JP5278751B2 - Goods storage facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article storage facility in which an article is not moved as much as possible when an engagement part is engaged with a part to be engaged at scoop-transfer. <P>SOLUTION: At a time when the engagement part (44) is positioned at a projection position by an advancement/retreating operation means, when the engagement part is positioned at a position deviated from a proper engagement position relative to a part (6) to be engaged in a transferring direction, an abutment part (D) abutted on the part (6) to be abutted in the article is provided so as to be integrally moved with the engagement part when the engagement part is moved to an engagement position (TOP) along a switching direction. In scoop-transfer control, when the engagement part is moved and operated along the switching direction in order to make the engagement part engaged with the part to be engaged, a control means controls the operation of the advancement/retreating operation means so that it is brought into a state that it moves along a transferring direction of the engagement part by an operation force along the transfer direction applied to the abutment part by abutting on the part to be abutted. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

The present invention is provided with an article storage shelf in which a plurality of storage units provided with a shelf-side placement support part for placing and supporting articles are arranged vertically, and is provided so as to be movable up and down on the front side of the article storage shelf, An article transfer device for transferring an article to and from a storage unit; an elevating operation means for elevating the article transfer apparatus; and a control means for controlling the operation of the article transfer apparatus and the elevating operation means. The article transfer device is provided between the protruding position and the retracted position of the transfer apparatus side mounting support section for mounting and supporting the article, and the engaging section engaging with the engaged section of the article. The transfer direction between the moving-out operation means for moving in and out along the transfer direction, and the engagement position and the disengagement position for engaging the engagement portion with the engaged portion. Engagement operation means for moving the engagement portion along a switching direction intersecting with In a case where the means performs scooping transfer for taking out the articles placed and supported on the shelf side placing support part to the placing apparatus side placing support part, scooping transfer set for each of the storage parts In order to position the article transfer device at the transfer start raising / lowering position for use, after controlling the operation of the raising / lowering operation means, the engagement portion is placed on the object to be transferred as the scooping transfer control. In order to engage with the joint portion , the engaging portion is protruded to the protruding position along the transfer direction, and the engaging portion is moved to the engaging position along the switching direction, and then In order to retract the engagement portion along the transfer direction to the retraction position in a state where the engagement portion is engaged with the engaged portion at an appropriate engagement position in the transfer direction. The operation of the lifting / lowering operation means, the exit / retreat operation means and the engagement operation means. Gosuru about the configuration article storage facility so.

  In the above-mentioned article storage facility, when taking out an article stored in a state where it is placed and supported by the shelf-side placement support part of the storage part in the article storage shelf, the storage part in which the object to be scooped is stored After the article transfer device is positioned at the transfer start raising / lowering position for scooping transfer, the engaging portion provided in the article transfer device so as to be freely retractable is protruded to the protruding position on the storage unit side and engaged. By moving the part from the disengagement position to the engagement position along the switching direction, the engagement part is engaged with the engaged part of the article, and the engagement part is placed on the article transfer device side. The article is placed on and supported by the shelf-side placement support unit, and then the transfer is performed to transfer the article to the transfer device-side placement support unit.

  When the engaging portion is moved from the disengaging position to the engaging position along the switching direction in order to engage the engaging portion with the engaged portion of the article, the engaging portion is set to the protruding position. The position was held (for example, refer to Patent Document 1).

Japanese Utility Model Publication No. 60-103111 (page 12 and FIG. 7)

  When the engaging portion is positioned at the protruding position by the exit / retreat operation means, the influence of the stop position accuracy in the transfer direction of the engagement portion by the exit / retreat operation means controlled by the control means, the article storage shelf or the article transfer Due to various factors such as the influence of the assembly accuracy of the device, etc., the transfer between the engaging portion protruding to the protruding position and the engaged portion of the article placed and supported on the shelf-side placement support portion of the storage portion The positional relationship in the direction is not exactly constant and has some variation. Therefore, even if the engaging portion is protruded to the protruding position, the engaging portion may deviate from the proper engaging position with respect to the engaged portion in the transfer direction.

  Therefore, conventionally, the size of the engaged portion in the transfer direction is made larger than the size of the engaged portion in the transfer direction so that the engaged portion can be engaged with the engaged portion. There is some flexibility in the range. Thus, even when the engaging portion is displaced from the proper engaging position with respect to the engaged portion in the transfer direction when the engaging portion is positioned at the protruding position, the engaging portion is moved along the switching direction to the engaging position. Thus, the engaging portion can be engaged with the engaged portion.

  In the conventional article storage facility described above, in order to move the engagement portion from the disengagement position to the engagement position in order to engage the engagement portion with the engaged portion of the article, Since the engaging portion is held at the protruding position, when the engaging portion is positioned at the protruding position by the retracting operation means, the engaging portion moves from the proper engaging position with respect to the engaged portion in the transfer direction. If the engaging portion is moved from the disengaging position to the engaging position along the switching direction, the engaging portion is not properly engaged with the engaged portion. There is a case where an operating force for moving the article is applied to the engaged part or its peripheral portion by the engaging part held at the protruding position, and the article may move on the shelf-side mounting support part.

  Moreover, like the thing of the patent document 1, the to-be-engaged part protrudes in the side surface which faces the front by transfer direction view among the side surfaces of the articles | goods mounted and supported by the shelf side mounting support part, In order to ensure that the engaging portion is engaged with the engaged portion, the engaging portion is brought into contact with the end surface by the protruding operation to the protruding position, and then the engagement releasing position is moved in the vertical direction from the disengaging position to the engaging position. Some are designed to rise along. When the engaging portion is protruded to the protruding position, the engaging portion is brought into contact with the side surface facing the front in the transfer direction view of the article. The product is pushed in until the engaging part comes into contact with the side surface of the article until it reaches the protruding position. It will move. Incidentally, in the thing of patent document 1, the raising / lowering operation means also serves as the switching operation means, and the engaging part is moved along the switching direction by moving the article transfer device up and down.

  If the article moves on the shelf-side placement support unit, the planar view posture of the article in the shelf-side placement support unit or the transfer device side placement support unit may change, and the subsequent processing of the article There is an inconvenience that it may cause trouble. In addition, when the article is installed in a clean environment, there is a risk that dust or the like may be generated due to rubbing between the article bottom surface and the placement support section as the article moves on the shelf side placement support section. This is a phenomenon in which the movement of an article during ugly transfer is to be avoided as much as possible.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an article storage facility in which an article does not move as much as possible when the engaging portion is engaged with the engaged portion during scooping. is there.

In order to achieve this object, the first characteristic configuration of the article storage facility according to the present invention is an article storage shelf in which a plurality of storage units each having a shelf-side placement support part for placing and supporting articles are arranged vertically. And an article transfer device that is provided on the front side of the article storage shelf so as to be movable up and down, and that transfers an article to and from the storage unit, and an elevator operation means that moves up and down the article transfer device, An article transfer device and a control means for controlling the operation of the elevating operation means are provided, and the article transfer device has a transfer device side placement support portion for placing and supporting the article, and an article engaged portion. For engaging and disengaging the engaging portion with the engaged portion between the protruding position and the retracting position along the transfer direction of the article. Between the engagement position and the engagement release position along the switching direction crossing the transfer direction. And an engaging operation means for moving the joint portion, and the control means takes out the article placed and supported on the shelf-side placement support section into the transfer device side placement support section. When transferring, after controlling the operation of the elevating operation means to position the article transfer device at the transfer start elevating position for scooping transfer set for each of the storage units, As the transfer control, in order to engage the engaging portion with the engaged portion in the article to be transferred, the engaging portion is projected to the protruding position along the transfer direction, and the The engaging part is moved to the engaging position along the switching direction, and then the engaging part is engaged with the engaged part at an appropriate engaging position in the transfer direction. In order to retract the engagement portion along the transfer direction to the retraction position, Descending operating means, in the fabricated article storage facility to control the operation of the output retraction operating means and the engagement operating means,
The shelf-side mounting support portion includes a plurality of rollers that are freely rotatable around an axis along a horizontal direction that intersects the transfer direction in a state aligned along the transfer direction,
When the engaging portion is positioned at the protruding position by the withdrawing / retracting means, the engaging portion is located at a position shifted in the transfer direction from the proper engaging position with respect to the engaged portion. A contact portion that contacts the contacted portion of the article when the engaging portion is moved to the engaging position along the switching direction is provided to be movable integrally with the engaging portion. In the scooping transfer control, when the control means moves the engaging portion along the switching direction in order to engage the engaging portion with the engaged portion, the contacted portion Of the withdrawal operation means so as to allow the movement of the engagement portion along the transfer direction by the operation force along the transfer direction acting on the contact portion due to contact with the contact portion. It is configured to control the operation.

