JP3818109B2 - Goods storage facility - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an article storage facility such as an automatic warehouse.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, an article storage facility includes a plurality of article storage units that store articles, and an article transport unit that transports articles between the article storage unit and a predetermined loading / unloading port. Configured to do. That is, the article storage section includes a storage shelf in which a plurality of compartment storage spaces for storing articles are arranged in multiple stages on the upper and lower sides and side by side, and as the article transport means, a traveling vehicle body that travels along the storage shelf, and the traveling vehicle body A lifting platform (lifting body) that is lifted and lowered along a mast (column body) suspended from the fork, and a fork (transfer) provided on the lifting platform and in an article storage section (a partition storage space of a storage shelf) and a loading / unloading exit. An article loading / unloading device (stacker crane) having a fork device (delivery means) for transferring the article by moving the loading means). By the operation of the stacker crane, goods are loaded and unloaded between the loading / unloading port and the article storage unit, and articles are transferred between one article storage unit and the other article storage unit of the storage shelf.
[0003]
The loading / unloading command (transport command) to the stacker crane is usually formed from information (codes such as numbers indicating positions on the storage racks) that specify the storage mode for entering and leaving the goods and the work mode of loading and unloading. Is transmitted from the ground side control device to the control device of the stacker crane, and the control device of the stacker crane executes the above loading / unloading by driving the traveling vehicle body, the lifting platform and the fork device according to the inputted loading / unloading command. . At this time, the control device for the stacker crane checks the detection information of the sensors for detecting the fork exit / exit position input via the moving cable guided by the mast while controlling the fork device exit / exit. This is done by controlling power feeding to the drive device (motor, etc.) of the fork device via the moving cable.
[0004]
[Problems to be solved by the invention]
However, in the above-described conventional configuration, if the mast increases with the increase in the size of the stacker crane, the moving cable becomes longer, which increases the vibration of the moving cable during traveling, thereby causing the mast to sway and unstable traveling. In addition, there is a problem that the cost of the moving cable and the guide of the moving cable increases.
[0005]
SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an article storage facility that can reduce mast shaking even when a stacker crane is enlarged, and can reduce running instability.
[0006]
[Means for Solving the Problems]
  In order to achieve the above-described object, the invention described in claim 1 of the present invention is a plurality of article storage portions for storing articles, a traveling body that travels along the article storage section, and a hanging structure on the traveling body. A lifting and lowering body that moves up and down along the pillar body, and an article storage facility provided with article transporting means provided on the lifting body and having a delivery means for delivering the article at an article storage unit and a loading / unloading port,A maintenance lifting body is provided so as to be movable up and down along the column body, and power can be directly supplied from the maintenance lifting body to the delivery means.It is characterized by.
  According to this configuration, by directly supplying power from the lifting body for maintenance to the delivery means, the delivery means for the lifting body can be directly driven. Therefore, when a trouble occurs in the control means of the delivery means, the delivery means can be forcibly driven, and the lifting body can be lowered while the delivery means is operating toward the article storage unit side. Occurrence of the situation of disappearing can be avoided.
[0007]
  The invention described in claim 2 is the invention described in claim 1, characterized in that the elevating body is provided with a control means for controlling the protruding operation and the retracting operation of the delivery means. .
  According to this configuration, the projecting operation and the retracting operation of the delivery means are controlled by the control means provided in the lifting body, and the article is delivered at the article storage portion and the carry-in / out port. Therefore, it is possible to eliminate the drive line that actually drives the transfer means, for example, the motor of the fork device, from the traveling body.
  Further, the invention according to claim 3 is the invention according to claim 1 or 2, wherein a power supply rail for the maintenance lift body is laid in the vertical direction along the column body, and the maintenance lift The body is provided with a current collector that slides on the power supply rail for the maintenance lifting body, and a left row pushbutton switch and a right row pushbutton switch of the delivery means. Power is supplied to the delivery means via a row push button switch or a right row push button switch, and manual operation of the delivery means is enabled.
  According to the above configuration, power is supplied to the delivery means from the current collector of the maintenance lift body by the operation of the left row pushbutton switch or the right row pushbutton switch provided on the maintenance lift body, and the delivery means is manually operated. Therefore, the delivery means can be forcibly driven.
