay 42 are not shown.
  • the first cable device 8A and the second cable device 8B are separated from each other in the Y direction.
  • the first cable portion 10A and the second cable portion 10B are separated from each other in the Y direction.
  • a traveling path T that is, a traveling rail 31 is arranged between the first cable portion 10A and the second cable portion 10B.
  • the gantry 9 that supports the first cable portion 10A and the gantry 9 that supports the second cable portion 10B are outside the first cable portion 10A and the second cable portion 10B (the side away from the traveling rail 31 in the Y direction). Is located in.
  • the first cable portion 10A and the second cable portion 10B extending in parallel apart from each other in the Y direction do not interfere with each other and are separate spaces on both sides of the traveling rail 31 (traveling path T). Move inside.
  • the left second crane 7B is movable (movable) in substantially the entire X direction and has access to all (or most) shelves S of rack 4. be.
  • the left second crane 7B can move to substantially the entire area of the main area MA and the central maintenance area M2.
  • the left first crane 7A is movable (movable) in substantially the entire area in the X direction, and is accessible to all (or most) shelves S of the rack 4.
  • the left first crane 7A can move to substantially the entire area of the main area MA and the left maintenance area M1.
  • the left second crane 7B is housed in the central maintenance area M2, and the left first crane 7A is housed in the left maintenance area M1. Since the left first crane 7A and the left second crane 7B travel on the same traveling rail 31, the positional relationship between the left and right is unchanged.
  • the U-shaped portion 10y of the cable portion 10 is provided so as to open from the central portion 25 toward the outside of the left stocker 2 in the X direction. ..
  • the U-shaped portion 10y is always located in the main area MA.
  • the tip of the U-shaped portion 10y does not reach the other maintenance area (the maintenance area where the crane 7 is not stored).
  • the tip of the U-shaped portion 10y is in the left maintenance area M1. Not included.
  • the second cable portion 10B is configured so that the U-shaped portion 10y does not overlap the left maintenance area M1 regardless of the position of the left second crane 7B. The same can be said for the relationship between the left first crane 7A, the second cable portion 10B, and the central maintenance area M2. Both the left second crane 7B and the left first crane 7A cover the entire operating range in the left stocker 2.
  • the left stocker 2 of the present embodiment is configured so that the crane 7 can be automatically pulled out (that is, moved) to the maintenance area when performing maintenance work on the crane 7.
  • the speed of the crane 7 is controlled stepwise, and as a result, the crane 7 is quickly pulled out (moved).
  • the configuration related to the traveling control at the time of pulling out the crane will be described.
  • the left stocker 2 includes a first sensor 6 that detects that the left second crane 7B is located at the approach position P1 (see FIG. 8) that has entered the central maintenance area M2. Further, as shown in FIG. 8, the left stocker 2 includes a lower second sensor 74 and an upper second sensor 94 that detect that the left second crane 7B has reached the stop position P2 of the central maintenance area M2.
  • the first sensor 6 is provided so as to correspond to the cable portion 10 for supplying power to the crane 7 (detect the cable portion 10).
  • the first sensor 6 is installed, for example, in the corner portion 21a in the guide body 21.
  • the first sensor 6 includes a switch unit 6a that immerses itself in the detected portion 10d of the cable portion 10 set closer to the first end 10a and detects the presence of the detected portion 10d.
  • the first sensor 6 continues to detect the presence of the detected portion 10d.
  • the crane 7 reaches the approach position P1 (see FIG.
  • the detected portion 10d separates from the first sensor 6, and the switch portion 6a protrudes due to the urging force of an internal spring or the like. 1
  • the sensor 6 detects the absence of the detected portion 10d. In this way, the first sensor 6 detects that the crane 7 is located at the approach position P1 by detecting the movement of the cable portion 10 connected to the crane 7.
  • the first sensor 6 can detect that the crane 7 is located in the main area MA based on whether or not the detected portion 10d is present at the installation position of the first sensor 6, and further, the crane 7 enters. It can also be detected that it is located at the position P1.
  • the detected portion 10d is merely a part of the cable portion 10 (protection guide member 15) and has the same configuration as the other parts (separate members and the like are added). not).
  • the detected portion 10d is set at an appropriate position corresponding to the approach position P1 when the cable portion 10 is designed, and the first sensor 6 is installed at a position where the detected portion 10d is placed.
  • the first sensor 6 is installed in the central portion 25 of the left stocker 2 (see also FIG. 5).
  • "closer to the first end 10a of the cable portion 10" means that the distance from the detected portion 10d to the first end 10a is at least the distance from the detected portion 10d to the second end 10b (crane 7). Means short.
  • the lower second sensor 74 is attached to the traveling portion 71 of the left second crane 7B (crane 7).