  According to this characteristic configuration, at the time of scooping and transferring, when the engaging portion is positioned at the protruding position by the retracting operation means, the engaging portion is moved from the proper engaging position to the engaged portion in the transfer direction. When the position is shifted, the contact portion is brought into contact with the contacted portion of the article along the transfer direction by moving the engaging portion to the engaging position along the switching direction. An operating force acts on the contact portion. Then, when the engaging portion is moved along the switching direction to engage the engaging portion, the control means controls the operation of the withdrawal operation means so that the transfer direction acting on the abutting portion. The engaging portion can move along the transfer direction integrally with the movement of the abutting portion by the operation force along.

  Therefore, even when the engaging portion is positioned at the protruding position, even if the engaging portion is located at a position shifted in the transfer direction from the proper engaging position with respect to the engaged portion, the engaging portion is moved in the switching direction. The engaging portion is moved and operated integrally with the contact portion along the transfer direction by an operation force along the transfer direction acting on the contact portion when moving along.

  Therefore, when the contact portion comes into contact with the contacted portion, the operation force acting on the contact portion becomes a direction in which the engagement portion is brought closer to the proper engagement position in the transfer direction. By adjusting the arrangement and structure of the contacted part, the engaging part can be moved so as to approach the proper engaging position when the engaging part is moved to the engaging position along the switching direction. Of the force by which the abutting portion that moves integrally with the engaging portion that moves along the switching direction presses the abutted portion, the component force as the operating force in the moving direction is absorbed. In other words, when the abutting portion comes into contact with the abutted portion, the engaging portion moves in the transfer direction by an operation force in the transfer direction that acts on the abutting portion, so that the abutting portion becomes the abutted portion. When moving in the switching direction in a state of being in contact with the contact, the operation force in the transfer direction for moving the article to the contacted portion is hardly transmitted. Therefore, it is possible to prevent the article from moving due to the operation force in the moving direction being transmitted to the abutted portion.

As described above, an article storage facility has been obtained in which the article is hardly moved as much as possible when the engaging part is engaged with the engaged part during scooping and transfer.
Further, according to this characteristic configuration, the shelf-side placement support portion in the storage portion of the article storage shelf has a plurality of rollers freely rotatable around the axis along the lateral direction intersecting the transfer direction in the transfer direction. Since they are arranged side by side, the articles can be moved in the transfer direction with respect to the storage unit with a small operating force. Can be planned.

  According to a second characteristic configuration of the article storage facility according to the present invention, in the scooping transfer control, the control means moves the engaging portion at the protruding position along the switching direction when the operation is performed. The operation force in the transfer direction on the engaging portion by the retracting operation means is a force required to move the stationary article placed and supported by the shelf-side placement support portion in the transfer direction. It is the point which is comprised so that the action | operation of the said exit / exit operation means may be controlled so that it may become smaller.

  According to this characteristic configuration, in the scooping transfer control, when the engaging part is moved and operated along the switching direction at the protruding position, the operation along the transfer direction in which the retracting operation means acts on the contact part. Since the movement along the transfer direction of the engagement portion by force is allowed, the operation force acting on the contact portion is the operation force in the transfer direction for the engagement portion operated by the withdrawal operation means. Appears as a reaction.

  Then, the advancing / retreating operation means makes the operation force in the transfer direction with respect to the engaging portion smaller than the force required to move the article in the shelf-side placement support portion in the transfer direction. That is, the operation force in the transfer direction transmitted from the abutted part to the article is smaller than the force necessary to move the article in the shelf-side placement support part in the transfer direction. Become. Therefore, when the engaging portion is moved along the switching direction at the protruding position, the stationary article placed and supported on the shelf-side placing support portion is reliably prevented from moving in the loading direction. it can.

According to a third characteristic configuration of the article storage facility according to the present invention, the engagement portion includes a pair of rotating rollers that are freely rotatable around an axis along a lateral direction intersecting the transfer direction. Are arranged side by side with an interval that can be inserted and removed, and each of the rotating rollers also serves as the contact portion.

  According to this configuration, the pair of rotating rollers that are freely rotatable around the axial center along the lateral direction intersecting the transfer direction are arranged with an interval at which the engaged portion can be inserted and removed. Therefore, even if the engaging part located at the protruding position is deviated from the proper engaging position with respect to the engaged part, the engaged part is moved along the switching direction so that the engaged part becomes a pair. Abut one of the outer peripheral portions of the rotating roller. And since the said to-be-engaged body can be guide | induced between a pair of rotating rollers because the said rotating roller moves to a transfer direction, rotating, an engaging part engages with an engaged part appropriately. Can do.

  In addition, since each of the rotating rollers also serves as a contact portion, when the contacted portion contacts the rotating roller, an operating force along the transfer direction acting on the engaging portion is applied to the engaging portion. Can be obtained directly. Therefore, since the engaging portion can be moved and operated with an operating force that directly acts on the engaging portion, the operating force in the transfer direction is transmitted to the engaging portion without waste, and the engaging portion is moved along the transfer direction. Easy to move. Of course, in order to obtain an operating force for moving the engagement portion along the transfer direction, it is not necessary to provide a contact portion that contacts the contacted portion, so the configuration of the article transfer device is simplified. At the same time, it is advantageous in terms of cost.

A fourth characteristic configuration of the article storage facility according to the present invention is that a plurality of the engaging portions are arranged in a distributed manner along a lateral direction intersecting the transfer direction.

  According to this characteristic configuration, when the article is locked and conveyed by the retraction operation of the engaging portion, the plurality of engaging portions dispersedly arranged along the lateral direction intersecting with the transfer direction serve as the engaged portion. Will be locked. When the engaged parts are locked by the plurality of engaging parts in this way, the article can be transferred in a state in which the article is prevented from being inclined due to movement resistance or the like and the article is maintained in an appropriate posture.

Schematic plan view of goods storage facility Front view of goods storage facility Side view of stacker crane Plan view of storage Plan view of transfer equipment Longitudinal front view of transfer equipment Side view of push-pull transfer unit Roller hook side view Perspective view of container Control block diagram Illustration of ugly transfer The figure which shows a mode when raising a roller hook to the position for engagement Flow chart of blue transfer control Blue transfer control timing chart

An embodiment of an article storage facility according to the present invention will be described with reference to the drawings.
As shown in FIGS. 1, 2, and 9, a shelf R as an article storage shelf provided with a plurality of storage units S for storing a container P for storing a glass substrate G vertically and horizontally, and the container P with respect to the shelf R A storage facility is configured with a stacker crane K to be taken in and out. And the stacker crane K is comprised so that the container P may be conveyed between the carrying in / out part W and the storage part S. FIG. Incidentally, such storage equipment is generally installed in a clean room where processing equipment for processing the glass substrate G is installed, the glass substrate G before processing, the glass substrate G during processing, and processing. It will be used to store the processed glass substrate G.

  As shown in FIG. 3, the stacker crane K is guided by a pair of left and right traveling rails 1 and driven to travel by a traveling motor 21, and each of a front side portion and a rear side portion of the traveling cart 2. And a lifting carriage 4 that is guided by the mast 3 so as to be movable up and down and is driven up and down by a lifting motor 22. The lifting carriage 4 has a storage unit S as an article. A transfer device 5 as an article transfer device for transferring the container P is provided.

  The lift carriage 4 is provided with a protruding sensor gate 16 at both ends in the transfer direction of the container P. The protrusion sensor gates 16 are distributed in the lateral direction intersecting the transfer direction with the upper attachment guide 16U and the lower attachment guide 16D, and a plurality of pairs of the light projection / reception type protrusion sensors are provided on the upper attachment guide 16U and the lower attachment guide 16D. 17 is provided. When the container P is positioned at the transfer mounting position as an appropriate position in the transfer device 5 to be positioned when being transported by the stacker clay K, so that all the protrusion sensors 17 are turned off. The mounting positions of the plurality of protrusion sensors 17 are adjusted.