[0008]
  AlsoClaim 4The invention described in claim 1Any one of Claim 3According to the invention, a power supply rail is laid in the vertical direction along the column body, and a current collector that slides on the power supply rail is provided on the lifting body, and the current collector is connected to the delivery means. It is characterized by supplying power.
[0009]
According to the above configuration, power is supplied from the power supply rail laid on the column body to the delivery means via the current collector of the lifting body. Therefore, it is possible to reduce the power supply line for supplying power to the delivery means or the drive line for driving the delivery means compared to the conventional mobile cable, so that a thin and light cable can be used. It is possible to reduce the shaking of the column due to the influence of the movement, and to reduce the unstable running.
[0010]
  AlsoClaim 5The invention described in claim 1Any one of Claim 3An induction line for passing a high-frequency current is laid along the column body, and a pickup coil is provided on the lift body so as to face the dielectric line, and an electromotive force induced in the pickup coil To supply power to the delivery means.
[0011]
According to the above configuration, power is supplied from the induction line laid on the column body to the delivery means via the pickup coil of the lifting body. Therefore, it is possible to reduce the power supply line that feeds power to the delivery means compared to the conventional moving cable, and thus, a thinner and lighter cable can be used. It can be reduced, and it is possible to reduce running instability.
[0013]
Claim 6The invention described in claim 1Claim 5The overall vehicle body is provided with an overall control means for controlling the operation of the article conveying means, and information is transmitted between the overall control means and the control means for controlling the delivery means. An optical communication means for performing is provided.
[0014]
According to the above configuration, information is transmitted between the overall control unit and the control unit that controls the transfer unit by the optical communication unit. Therefore, the signal line and the drive line can be eliminated from the conventional moving cable, and the inconvenience that the running becomes unstable even if the column body becomes high is solved.
[0015]
  AlsoClaim 7The invention described inAny one of claims 1 to 6The lifting / lowering position detecting means for detecting the lifting / lowering position of the lifting / lowering body is provided, and the maintenance lifting / lowering body is lifted and lowered to the lifting / lowering position of the lifting / lowering body detected by the lifting / lowering position detecting means. It is characterized by supplying power to
[0016]
According to the above-described configuration, the maintenance lifting body automatically moves up and down to the lifting position of the lifting body detected by the lifting position detection means, and can quickly and directly supply power to the delivery means.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the article storage facility FS includes two storage shelves A that are installed at an interval so that the article loading and unloading directions are opposed to each other, and a work passage formed between the storage shelves A. A stacker crane (an example of an article conveying means) C that automatically travels in B is provided, and each storage shelf A is provided with a large number of article storage sections D arranged in parallel in the upper and lower stages.
[0021]
In the work path B, a traveling rail 1 is installed along the longitudinal direction of the storage shelf A, and an article loading / unloading instruction E (loading / unloading port) installed on one end side of the work path B is sent to a stacker crane C. A controller E1 that inputs to the vehicle and a pair of article mounting tables E2 across the traveling rail 1, and the stacker crane C travels along the traveling rail 1 based on the loading / unloading command, and the article mounting table E2 It is configured as a loading / unloading transport vehicle that loads and unloads the pallet P (article F) with the article storage unit D. Hereinafter, the side of the article loading / unloading portion E of the stacker crane C is referred to as HP, and the opposite side of the HP traveling direction is referred to as OP.
[0022]
The stacker crane C includes a traveling vehicle body (an example of a traveling body) 2 that travels along the traveling rail 1, an elevator platform (an example of an elevator body) 3, and an elevator mast that guides and supports the elevator platform 3 so as to be movable up and down. (An example of a column) 4 and a cab (an example of a lifting body for maintenance) 5 that can be moved up and down along the outside of one lifting mast 4 and that is used in maintenance inspections or in an emergency. 3 is provided with a fork device (an example of delivery means) 6 for moving the pallet P (article F) by moving the fork (transfer means).
[0023]
Although not shown, power is supplied to the stacker crane C through a current collector provided on the traveling vehicle body 2 from a power supply rail laid along the traveling rail 1. [Lifting platform]
As shown in FIGS. 2 and 3, the lifting platform 3 is suspended and supported by a lifting chain 8 connected to an end thereof, and the lifting chain 8 is provided on the upper frame 7 of the lifting mast 4. It is wound around a guide sprocket 9 and a guide sprocket 10 provided on one elevating mast 4 and connected to a take-up drum 11 provided at one end of the traveling vehicle body 2.