  • the lower second sensor 74 approaches (or abuts) the dog 84 installed in the central maintenance area M2 (maintenance area), so that the left second crane 7B stops at the stop position P2 in the central maintenance area M2. Is detected.
  • the upper second sensor 94 is attached to the auxiliary traveling portion 90 of the left second crane 7B (crane 7).
  • the upper second sensor 94 approaches (or abuts) the dog 86 installed in the central maintenance area M2 (maintenance area), so that the left second crane 7B stops at the stop position P2 in the central maintenance area M2. Is detected.
  • the lower second sensor 74 and the upper second sensor 94 are provided for the left second crane 7B (crane 7).
  • a photoelectric sensor may be used, or a limit switch, a proximity sensor, an eddy current type displacement sensor, a laser sensor, or the like may be used.
  • the central maintenance area M2 is shared by the left second crane 7B and the right first crane 7C (another crane).
  • the lower second sensor 74 another second sensor
  • the lower second sensor 74 approaches (or abuts) the dog 85 installed in the central maintenance area M2 (maintenance area), so that the right first crane 7C moves to the stop position P2 in the central maintenance area M2. Is detected. Further, as shown in FIG. 8B, the lower second sensor 74 (another second sensor) having the same configuration as the above is used. It is attached to the traveling portion 71 of the right first crane 7C (crane 7).
  • the lower second sensor 74 approaches (or abuts) the dog 85 installed in the central maintenance area M2 (maintenance area), so that the right first crane 7C moves to the stop position P2 in the central maintenance area M2. Is detected. Further, as shown in FIG.
  • the upper second sensor 94 (another second sensor) having the same configuration as described above is attached to the auxiliary traveling portion 90 of the right first crane 7C (crane 7). Has been done.
  • the upper second sensor 94 approaches (or abuts) the dog 87 installed in the central maintenance area M2 (maintenance area), so that the right first crane 7C moves to the stop position P2 in the central maintenance area M2. Is detected.
  • the lower second sensor 74 and the upper second sensor 94 are provided corresponding to the right first crane 7C (crane 7).
  • the dog 84 and the dog 85 are provided so as to be separated from each other in the X direction and arranged in parallel.
  • a center line CL of the central maintenance area M2 is arranged between the dog 84 and the dog 85.
  • the positions of the lower encoder 76 and the position detection rack 102 for detecting the position of the left second crane 7B and the position of the right first crane 7C are detected.
  • the lower encoder 76 and the position detection rack 103 are also separately arranged on both sides of the center line CL, and are separated in the X direction.
  • the dog 86 and the dog 87 are provided so as to be separated from each other in the X direction and arranged in parallel.
  • a center line CL of the central maintenance area M2 is arranged between the dogs 86 and 87.
  • the positions of the upper encoder 96 and the position detection rack 104 for detecting the position of the left second crane 7B and the position of the right first crane 7C are detected.
  • the upper encoder 96 and the position detection rack 105 are also separately arranged on both sides of the center line CL, and are separated in the X direction.
  • the center of the left second crane 7B in a plan view crosses the center line CL and is located in the central maintenance area M2. It is located at the end near the left stocker 2 (the end on the left side of the figure).
  • the lower second sensor 74 and the upper second sensor 94 of the right first crane 7C are always from the dogs 84 and 86 for the left second crane 7B until the stop position P2 of the right first crane 7C is reached. It keeps a certain distance or more. That is, the dogs 84 and 86 are not detected by the lower second sensor 74 and the upper second sensor 94.
  • the lower second sensor 74 and the upper second sensor 94 are provided at the ends of the traveling portion 71 and the auxiliary traveling portion 90 (the end opposite to the central maintenance area M2 to be accommodated), such Avoidance of interference is easily realized.
  • the lower second sensor 74 of the left second crane 7B and the lower second sensor 74 of the right first crane 7C reach the stop position P2 of the left second crane 7B and the stop position of the right first crane 7C.
  • the arrival at P2 can be detected independently.
  • the upper second sensor 94 of the left second crane 7B and the upper second sensor 94 of the right first crane 7C reach the stop position P2 of the left second crane 7B and the stop position P2 of the right first crane 7C. Can be detected independently.
  • the operation device 50 includes an operation unit 51, a display unit 52, and a communication unit 53.
  • the operating device 50 may be a terminal such as a tablet so that the operator can easily operate the crane 7.
  • the operation unit 51 is, for example, a touch panel or the like provided on the display unit 52.
  • the display unit 52 is, for example, a liquid crystal display or the like.
  • the communication unit 53 can perform information communication with the controller 30 by wireless communication or wired communication.
  • the controller 30, which is a higher-level controller, may be provided in each maintenance area, for example, or may be mounted on a traveling portion 71 or the like of a crane 7.