  The transfer device 5 is provided so that it can be raised and lowered on the front side of the shelf R by the raising and lowering operation of the raising and lowering carriage 4 and can be moved and operated in the lateral direction of the shelf on the front side of the shelf R by the running operation of the traveling carriage 2. Yes.

  As shown in FIGS. 5 and 6, the transfer device 5 fixes the position of the roller-type transfer device 32 that moves to the lower surface of the container P in the transfer direction with respect to the storage unit S with respect to the transfer device 5 body. The loading and unloading unit M that loads and conveys the container P in the transfer direction by rotating the plurality of conveying rollers 33 of the roller-type conveying device 32 in the wholesale rotation direction or the scooping rotation direction. As an engaging portion that engages with the container constituting frame 6 (see FIG. 9) as an engaged portion located at the bottom of the container P in a state extending in the lateral direction intersecting the transfer direction from below. A roller hook 44 is provided. The transfer device 5 moves the container P from the storage unit S to the mounting conveyance unit M by moving the roller hook 44 in and out along the transfer direction, and stores the container P from the mounting conveyance unit M. A push-pull conveyance unit N that pushes and moves the unit S is provided.

  As shown in FIG. 9, the container P includes an upper frame P <b> 1 framed in a lattice shape and a lower frame P <b> 2 framed in a lattice shape on a plurality of side frames 7 extending in the vertical direction on both left and right sides. Connected to each other. A support body 8 such as a wire or a rod body for mounting and supporting the glass substrate G across the side frames 7 positioned on the left and right sides is provided in a plurality of stages in a state of being arranged in the front-rear direction. It is configured to store G in a state where they are arranged in the vertical direction and in a state where they are taken in and out in the front-rear direction. As described above, the lower frame body P2 is provided with a plurality of container constituting frame bodies 6 positioned at the bottom of the container P in a state extending in the lateral direction intersecting the transfer direction, along the front-rear direction. A pair of rotating rollers D included in the roller hooks 44 of the push-pull conveying unit N are engaged with the end of the plurality of container constituting frames 6 from below.

  As shown in FIG. 4, the storage unit S of the shelf R is configured by connecting a pair of left and right support frames 10 supported by columnar bodies 9 (see FIG. 2) constituting the shelf R with front and rear connection frames 11. In each of the left and right support frames 10, a plurality of rollers 12 that are freely rotatable around an axis along a horizontal direction intersecting the transfer direction of the container P are provided along the transfer direction. They are arranged side by side. The left and right support frames 10 are attached with roller supports 14 that support guide rollers 13 that guide the lateral sides of the container P.

  The left and right support frames 10 in the storage unit S are mounted and supported by the rollers 12 at both end portions in the container width direction that intersect the transfer direction on the bottom surface of the container P. That is, the shelf side mounting support portion of the present application is configured by the left and right support frames 10. As described above, in the article storage facility of the present embodiment, an article storage shelf is provided in which a plurality of storage units S each including a shelf-side placement support unit that places and supports containers P as articles are arranged vertically. Yes.

  A guide body 15 that opens outward toward the exit side is attached to the storage portion entrance / exit side portions of the left and right support frames 10. Although not shown in the drawings, the guide body 15 is provided with a first roller having a large-diameter portion above and below at a distance, and a large-diameter portion that enters between the upper and lower large-diameter portions of the first roller. The 2nd roller provided is provided in the state located between adjacent 1st rollers. Furthermore, a stopper 18 for receiving the container P is provided at a portion corresponding to the back side of the storage unit S in the left and right support frames 10.

  In addition, a receiving body (not shown) that receives and prevents the stored container P from moving to the outside is switched between a receiving posture and a receiving releasing posture at the entrance / exit side of the storage unit S. It is provided in a state where it is freely urged to return to the receiving posture. The transfer device 5 is provided with receiving body operating means U for operating the receiving body in a receiving release posture against the return biasing force, which will be described in detail later. When the container P is transferred, the receiving body operating means U is configured to switch the receiving body provided at the inlet / outlet side end of the storage section S to the receiving release posture.

  The said transfer apparatus 5 is demonstrated based on FIGS. The elevating carriage 4 is configured by connecting the left and right main frame bodies 30 with a connecting frame 31, and a pair of left and right roller-type conveying devices 32 constituting the loading and conveying unit M are mounted on the left and right main frame bodies 30. ing.

  The roller-type conveying device 32 includes a plurality of conveying rollers 33 arranged in the conveying direction of the container P, a conveyor operating motor 34, and a roller driving chain 35 that drives the conveying rollers 33 by the driving force of the conveyor operating motor 34. The container P can be transported in either the left or right direction by rotating the conveyor operating motor 34 forward or backward.

  In addition, a guide body 36 having the same configuration as the guide body 15 provided in the storage unit S is provided at locations corresponding to both ends in the transfer direction of the roller transport device 32, and the roller transport device 32. A guide roller 37 for guiding the lateral side surface of the container P is provided at a location corresponding to the transport intermediate portion.

  The push-pull conveying unit N includes a main frame 40 having a ladder-like shape in plan view guided so as to be movable up and down by the connection frame 31 of the elevating carriage 4, and an engaging unit elevating operation unit 41 that drives the main frame 40 to elevate. A moving frame 42 supported on the upper surface side of the main frame 40 so as to be movable in the transfer direction of the container P, a retracting operation means 43 for driving the moving frame 42 in the transfer direction of the container P, and a moving frame 42 Is provided with a roller hook 44.

  As shown in FIG. 7, the engaging portion elevating operation means 41 includes a hook elevating motor 45 and a pair of rack and pinion type elevating drive portions 46 driven by the hook elevating motor 45. Thus, the main frame body 40 is moved up and down by the lift drive unit 46 by the forward / reverse operation of the hook lift motor 45.

  A sensor mounting bracket 20 is provided on the upper surface of the connection frame 31, and a lower limit detection sensor 28 for detecting that the main frame body 40 is positioned at the lower limit of elevation is attached to the upper end of the sensor mounting bracket 20. ing.

  The lower limit detection sensor 28 detects the dog 29 attached to the main frame body 40, thereby detecting that the main frame body 40 is positioned at the lower limit of elevation. The dog 29 is constituted by a plate-like body whose plane is along the vertical direction, and the lower limit detection is performed when the upper end of the dog 29 is lowered below the detection position of the lower limit detection sensor 28 by the main frame body 40 being lowered. The output state of the detection signal of the sensor 28 is switched from on to off. Thereby, it detects that the main frame 40 is located in the raising / lowering lower limit height.

  Although not shown, the sensor mounting bracket 20 is provided with a lower limit position sensor and an upper limit position sensor in addition to the lower limit detection sensor 28, so that these sensors are adjacent to the dog 29. By detecting the lift limit detection dog attached to the main frame body 40, the main frame body 40 has been lowered to a lower limit height set lower than the lower limit height of the lift or the main frame body 40 is It is possible to detect that the height has risen to a rise limit height that is set higher than the upper end of the lifting range above the base height.

  Then, the main frame 40 is moved up and down above the lower limit height by the hook lifting motor 45 and the lifting drive 46 so that the roller hook 44 provided on the main frame 40 is transferred to the transfer device 5. The transfer device 5 is configured to move up and down within the lifting range Z above the base height BTM with respect to the body (in this embodiment, the width is 105 [mm] in the vertical direction). .

  The base height BTM is a height at which the upper end height of the rotating roller D of the roller hook 44 is located below the lower end height of the container constituting frame 6 of the container P that is placed and supported by the placing and conveying unit M. Is set. Thereby, when the transfer device 5 moves up and down to the transfer start lifting position Hr1 for scooping and the transfer start lift position for wholesale transfer, the roller hook 44 is positioned at the base height BTM. The roller hook 44 is attached to the container structure frame 6 for the container P placed and supported on the placement conveyance unit M and the container P placed and supported on the support frame 10 in the storage unit S. Do not engage. Further, when the roller hook 44 is positioned at the upper end of the lifting range Z above the base height BTM, the roller hook 44 engages with the container constituting frame 6 for the container P. That is, the upper end of the elevating range Z is the engagement height TOP.