[0024]
The take-up drum 11 is driven and rotated in the forward and reverse directions by an elevating electric motor 12 which is a so-called inverter type motor, and the elevating platform 3 is driven up and down by unwinding and winding operation of the elevating chain 8. It is configured.
[0025]
The elevator 3 is provided with guide rollers 13 for guiding the elevator 3 up and down with the outer surfaces of both sides of the elevator mast 4 as guide surfaces.
Moreover, the raising / lowering position of the raising / lowering stand 3 is managed based on the detection information of the raising / lowering stand side rotary encoder (an example of an raising / lowering position detection means) 14 attached to the raising / lowering stand 3, as shown in FIG. As shown in FIG. 3, the elevator base side rotary encoder 14 has a sprocket 14 a attached to a rotating shaft thereof meshed with a chain 15 laid vertically on one side of the elevator mast 4. As the elevating and lowering of the sprocket 14a, the sprocket 14a rotates to detect the elevating movement of the elevating platform 3.
[0026]
As shown in FIG. 5, the detection information of the elevator base side rotary encoder 14 is input to the elevator base elevator controller 73 of the crane controller CC.
[Running vehicle body]
As shown in FIGS. 2 and 3, the traveling vehicle body 2 is provided with two front and rear wheels 21 that can travel on the traveling rail 1 and a traveling electric motor 23 that is a so-called inverter type motor. .
[0027]
One of the two wheels 21 in the longitudinal direction of the vehicle body is configured as a driving wheel 21a for propulsion driven by the electric motor 23 for traveling, and the other wheel in the longitudinal direction of the vehicle body is idle. The upper position restriction is provided as a pair of left and right parts that are configured as a rotatable driven wheel 21b and are provided on the upper frame 7 at two front and rear positions engaging with the guide rail 24 so as to restrict the position of the guide rail 24 in the lateral direction of the vehicle body. The roller 22 (FIG. 2) is provided, and the stacker crane C is configured to be capable of self-running along the running rail 1 by being driven by the running electric motor 23 while being prevented from being tilted by the upper position regulating rollers 22. ing.
[0028]
As shown in FIG. 3, the traveling position of the traveling vehicle body 2 is managed based on detection information of the vehicle body-side rotary encoder 25 attached to the traveling vehicle body 2. The vehicle-body-side rotary encoder 25 has a sprocket 25a attached to its rotating shaft meshing with a chain 26 laid along the traveling rail 1, and the sprocket 25a rotates as the traveling vehicle body 2 travels. The traveling movement of the traveling vehicle body 2 is detected.
[0029]
The detection information of the vehicle body side rotary encoder 25 is input to the traveling control unit 74 of the crane control device CC as shown in FIG.
[Cab]
As shown in FIGS. 2 and 4, the main body 31 of the cab 5 is box-shaped, and a bracket 32 for raising and lowering guides is provided on the front side, and a door 33 is opened and closed on one side. Arranged freely. Here, the cab 5 is held by a cab guide rail 19 attached to the outside of the elevating mast 4 via a plurality of rollers provided on the bracket 32 so as to be movable up and down. At this time, the cab 5 is arranged such that the cab center 5A in the left-right direction is deviated by a predetermined distance L to one side with respect to the vehicle body center 2A of the traveling vehicle body 2.
[0030]
Then, a cab-side trap 34 located from the other side of the closed door body 33 to the front is integrally provided with the bottom plate 35 of the main body 31, and a stopper 36 is provided at the other side edge of the cab-side trap 34. The door body 33 is provided and brought into contact with the stopper 36 so that the door body 33 is positioned outside the cab side lap 34 as a safety fence. The stopper structure may be provided between the door 33 and the main body 31.
[0031]
A lifting platform-side trap 38 is continuously provided from one side of the lifting platform 3 so that the cab-side trap 34 can be opposed to each other at intervals, and a safety fence 39 is provided at the other side edge of the lifting platform-side trap 38. Is erected. An in-cab operation panel 37 is provided in the main body 31 of the cab 5, and a fall prevention device 29 that can act on the cab guide rail 19 is provided in the bracket 32.