  • the controller 30 is an electronic control unit composed of a CPU (processor), a ROM, a RAM, and the like.
  • the controller 30 controls each part of the crane 7 including the traveling motor 78.
  • the worker first stops the stocker 1 when performing maintenance work on the crane 7.
  • the left first crane 7A, the left second crane 7B, the right first crane 7C, and the right second crane 7D all stop.
  • one of the cranes 7 is moved to the corresponding maintenance area.
  • the left second crane 7B is moved to the central maintenance area M2 will be described as an example.
  • the operator pushes the operation unit 51 on the display unit 52 of the operation device 50 with the words "Move to maintenance dock" with his / her finger.
  • the operating device 50 may be configured so that the crane 7 to be moved can be selected by using the operating device 50.
  • the controller 30 controls the traveling motor 78 to drive the left second crane 7B. At this time, the controller 30 drives the left second crane 7B on condition that there is no other crane (in this case, the right first crane 7C) in the central maintenance area M2.
  • the controller 30 stores at least two kinds of indicated values regarding the traveling speed of the crane 7.
  • One is an instruction value corresponding to a normal traveling speed that can be applied when the crane 7 moves from a certain point to a certain point in the main area MA.
  • This normal traveling speed may be calculated by the controller 30 according to the moving distance.
  • the moving distance is calculated as the distance from the current position of the crane 7 to the approach position P1.
  • the controller 30 uses the output signals from the lower encoder 76 and the upper encoder 96 to calculate the left second crane 7B. Recognizes the current position of the crane and obtains the moving distance to the approach position P1. The controller 30 outputs an indicated value corresponding to the normal traveling speed toward the traveling motor 78, and causes the left second crane 7B to travel toward the central maintenance area M2. In this state, the second cable portion 10B is mounted on the first sensor 6, and the switch portion 6a is immersed. The first sensor 6 detects the presence of the detected portion 10d. As shown in FIG. 10B, the operating device 50 notifies the operator that the crane 7 is moving, for example, by blinking the “moving” lamp on the display unit 52.
  • the controller 30 stores the indicated value corresponding to the second traveling speed at the time of deceleration control slower than the normal traveling speed.
  • the left second crane 7B reaches the approach position P1 (see FIG. 8) that has entered the central maintenance area M2
  • the detected portion 10d of the second cable portion 10B separates from the first sensor 6 and the switch portion 6a protrudes.
  • the first sensor 6 detects the absence of the detected portion 10d.
  • the controller 30 reduces the rotation speed of the traveling motor 78. , Left second crane 7B is decelerated and controlled.
  • the second traveling speed may be half or less of the normal traveling speed, one-fifth or less, or one-tenth or less.
  • the second traveling speed may be determined based on the size (height) and weight of the crane 7, the size of the central maintenance area M2, and the like.
  • the controller 30 decelerates and controls the left second crane 7B according to the detection result of the first sensor 6.
  • the operating device 50 informs the operator that the crane 7 is moving by blinking, for example, the “moving” lamp on the display unit 52. Notify.
  • the operator may be notified that the crane 7 is moving at a low speed, for example, by making the blinking interval of the lamp relatively long.
  • the controller 30 stops the traveling motor 78 and stops and controls the left second crane 7B. .. Further, when the detection signal indicating that the left second crane 7B has reached the stop position P2 is input from the upper second sensor 94, the controller 30 stops the traveling motor (not shown) of the auxiliary traveling unit 90 and left.
  • the second crane 7B is stopped and controlled.
  • the controller 30 uses the left second crane 7B when a detection signal indicating that the left second crane 7B has reached the stop position P2 is input from at least one of the lower second sensor 74 and the upper second sensor 94. Stop control may be performed. In this way, the controller 30 stops and controls the left second crane 7B according to the detection results of the lower second sensor 74 and / or the upper second sensor 94. As shown in FIG. 10 (c), the operating device 50 notifies the operator that the withdrawal (movement) of the crane 7 is completed by, for example, blinking the “movement completed” lamp on the display unit 52. do.
  • the left second crane 7B is pulled out (moved) to the stop position P2 of the central maintenance area M2.
  • the controller 30 performs the same withdrawal control for the other cranes 7.
  • the pull-out control of the right first crane 7C is performed, as described above, the dog 84 and the dog 86 are not involved in the position detection, and the dog 85 and the dog 87 detect the arrival of the right first crane 7C at the stop position P2. Will be done.
  • the left maintenance area M1 and the right maintenance area M3 since the left first crane 7A and the right second crane 7D are only received from only one direction, one dog is provided for each.
  • the controller 30 controls the crane 7 and causes the crane 7 to travel toward the maintenance area provided on the extension line of the traveling path T.
  • the traveling speed of the crane 7 at this time is a normal traveling speed.
  • the controller 30 controls the deceleration of the crane 7.