  In this way, by the operation of the engaging portion elevating operation means 41, the roller hook 44 is engaged with the base height BTM that does not engage with the container constituting frame 6 of the container P and the container constituting frame 6. A movement operation is performed in the vertical direction between the application position TOP. Accordingly, the engaging portion lifting operation means 41 corresponds to the engaging operation means of the present invention, and in this embodiment, the switching direction of the engaging operation means is the vertical direction.

  As shown in FIG. 7, the retracting / operating means 43 includes a hook retracting motor 47 and a driving belt 48 that is rotated in the transfer direction of the container P by the hook retracting motor 47. A moving frame 42 is connected to the belt 48, and the roller hook 44 is moved forward and backward in the transfer direction by forward / reverse driving of the hook retracting motor 47.

  A pair of left and right roller hooks 44 are provided along the lateral direction intersecting the transfer direction so as to engage with the left and right portions of the container constituting frame 6, and the shelf R located on the left side of the stacker crane K is provided. The left transfer hook 44L for transferring the container P and the right transfer hook 44R for transferring the container P to the shelf R located on the right side of the stacker crane K are separately provided. Is provided. That is, four roller hooks 44 are provided on the moving frame 42.

  Each roller hook 44 is configured by arranging rotating rollers D that are freely rotatable around an axis along a horizontal direction intersecting with the transfer direction of the container P with an interval at which the container constituting frame 6 can be inserted and removed. Further, as shown in FIG. 8, the diameter L of the rotating roller D (this embodiment) is set so that the rotating roller D has a larger diameter than the width H along the transfer direction of the container constituting frame 6. 130 [mm].) Is larger than the width H (in this embodiment, 50 [mm]) along the transfer direction of the container constituting frame 6.

  The gap formed between the pair of rotating rollers D has such a width that does not cause great flexibility in the state in which the container constituting frame 6 is inserted between them. It is preferable that it is larger than the width H along the transfer direction of the structural frame 6 and 1.5 times or less of the width H. In this embodiment, the center pitch of the pair of rotating rollers D is 190 [mm], and the width of the gap formed between the pair of rotating rollers D in the transfer direction is 60 [mm]. Since the diameter L of the rotating roller D is 130 [mm] and the width H along the transfer direction of the container constituting frame 6 is 50 [mm], the container constituting frame between the pair of rotating rollers D is provided. In the state in which 6 is inserted, a gap of 10 [mm] at maximum is formed between the rotating roller D and the container constituting frame 6. In FIG. 8, the center position of the rotation axis of the pair of rotating rollers D coincides with the center position of the width along the transfer direction of the container constituting frame 6, and the container constituting frame 6 is provided with a roller. A state in which the hook 44 is engaged is shown. At this time, a gap of 5 [mm] is formed between the end surface of the container constituting frame 6 and the rotating roller D.

  The exit / retreat operation means 43 is an article between a protruding position where the roller hook 44 positioned in the lifting range Z protrudes toward the shelf R with respect to the transfer apparatus 5 body and a retracted position where the roller hook 44 retracts toward the transfer apparatus 5 side. Move in and out along the transfer direction. Here, two protrusion positions are set, namely, a scooping protrusion position TPr and a wholesale protrusion position. In addition, the retirement position has two standby positions RPr which are located at the end of the wholesale transfer and the start of the scooping transfer, and two standby positions RPs which are located at the end of the scooping transfer and the start of the wholesale transfer. Each one is set.

  The scooping projection position TPr is for container configuration of a scooping transfer target container P that is placed and supported by the pair of support frames 10 in the storage unit S in a state where it is properly positioned at the storage position of the storage unit S of the shelf R. The position of the roller hook 44 is such that the center portion in the transfer direction of the roller hook 44 is positioned on the end of the frame 6 on the stacker crane K side. When the roller hook 44 is projected at the base height BTM with the scooping protrusion position TPr as the target protrusion position, if the roller hook 44 is accurately positioned at the scooping protrusion position TPr, the roller hook 44 is lifted as it is. The end of the container constituting frame 6 of the container P is inserted into the gap between the pair of rotating rollers D provided in the roller hook 44 of the push-pull conveying unit N.

  The wholesale protruding position is a wholesale protruding position that is closer to the retraction side by a predetermined amount (5 mm in this embodiment) than the scooping protruding position TPr. The difference between the wholesale protruding position and the scooping protruding position TPr is set based on the center pitch of the pair of rotating rollers D, the diameter L of the rotating rollers D, and the width H of the container constituting frame 6. That is, the scooping protrusion position TPr is a scooping transfer target that is properly placed and supported at the center position of the rotation axis of the pair of rotating rollers D and the storage position of the storage unit S, as shown in FIG. The position of the roller hook 44 coincides with the center position in the transfer direction of the container constituting frame 6, and the wholesale protruding position is the same protrusion of the revolving side rotation roller D in the transfer direction of the pair of rotation rollers D. At the position of the roller hook 44 that appropriately pushes and moves to the storage position in the storage unit S in a state where the outer peripheral end of the side is in contact with the end surface on the retraction side in the direction of transfer (transfer direction) of the container structural frame 6 Therefore, the wholesale protruding position is the same as the difference between the length of the gap formed between the pair of rotating rollers D in the transfer direction and the width H of the container constituting frame 6 in the transfer direction. It differs from the scooping projection position TPr as described above.

  The scooping standby position RPr is the position of the roller hook 44 when the moving frame 42 is positioned at a position where the roller hook 44 does not protrude from the placement conveyance unit M. The standby position RPs for wholesale is the position of the roller hook 44 when the moving frame 42 is positioned closer to the center side in the transfer direction of the placement transport unit M than the standby position RPr for scooping.

  After moving the container P to the storage part S in the shelf R located on the left side of the stacker crane K, the moving frame 42 waits on the left side where the left transfer hook 44L does not protrude outward from the left side of the transfer device 5 body. After the container P is scooped from the storage part S in the shelf R located on the left side of the stacker crane K, the right transfer hook 44R does not protrude from the transfer device 5 main body to the right outside. Located in position. Similarly, after the container P is completely unloaded from the storage unit S in the shelf R located on the right side of the stacker crane K, the moving frame 42 protrudes from the main body of the transfer device 5 to the right outside. The left transfer hook 44L does not protrude from the transfer device 5 to the left outward after the container P has been scooped from the storage unit S in the shelf R positioned on the right side of the stacker crane K. Located on the left standby position.

  Therefore, for example, when the container P is unloaded from the storage unit S in the shelf R located on the left side of the stacker crane K after the container P has been unloaded from the storage unit S in the shelf R located on the left side of the stacker crane K, In the loading, the roller hook 44 positioned at the left standby position as the scooping standby position RPr by the latest wholesale transfer is directly projected to the scooping projection position TPr, and then retracted to the left standby position by the retraction operation. In addition, for example, when the container P is unloaded from the storage unit S in the shelf R located on the left side of the stacker crane K after the container P is completely shipped to the storage unit S in the shelf R located on the right side of the stacker crane K, In loading, the roller hook 44 positioned at the right standby position as the scooping standby position RPr is moved to the left standby position by the latest wholesale transfer, and further protrudes to the scooping projection position TPr in the same direction as the moving direction. After that, the retraction operation is performed to the left standby position. In this way, in the scooping transfer, the retraction position where the protrusion of the roller hook 44 is started depends on whether it is scooping transfer to the same shelf as the latest wholesale transfer or scooping transfer to a shelf on a different side, It is in a different position.

  A protruding position sensor 38 that detects that the roller hook 44 is positioned at the protruding position is provided on the main frame body 40. The protruding position sensor 38 includes a left-side transfer sensor that detects that the roller hook 44 is positioned at the protruding position during transfer to the storage unit S in the left shelf R, and a storage unit S in the right shelf R. For transferring to the left side, there is provided a left side transfer for detecting that the roller hook 44 is located at the protruding position. The protruding position sensor 38 is a photoelectric sensor, and the detection light is turned sideways so as to detect the protruding position detecting dog 49 that is suspended downward from the center of the moving frame 42 in the retracting direction. The main frame 40 is installed in a state.

  In this way, the transfer device 5 engages with the placement conveyance unit M as the transfer device side placement support unit for placing and supporting the container P as the article, and the container configuration frame body 6 of the container P. An exit / retreat operation means 43 for retracting the roller hook 44 between the protruding position and the retracted position along the transfer direction of the container P, and a mechanism for engaging the roller hook 44 with the container constituting frame 6 Engaging portion lifting operation means 41 as an engaging operation means for moving the roller hook 44 along the vertical direction intersecting the transfer direction between the combined position TOP and the base height BTM as the disengagement position. And.

  The exit / retreat operation means 43 moves the roller hook 44 in the transfer direction while the roller hook 44 is engaged with the container constituting frame 6 at an appropriate engagement position in the transfer direction at the time of scooping transfer. Retire to the retirement position.

  When the roller hook 44 is retracted in the state of being engaged with the container constituting frame 6, the storage unit S side (projects in the direction in which the roller hook 44 moves in and out) of the pair of rotating rollers D in the roller hook 44. The outer peripheral surface of the transfer device 5 in the transfer direction of the rotation roller D on the side) (the retract side in the same withdrawal / retract direction) is the storage section S side (of the roller hook 44 of the container constituting frame 6). The container P is pulled while maintaining the positional relationship (see FIG. 12C) that contacts the end surface on the protruding side in the retracting direction. That is, when the container P is pulled by the roller hook 44, the relative position of the roller hook 44 with respect to the container constituting frame 6 is the proper engagement position in the transfer direction.

  Each of the pair of rotating rollers D in the roller hook 44 is displaced in the transfer direction from the proper engagement position with respect to the container constituting frame 6 when the roller hook 44 is positioned at the scooping projection position TPr. When positioned at the position, the roller hook 44 is provided so as to come into contact with the container constituting frame 6 in the container P when the roller hook 44 is raised to the engagement position TOP along the vertical direction. In other words, in the present embodiment, the abutted portion is constituted by the container constituting frame 6, and the abutting portions that abut on the abutted portion are constituted by the pair of rotating rollers D, respectively. Therefore, each of the rotating rollers D in the roller hook 44 as the engaging portion also serves as the abutting portion, so that the engaging portion and the abutting portion are configured to be movable together.

  Then, as shown in FIG. 12, in the scooping transfer control described later, when the roller hook 44 is positioned at the scooping projection position TPr, the roller hook 44 is transferred from the proper engagement position with respect to the container constituting frame 6. When the rotation roller D as the contact portion comes into contact with the container constituting frame body 6 as the contacted portion of the container P when it is located at a position shifted in the direction, a small torque is applied in the retracting direction. The roller hook 44 held in position is moved in the retracting direction. For example, as shown in FIG. 12C, the container constituting frame 6 is positioned between the pair of rotating rollers D. Yes.

  As shown in FIG. 5, the receiving body operating means U is transferred by a guide body 51 connected to one of the left and right main frame bodies 30 of the elevating carriage 4 via a support bracket 50, and the guide body 51. A long body 52 that is movably supported in the direction, and a receiving body operating means operating motor 53 that rotates a pinion that engages with a rack formed on the long body 52 in a forward and reverse direction. When the elongated body 52 is projected and operated by the operation of the receiving body operating means actuation motor 53, the pressing portion B formed at the end of the elongated body 52 is moved to the storage portion S. The receiving body provided at the end of the entrance / exit side is operated to the receiving release posture.

  Next, the control configuration of the stacker crane K will be described. The stacker crane K includes a crane controller CC mounted on the traveling carriage 2.

  As shown in the control block diagram of FIG. 10, various sensors and various electric motors are connected to the crane controller CC. Based on the command, the traveling operation of the traveling carriage 2, the lifting operation of the lifting carriage 4, and the transfer operation of the transfer device 5 are controlled. That is, the crane controller CC functions as a control unit that controls the operation of the lifting motor 22 and the lifting carriage 4 as the lifting operation unit and the transfer device 5.

  The traveling laser distance meter 23 is provided in the traveling carriage 2 and reflects a distance measuring laser beam on a reflection plate (not shown) installed at a reference position on the ground side so that the distance from itself to the reflection plate on the ground side. Measure. The crane controller CC includes a traveling control unit for controlling the traveling operation of the traveling carriage 2 in the form of a program. The traveling control unit determines the traveling position of the stacker crane K from the distance measurement information of the traveling laser rangefinder 23. And the operation of the traveling motor 21 is controlled by feedback control based on the traveling position of the traveling carriage 2 so that the stacker crane K is moved in advance for each of the storage units S to be transferred. Run control to run to the position.

  The elevating laser distance meter 24 is provided in the traveling carriage 2 and reflects the distance measuring laser beam to a reflecting plate (not shown) installed at the bottom of the elevating carriage 4, from itself to the reflecting plate at the bottom of the elevating carriage 4. Measure the distance. The crane controller CC includes a lift control unit for controlling the lift operation of the lift carriage 4 in a program format, and the lift control unit detects the lift position of the lift carriage 4 from the distance measurement information of the lift laser distance meter 24. And the operation of the lifting motor 22 is controlled by feedback control based on the lifting position of the lifting carriage 4, and the transfer device 5 mounted on the lifting carriage 4 is previously stored for each storage unit S to be transferred. Elevation control is performed to elevate and lower the set transfer elevating position.

  In the lifting control, the crane controller CC selectively determines the lifting position for transfer depending on the type of transfer. That is, if the type of transfer is scooping / transferring the article to the transporting unit M, the transfer device 5 is scooped up and moved to a transfer start lifting position Hr1 in the lifting control. If the lifting / lowering operation of the lifting / lowering carriage 4 is controlled and the type of transfer is a wholesale transfer in which articles are transferred from the loading / conveying unit M to the storage unit S or the loading / unloading unit W, the transfer device 5 is used for the lifting control. The lifting / lowering operation of the lifting / lowering carriage 4 is controlled so as to be positioned at the lifting / lowering position for transfer and transfer for wholesale transfer set to a position higher than the lifting / lowering position for transfer start Hr1 for transfer. In the travel control, the stacker crane K is traveled to the travel position for transfer set for each of the storage unit S to be transferred and the loading / unloading unit W regardless of the type of transfer.

  Although not shown in FIG. 11 showing the state when the container P is transferred, a situation in which the downstream end of the container P collides with the mounting support part at the transfer destination when the container P is transferred. In order to avoid this, the transfer start raising / lowering position Hr1 for scooping transfer is set so that the placement surface of the placement transport unit M is slightly lower than the placement surface of the support frame 10 of the storage unit S, The lifting start lifting position for wholesale transfer is set so that the placement surface of the placement transport unit M is slightly higher than the placement surface of the support frame 10 of the storage unit S.

  Each of the conveyor operating motor 34, the hook raising / lowering motor 45, the hook retracting motor 47, and the receiving body operating means operating motor 53 is also controlled by the crane controller CC.

  The hook retract control rotary encoder 25 outputs a pulse train that changes in accordance with the rotational drive of the hook retract motor 47, thereby outputting rotational drive amount information of the hook retract motor 47. Similarly, the hook lift control rotary encoder 26 outputs rotational drive amount information of the hook lift motor 45, and the conveyor operation control rotary encoder 27 outputs rotational drive amount information of the conveyor operation motor 34.

  The hook raising / lowering timing sensor 39 smoothly puts the roller hook 44 against the container constituting frame 6 in the container P that is moved toward the storage unit S of the shelf R by the loading and conveying unit M when the container P is wholesale transferred. In order to engage, it is a photoelectric sensor for detecting the hooking timing which starts the raising / lowering operation | movement and protrusion operation | movement about the roller hook 44 located in the standby standby position RPs with base height BTM.

  The hook raising / lowering timing sensor 39 starts raising and protruding the roller hook 44 at a position in the loading direction of the loading / unloading section M of the container P that is moved by the transfer operation of the roller-type conveying device 32 of the loading / transferring section M. When the hooking timing is an appropriate position to start, the rear end of the upstream side (the placement conveyance unit M side) in the transfer direction of the container P is directly detected.