  • the controller 30 controls the stop of the crane 7. In this way, the crane 7 moves at a relatively large traveling speed until it enters the maintenance area, and decelerates in the maintenance area. Further, the crane 7 automatically stops at the stop position P2. According to the stocker 1 that performs such a two-step shift, the crane 7 can be quickly and easily moved to the maintenance area. Since the crane 7 moves at a low speed in the maintenance area, safety is also maintained.
  • the first sensor 6 is provided corresponding to the cable device 8, and the lower second sensor 74 and / or the upper second sensor 94 is provided corresponding to the crane 7.
  • the installation positions of the first sensor 6 and the lower second sensor 74 and / or the upper second sensor 94 can be separated from each other, and the degree of freedom in the installation positions of both sensors can be increased.
  • the first sensor 6 detects that the crane 7 is located or not located at the approach position P1 based on the presence or absence of the detected portion 10d near the first end 10a of the cable portion 10. Since the first end 10a is attached to the central portion in the left stocker 2, the first sensor 6 is also provided near the central portion (see FIG. 5). Although various devices are installed in the maintenance area, it is not necessary to install the first sensor 6 in the vicinity of the maintenance area. The central portion of the left stocker 2 has more space than the maintenance area, and the degree of freedom in the installation position of the first sensor 6 can be increased. Further, the first sensor 6 detects that the crane 7 is located in the main area MA (for example, normal operation is performed in the stocker 1) by detecting the presence of the detected portion 10d. Can also be used for.
  • the main area MA for example, normal operation is performed in the stocker 1
  • a traveling path T is arranged between the first cable portion 10A and the second cable portion 10B.
  • the first cable portion 10A and the second cable portion 10B are arranged on both sides of the traveling path T (both sides in the Y direction). Therefore, the two first sensors 6 can be distributed and arranged on both sides of the traveling path T, and the stocker can be made compact as a whole. Moreover, since the first sensor 6 is provided inside the guide body 21, the increase in size is suppressed.
  • the lower second sensor 74 of the left second crane 7B and the lower second sensor 74 of the right first crane 7C reach the stop position P2 of the left second crane 7B and the right first crane 7C.
  • the arrival at the stop position P2 can be detected independently.
  • the upper second sensor 94 of the left second crane 7B and the upper second sensor 94 of the right first crane 7C reach the stop position P2 of the left second crane 7B and the stop position P2 of the right first crane 7C. Can be detected independently.
  • the second sensors 74 and 94 can accurately detect the stop position P2 in the crane to be detected without being affected by the movement of the crane not to be detected.
  • the present invention is not limited to the above embodiments.
  • the upper traveling portion auxiliary traveling portion 90 of the above embodiment
  • the auxiliary rail 32 and the auxiliary traveling portion 90 may be omitted, and the crane 7 may travel only on the traveling rail 31.
  • the left stocker 2 or the right stocker 3 may include a single crane 7 and a rack 4. In that case, a single maintenance area may be provided for one stocker.
  • the position of the crane 7 that triggers the deceleration control is not limited to the approach position P1.
  • the first sensor 6 may be provided corresponding to the cable device 8 and detect that the crane 7 is located at a close position close to the maintenance area by detecting the movement of the cable portion 10. Specifically, the first sensor 6 determines that the crane 7 is located or not located close to the maintenance area, based on whether the detected portion 10d is present at the installation position of the first sensor 6. It may be detected. At the close position, the crane 7 has not reached the maintenance area, but the distance between the crane 7 and the maintenance area is less than or equal to a predetermined distance.
  • the detected portion 10d is set at an appropriate position corresponding to the proximity position, and the first sensor 6 is installed at the position where the detected portion 10d is placed.
  • the first sensor 6 is installed in the central portion 25 (or near the central portion 25) of the left stocker 2, but is located farther from the maintenance area in which the crane 7 is housed than the position of the first sensor 6 of the above embodiment. Will be installed in.
  • the first sensor that detects that the crane 7 is located at a close position close to the maintenance area or at an approach position that has entered the maintenance area may have a configuration different from that of the above embodiment.
  • the second sensor for detecting that the crane 7 has reached the stop position P2 may have a configuration different from that of the above embodiment.
  • a second sensor may be provided for the maintenance area and a dog may be provided for the crane 7.
  • the lower encoder 76 and / the upper encoder 96 may be used.
  • the position of the crane 7 may be detected by a barcode, a barcode reader, or the like instead of the encoder.

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EP21877256.4A EP4219342A4 (en) 2020-10-06 2021-08-26 WAREHOUSE
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US20230373716A1 (en) 2023-11-23
IL301798B1 (en) 2025-07-01
EP4219342A1 (en) 2023-08-02
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US12280945B2 (en) 2025-04-22

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