  The hook raising / lowering timing sensor 39 is also used to detect a deceleration preparation timing for determining a timing for decelerating the conveyance operation of the placement conveyance unit M when the container P is scooped and transferred. That is, after the container P moving to the transfer device 5 side by the scooping transfer from the storage unit S of the shelf R is placed on and supported by the mounting transport unit M, the transport of the mounting transport unit M Detect the timing to reduce the speed. Specifically, the position of the container P in the transfer direction in the loading / conveying unit M is the storage unit S by a set distance in the loading direction than the position appropriate for decelerating the transfer operation of the loading / transferring unit M. At the timing for preparation for deceleration, which is the position on the side, it is attached so as to directly detect the distal end portion on the downstream side (mounting conveyance unit M side) in the transfer direction of the container P.

  The crane controller CC includes a transfer control unit for controlling the transfer operation of the roller-type transfer device 32 of the placement transfer unit M and the lifting and lowering operations of the roller hook 44 in a program format. The transfer control unit controls the driving of the hook retracting motor 47 based on the detection information of the hook retract control rotary encoder 25 and the projecting position sensor 38, and makes the roller hook 44 the left standby position and the projecting position. The roller hook 44 is moved up and down by controlling the drive of the hook lifting motor 45 based on the detection information of the hook lifting control rotary encoder 26, the lower limit detection sensor 28 and the hook lifting timing sensor 39. Based on the detection information of the rotary encoder 27 for conveyor operation control, the hook raising / lowering timing sensor 39 and the protrusion sensor 17, the drive of the conveyor operation motor 34 is controlled and the roller type of the loading / conveying section M is operated in Z. The transport device 32 is transported.

  When the container P is transferred from the storage unit S to the transfer device 5 or when the container P is transferred from the transfer device 5 to the storage unit S, the lifting control unit is used. As the transfer control unit functions in cooperation, the lifting operation of the lifting carriage 4 and the transferring operation of the transfer device 5 are controlled. The crane controller CC cooperates the above-described travel control unit, lift control unit, and transfer control unit, so that the travel operation of the traveling carriage 2, the lift operation of the lift carriage 4, and the transfer operation of the transfer device 5 are performed. However, in the following description, it is assumed that the crane controller CC controls these operations.

  The crane controller CC stores a container P to be transported when a ground controller issues a command to take out the container P stored in a certain storage unit S from the storage unit S and transport it to the loading / unloading unit W. The traveling operation of the traveling carriage 2 and the lifting operation of the lifting carriage 4 are performed in order to position the transfer device 5 at the moving position for transfer and the transfer start lifting position Hr1 for scooping transfer. The container P is moved from the storage unit S to the transfer device 5 after the transfer device 5 is controlled and positioned at the transfer travel position for the storage unit S and the transfer start lifting position Hr1 for scooping transfer. Performs transfer control for transfer.

  Thereafter, on the basis of the delivery command, the traveling operation and elevation of the traveling carriage 2 are performed so that the transfer device 5 is positioned at the transfer travel position for the loading / unloading portion W and the transfer start lift position for the wholesale transfer. After the lifting / lowering operation of the carriage 4 is controlled and the transfer device 5 is positioned at the transfer travel position for the loading / unloading portion W and the transfer start lift position for the wholesale transfer, the container P is transferred to the transfer device 5. The wholesale transfer control for transferring to the loading / unloading section W is performed.

  Further, when the crane controller CC is instructed by the ground-side controller to convey the container P placed and supported in the carry-in / out section W and store it in a storage section S, the container P is placed and supported. The traveling operation of the traveling carriage 2 and the raising / lowering operation of the elevating carriage 4 are performed so that the transfer device 5 is positioned at the transfer travel position and the transfer start elevating position Hr1 for scooping transfer. , The transfer device 5 is positioned at the transfer travel position for the loading / unloading section W and the transfer start raising / lowering position Hr1 for scooping transfer, and then the container P is transferred from the loading / unloading section W to the transfer apparatus 5 Performs transfer control to transfer to.

  After that, based on the warehousing instruction, the transfer device 5 is positioned at the transfer travel position for the storage unit S for storing the containers P to be transported and the transfer start lifting position for wholesale transfer. After the traveling operation of the traveling carriage 2 and the lifting operation of the lifting carriage 4 are controlled, the transfer device 5 is positioned at the transfer start lifting position for the wholesale transfer of the storage unit S, and then the container P is transferred. Wholesale transfer control for transferring from 5 to the storage unit S is performed.

  In the scooping transfer control for transferring the container P from the storage unit S to the transfer device 5, the crane controller CC moves to the scooping standby position RPr at the base height BTM as shown in FIG. 11 (a) and FIG. In order to engage the positioned roller hook 44 with the container construction frame 6 of the container P that is placed and supported on the support frame 10 of the storage unit S, the transfer device 5 is used for scooping the transfer start. After being moved to the scooping projecting position TPr in the state where it is located at the lifting position Hr1, the hook retracting motor 47 and the hook lifting motor 45 are operated so as to be raised along the vertical direction to the engaging position TOP. Control. Further, in the scooping transfer control, the crane controller CC, as shown in FIGS. 11A to 11C and FIG. 14, pulls the container P by the roller hook 44 and transports the container P by the placement transport unit M. Thus, in order to move the container P from the storage position in the support frame 10 of the storage unit S to the transport placement position in the placement transport unit M, the operations of the hook retracting motor 47 and the conveyor operating motor 34 are controlled.

  In the wholesale transfer control for transferring the container P from the transfer device 5 to the storage unit S, the crane controller CC is omitted from the illustration, but the transfer device 5 is positioned at the lifting start lifting position for the wholesale transfer. In this state, the mounting and transporting section M is transported and the roller hook 44 positioned at the wholesale standby position RPs at the base height BTM is used for the container configuration of the container P that is mounted and transported by the mounting and transporting section M. In order to engage with the frame body 6, the operation of the hook retracting motor 47 and the hook lifting / lowering motor 45 is controlled so as to be raised to the engaging position TOP while being protruded. Further, in the wholesale transfer control, the crane controller CC stores the container P from the transfer loading position in the loading and conveying unit M by the pushing operation of the container P by the roller hook 44 and the conveyance of the container P by the loading and conveying unit M. In order to move the part S to the storage position in the support frame 10, the operation of the hook retracting motor 47 and the conveyor operating motor 34 is controlled.

  In the scooping transfer control, even if the protrusion operation of the roller hook 44 is controlled so that the position of the roller hook 44 in the transfer direction is set to the scooping protrusion position TPr, in reality, the variation depends on the stop accuracy in the control system. Due to various factors, such as the influence of the mounting accuracy of the shelf R, the transfer device 5, etc. In some cases, the roller hook 44 is not positioned as shown in FIG. 8, for example, as shown in FIG.

  Thus, the crane controller CC performs the exit / retreat control of the roller hook 44 in a torque control mode in which the operation force in the exit / retreat direction of the roller hook 44 maintains a minute torque. Thus, when the roller hook 44 is raised along the vertical direction in order to engage the roller hook 44 with the container constituting frame 6, it acts on the rotating roller D by contact with the container constituting frame 6. The operation of the exit / retreat operation means 43 is controlled so as to allow the movement of the roller hook 44 along the transfer direction by the operation force along the transfer direction.

  That is, in the scooping transfer control executed by the crane controller CC, when the roller hook 44 is projected to the scooping projecting position TPr, the operation of the hook retracting motor 47 is controlled in the position control mode. The operation of the hook retracting motor 47 is feedback controlled based on the detection information of the hook retracting rotary encoder 25 with the projecting position TPr as the target projecting position. After the roller hook 44 is projected to the scooping projecting position TPr, the operation of the hook retracting motor 47 is controlled in the torque control mode.

  When the crane controller CC moves and moves the roller hook 44 along the vertical direction in the scooping transfer control, the operation force in the transfer direction of the roller hook 44 by the exit / retreat operation means 43 is supported by the storage unit S. The operation of the exit / retreat operation means 43 is controlled so as to be smaller than the force required to move the stationary container P placed and supported on the frame 10 in the transfer direction. That is, in the torque control mode, feedback control is performed based on the current value in the drive circuit of the hook retracting motor 47 so that the output torque of the hook retracting motor 47 in the retracting operation means 43 is maintained at the set torque. Is done.

  Therefore, the operation force in the transfer direction with respect to the roller hook 44 that is moved in and out by the rotational drive force of the hook retracting motor 47 is made smaller than the force required to move the container P in the transfer direction. In addition, by determining the set torque, it is possible to prevent an operation force that can move the container P on the support frame 10 of the storage unit S in the transfer direction. Therefore, if the exit / retreat operation means 43 is controlled in a torque control mode in which a minute torque is set torque, an operation along the transfer direction acting on the rotating roller D by contact with the container constituting frame 6 is performed. The movement along the transfer direction of the roller hook 44 by force is allowed. Thereby, the container P does not move in the transfer direction due to the component force in the transfer direction out of the force transmitted from the roller hook 44 to the container P, but the operation force in the transfer direction generated by the reaction of the component force is generated. Thus, the roller hook 44 is moved in the transfer direction.

  Therefore, when the position of the roller hook 44 in the transfer direction is protruded to the scooping protruding position TPr, the container hooking frame is positioned even when the roller hook 44 is in the position shown in FIG. When the roller hook 44 is lifted up along the vertical direction in order to engage the roller hook 44 with the roller 6, the roller hook 44 also moves in the retracting direction as shown in FIG. Is located at the engagement position TOP, the roller hook 44 is engaged with the container constituting frame 6 at an appropriate engagement position in the transfer direction.

  The set torque may be determined experimentally, or in consideration of the weight of the container P, the rolling resistance of the roller 12 provided on the support frame 10 of the storage unit S, the structure of the roller hook 44, and the like. May be determined automatically. Further, the transfer direction generated by the raising operation from the base height BTM so that the position of the roller hook 44 in the transfer direction does not become unstable until the roller hook 44 contacts the container constituting frame 6. Preferably, the value is larger than the static inertia force of the roller hook 44 along the axis.

  In FIGS. 12A to 12C, when the roller hook 44 is positioned at the scooping projection position TPr, the roller hook 44 is moved in the transfer direction from the proper engagement position with respect to the container constituting frame 6. When the roller hook 44 is located at a position shifted to the loading device 5 side (retracting side in the retracting direction), the roller hook 44 is moved to the storage unit S side (the protruding side in the retracting direction) in the transfer direction It explains about. In addition, when the roller hook 44 is positioned at the scooping projection position TPr, the roller hook 44 is located at a position shifted from the proper engagement position to the storage section S side (projection side in the retracted direction) in the transfer direction. 8, for example, if the position is as shown in FIG. 8, none of the pair of rotating rollers D in the roller hook 44 comes into contact with the container constituting frame 6. Ascending to the engagement position TOP without being moved in the transfer direction. Further, when the roller hook 44 is located at a position shifted further from the proper engagement position to the storage unit S side (projecting side in the retracting direction) in the transfer direction than the position shown in FIG. When 44 rises from the base height BTM to the engagement position TOP, transfer of the rotary roller D on the transfer device 5 side (retracting side in the retracting / retracting direction) of the pair of rotating rollers D in the roller hook 44 in the transfer direction. The container hooking frame 6 comes into contact with the outer peripheral portion of the storage section S side (projection side in the withdrawal / retraction direction) in the direction, so that the roller hook 44 moves in the transfer direction (retraction side in the withdrawal / retraction direction). ) To move the container constituting frame 6 between the pair of rotating rollers D in the roller hook 44.

  In addition, as shown in FIG. 12, the roller hook 44 is lifted from the base height BTM to the scooping protrusion position TPr, so that the rotating roller D comes into contact with the container constituting frame 6 when the rotating roller D comes into contact with the container constituting frame 6. The distance D moves from the position in the transfer direction before D comes into contact with the container constituting frame 6. Since the movement amount W can be detected by the hook retract control rotary encoder 25, the position of the roller hook 44 when the retreat operation is started can be detected. As a result, with the roller hook 44 engaged with the container constituting frame 6 at an appropriate engagement position in the transfer direction, the roller hook 44 is moved along the transfer direction, and the wholesale standby as the retraction position is performed. When retreating to the position RPs, the retraction operation amount corrected by the movement amount W can be used.

  In the following, the scooping transfer control executed by the crane controller H when the container P placed and supported on the support frame 10 of the storage unit S of the shelf R is taken out to the placement transport unit M of the transfer device 5 will be described. An example in which the container P is transferred to the storage unit S in the shelf R located on the left side of the stacker crane K will be described based on the flowcharts and timing charts shown in FIGS. 13 and 14. In the following description, when referring to each step in the flowchart, the description of “step” is omitted, and the corresponding step is referred to only by the step number.

  In the scooping transfer control, first, the roller hook 44 is in a state where the transfer device 5 is positioned at the transfer start raising / lowering position Hr1 for scooping transfer with respect to the storage unit S in which the container P to be scooped is stored. Is projected to the projecting position TPr for scooping (# rF1 to # rF3).

  When the protrusion to the scooping protrusion position TPr for the roller hook 44 is completed, the control mode for the hook retracting motor 47 of the retracting operation means 43 is switched to the torque control mode at # rF4, and then the scooping protrusion Since the roller hook 44 having the base height BTM at the position TPr is engaged with the container constituting frame 6 of the container P placed and supported on the support frame 10 of the storage unit S, the roller hook 44 is raised to the engagement position TOP. (# RF5 to # rF7).

  In # rF5 to # rF7, when the roller hook 44 rises to the engagement position TOP, the operation of moving the roller hook 44 is controlled in the torque control mode so that the output torque of the hook moving motor 47 becomes minute. Therefore, even if the roller hook 44 is located at a position shifted from the proper engagement position to the storage unit S side or the transfer device 5 side in the transfer direction, one of the pair of rotating rollers D in the roller hook 44 is selected. Comes into contact with the container constituting frame 6 so that the container constituting frame 6 fits in the gap between the pair of rotating rollers D in the roller hook 44.

  In # rF8, whether or not the position of the roller hook 44 in the transfer direction is within an appropriate range is determined based on the detection information of the rotary encoder 25 for hook extension / retraction control. Whether the roller hook 44 is positioned in the proper range as described above is determined when the roller hook 44 is positioned at the scooping projection position TPr, for example, as shown in FIG. 12 (a). When the roller hook 44 has a relative positional relationship that is abnormally deviated from the container structural frame 6 as in the relative positional relationship between 6NG and the roller hook 44, the roller hook 44 is lifted. It is conceivable that the container constituting frame 6 is positioned outside in the direction in which the pair of rotating rollers D in the roller hook 44 are arranged. Therefore, the roller hook 44 is retracted after confirming that the position in the transfer direction of the roller hook 44 after raising the roller hook 44 is within an appropriate range.

  If the position of the roller hook 44 in the transfer direction is not within the appropriate range, the process proceeds to # rF14 and the retry process is executed. In this retry process, the roller hook 44 is once lowered to the base height BTM, and then the control mode of the hook retracting motor 47 is switched from the torque control mode to the position control mode to retract to the scooping standby position RPr. Thereafter, the processes of # rF1 to # rF7 are executed only for the operation of moving the roller hook 44 out and up and the lifting operation. The retry process can be executed only once with one scooping transfer control. If the roller hook 44 is not located within the appropriate range even after the retry process is executed, the retry process is stopped abnormally. It has become.

  In # rF8, if the position of the roller hook 44 in the transfer direction is within an appropriate range, the control mode for the hook retracting motor 47 is switched from the torque control mode to the position control mode in preparation for the retraction operation (# rF9 ).

  In parallel with the protrusion operation and the raising operation of the # rF1 to # rF7 roller hooks 44, the receiving body operating means U switches the receiving body in the storage unit S to the receiving release posture (# rB1 to # rB3). Thereafter, the loading and conveying unit M is operated in the scooping rotation direction, and the retraction operation of the roller hook 44 is started (# rV1 and # rF10). The transport operation of the placement transport unit M started here continues until stopped at # Vr7 (see FIG. 14).

  When the retreating roller hook 44 exceeds the disengagement position, the roller hook 44 is lowered to the base height BTM by # rF11 and the roller hook 44 is detached from the container constituting frame 6. The roller hook 44 is disengaged from the container structure frame 6 of the container P. Thereafter, the container P is transported to the transport placement position in the placement transport unit M only by the transport operation of the placement transport unit M. The

  When the roller hook 44 is lowered by # rF11, the retraction speed of the roller hook 44 and the transport speed of the placement transport unit M are maintained at the same speed (in this embodiment, 20 [m / min] is set). (See FIG. 14). Thereby, the roller hook 44 can be smoothly detached from the container constituting frame 6. After the roller hook 44 is lowered to the base height BTM, the roller hook 44 is retracted to the wholesale standby position RPs (# rF12 and # rF13).

  The carrying operation of the loading and carrying unit M is performed for a predetermined time after the hook raising / lowering timing sensor 39 is turned on by the retraction operation of the moving frame 42 that retreats the roller hook 44 (# rV2). When the timer 1 counts up (# rV3), the transport speed is set to 20 [m / min] in the normal transport speed (from the normal transport speed in this embodiment) to a low speed for stop preparation (3 in the present embodiment). [m / min].) (# rV4). Thereafter, when the protruding sensor 17 on the storage unit S side, which is the transfer source in the transfer direction of the container P, changes from the detection state to the non-detection state, the rear end portion is detected by the protruding sensor 17 in the transfer direction of the container P. When it is determined that the position has passed (# rV5) and the timer 2 counts up (# rV6), it is determined that the container P has been transported to the transport placement position of the placement transport unit M. Is stopped (# rV7).

  In parallel with the deceleration / stop of the conveyance operation of the loading conveyance unit M, after the hook elevating timing sensor 39 is turned on (# rV2), the timer 3 counts up for a predetermined time (# rB4). The body operation means U switches the receiving body in the storage unit S to the receiving posture (# rB5 to # rB7).

[Another embodiment]
Hereinafter, another embodiment of the present invention will be described.

(1) In the above embodiment, as the engagement operation means, the engagement portion is moved up and down along the vertical direction, but the specific configuration of the engagement operation means is not limited to this. For example, The engaging portion may be moved along the left-right direction. Moreover, in the said embodiment, although the to-be-engaged part illustrated what was comprised with the frame for articles | goods structure located in the bottom part of articles | goods, the specific structure of an to-be-engaged part is not restricted to this. For example, it can also be configured by a recessed portion provided on the lateral side of the article.

(2) In the above-described embodiment, the pair of rotating rollers provided in the engaging portion has been described as the portion in which the abutting portion is used. However, the abutting portion may be provided separately from the engaging portion. For example, you may provide a contact part in the center location in the planar view in the moving frame 42 of the said embodiment. The abutting portion may be a member having a V-shaped longitudinal section formed by bending a plate-like member so that a pair of inclined surfaces with which the abutted portion abuts are opposed to each other. The configuration can be changed as appropriate. Further, the abutted portion with which the abutting portion abuts may not be an engaged portion as in the above-described embodiment, and a specific example of the abutted portion such as a member provided in a fixed state with respect to the article. The configuration can be changed as appropriate.

(3) In the above-described embodiment, the control unit exemplifies the one that starts rising from the base height after the engaging portion is positioned at the protruding position. However, the control unit performs the protruding operation to the protruding position. It may be configured to start rising from the base height until completion. In this case, the control means moves the retracting operation means and the engaging operation so that the engaging portion is located at the protruding position until the contact portion comes into contact with the contacted portion by the raising operation of the engaging portion. What is necessary is just to comprise so that the action | operation of a means may be controlled. The control means controls the exit / retreat operation means in the position control mode until the engagement portion is positioned at the protruding position, even when the engagement portion is in the upward operation. In this case, after the engaging portion is positioned at the protruding position, the exit / retreat operation means may be controlled in the torque control mode.

(4) In the above embodiment, the pair of engaging portions is illustrated as being distributed along the lateral direction intersecting the transfer direction, but three or more engaging portions intersect the transfer direction. It may be distributed along the horizontal direction. Further, the article transfer device may include a single engaging portion.

(5) In the above embodiment, the placement transport unit of the article transfer device is illustrated as being configured using a roller-type transport device, but the placement transport unit is configured using a belt-type transport device or a chain-type transport device. May be configured.

(6) In the above embodiment, the case where the engaging portion in the article transfer device is configured using a pair of rotating rollers that are freely rotatable around the axis along the horizontal direction intersecting the transfer direction is illustrated. Further, the protrusion-like locking body may be configured by arranging intervals at which the container constituting frame can be inserted and removed.

(7) In the above embodiment, the article is placed by moving the engaging portion of the article transfer device up and down along the vertical direction intersecting the transfer direction with respect to the article transfer device main body by the engaging operation means. Although the case where the engaging portion is engaged with and disengaged from the engaged portion of the article while being placed and conveyed by the conveying portion is illustrated, the engaging portion cannot be driven up and down with respect to the article transfer device main body. The engaging part may be engaged with and disengaged from the article stored in the storage part by using the function of the raising / lowering operation means for raising / lowering the article transfer device. That is, if the switching direction is the vertical direction, the lifting operation means can also be used as the disconnection engagement means. In the case of such a configuration, in a state where the article is placed on the placing and conveying unit, the engaging unit is continuously engaged with the engaged portion of the article.

4, 22 Lifting operation means 5 Article transfer device 6 Engagement part, contacted part 10 Shelf side placement support part 12 Roller 22 Lifting operation means 41 Engagement operation means 43 Retraction operation means 44 Engagement part P Article S storage section R article storage shelf M transfer device side mounting support section D rotating roller, contact section CC control means Hr1 transfer start raising / lowering position RPr, RPs retraction position TPr protrusion position BTM disengagement Position TOP engagement position

Claims (4)

An article storage shelf in which a plurality of storage units each including a shelf-side placement support unit for placing and supporting articles are arranged vertically; and
An article transfer device provided on the front side of the article storage shelf so as to be movable up and down, and transferring articles to and from the storage unit;
Elevating operation means for elevating and lowering the article transfer device;
Control means for controlling the operation of the article transfer device and the lifting operation means,
The article transfer device is
The transfer device side mounting support part for mounting and supporting the article and the engaging part engaging with the engaged part of the article between the projecting position and the retracted position along the article transfer direction The engagement / disengagement operation means, and the engagement direction between the engagement position for engaging the engagement portion with the engaged portion and the disengagement position along a switching direction intersecting the transfer direction. And an engagement operation means for moving the joint portion.
The control means is
When carrying out scooping and transferring the articles placed and supported on the shelf-side placing and supporting unit to the placing and supporting device side placing and supporting unit, it is used for scooping and loading set for each of the storage units. After controlling the operation of the elevating operation means so as to position the article transfer device at the transfer start elevating position, as the scooping transfer control, the engaging part is used as the engaged part in the article to be transferred. The engagement portion is projected to the projecting position along the transfer direction, and the engagement portion is moved to the engagement position along the switching direction. In order to retract the engagement portion along the transfer direction to the retraction position with the engagement portion engaged with the engaged portion at an appropriate engagement position in the transfer direction, Controls the operation of the lifting / lowering operation means, the exit / retreat operation means and the engagement operation means. A configuration article storage facility as,
The shelf-side mounting support portion includes a plurality of rollers that are freely rotatable around an axis along a horizontal direction that intersects the transfer direction in a state aligned along the transfer direction,
When the engaging portion is positioned at the protruding position by the withdrawing / retracting means, the engaging portion is located at a position shifted in the transfer direction from the proper engaging position with respect to the engaged portion. A contact portion that contacts the contacted portion of the article when the engaging portion is moved to the engaging position along the switching direction is provided to be movable integrally with the engaging portion.
In the scooping transfer control, when the control means moves the engaging portion along the switching direction in order to engage the engaging portion with the engaged portion, the contacted portion Of the withdrawal operation means so as to allow the movement of the engagement portion along the transfer direction by the operation force along the transfer direction acting on the contact portion due to contact with the contact portion. An article storage facility configured to control operation.   In the scooping transfer control, the control means moves the engaging portion with respect to the engaging portion by the withdrawing / withdrawing operation means when moving the engaging portion along the switching direction at the protruding position. The operation of the exit / retreat operation means is such that the operation force is smaller than the force required to move the stationary article placed and supported on the shelf-side placement support portion in the transfer direction. The article storage facility according to claim 1, which is configured to control The engaging portion includes a pair of rotating rollers that are freely rotatable around an axial center along a transverse direction intersecting the transfer direction, with the engagement portion being detachable and arranged side by side. The article storage facility according to claim 1 or 2, wherein each of the rollers also serves as the contact portion . The article storage facility according to any one of claims 1 to 3 , wherein a plurality of the engaging portions are dispersedly arranged along a lateral direction intersecting the transfer direction .

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