[0032]
In order to move the cab 5 up and down along the cab guide rail 19, an electric motor for raising and lowering the cab which is a so-called inverter type motor as a cab raising and lowering drive device on the traveling vehicle body 2 on the outer surface side of the raising and lowering mast 4 ( (With a reduction gear) 40 is provided. A drive tooth ring 41 is attached to the reduction gear output shaft of the electric motor 40 for raising and lowering the cab, and an idler tooth ring 42 is provided on the upper frame 7 side. Both ends of the chain 43 stretched between them are coupled to the upper and lower portions of the cab 5.
[0033]
Further, in order to supply power to the cab 5, a cab power supply rail 45 is laid in the vertical direction along the side surface of the lifting mast 5 on which the cab 5 is arranged, and the cab slides on the main body 31 on the cab power supply rail 52. A current collector 46 is provided. Power is supplied from the cab current collector 46 to the in-cab operation panel 37 (FIG. 6). Further, cab optical transceivers 47 and 48 are provided opposite to the bottom surface of the cab 5 and the top surface of the traveling vehicle body 2, and the cab optical transceiver 47 on the cab 5 side is connected to the operation panel 37 in the cab. The cab optical transceiver 48 on the traveling vehicle body 2 side is connected to the cab lifting control unit 76 of the crane control device CC as shown in FIG. Further, power is supplied from the cab current collector 46 to the cab optical transceiver 47 (FIG. 6).
[0034]
Note that a ladder 49 is provided on one side surface of the elevating mast 4 so as to be located between the elevating paths of the elevating platform side lap 38 and the cab side lap 34 along substantially the entire length.
[Fork device]
As shown in FIGS. 2 to 4, a fork power supply rail 51 is laid in the vertical direction along the inner surface of the cab-side lift mast 4, and the fork current collector that slides on the power supply rail 51 on the lift 3. A device 52 is provided.
[0035]
The elevator 3 is provided with a fork retracting motor 53 for retracting the fork of the fork device 6 and a controller 54 (an example of control means; FIGS. 5 and 6) for driving the motor 53. Power is supplied to the inverter 55 from the current collector 52 (FIG. 6). The controller 54 controls the fork protruding and retracting operations of the fork device 6 by controlling the output of the inverter 55.
[0036]
Further, fork optical transceivers (an example of optical communication means) 56 and 57 are provided to face the bottom surface of the lifting platform 3 and the upper surface of the traveling vehicle body 2, respectively. As shown in FIG. 5, the fork optical transmitter / receiver 57 on the traveling vehicle body 2 side is connected to the transfer control unit 75 of the crane control device CC and connected to the controller 54 of the inverter 55. 54 is configured to transmit a signal (information) to / from 54. In addition, power is supplied from the fork current collector 52 to the fork optical transceiver 56 (FIG. 6).
[0037]
Further, a manual changeover switch 59 comprising a three-phase outlet 58 and a three-phase three-terminal knife switch is provided on the lifting platform 3.
In addition, as a sensor for detecting the fork retracting position of the fork device 6, the fork main body protrudes in the left-right direction perpendicular to the traveling direction of the stacker crane C (the fork main body protrudes to the article storage portion D of the storage shelf A). The left protrusion detection limit switch 61 (FIGS. 5 and 6) and the right protrusion detection limit switch 62 (FIGS. 5 and 6) for detecting the fork and the retreat for detecting that the fork is retracted on the lifting platform 3 A detection limit switch 63 (FIGS. 5 and 6) is provided, and these limit switches 61, 62, and 63 are connected to the controller 54 of the inverter 55, respectively.
[Crane control device]
A crane control device (an example of overall control means) CC is provided on one side of the traveling vehicle body. An optical transceiver 71 (FIG. 5) is provided in the crane controller CC for data transmission / reception between the crane controller CC and the controller E1, and an optical transceiver 72 (FIG. 5) is provided to the controller E1 so as to face the optical transceiver 61. 5) is provided.
[0038]
As shown in FIG. 5, the crane control device CC receives an entry / exit command (transport command) from the controller E <b> 1 via the optical transceivers 72 and 71,
Based on the detection information (pulse signal) of the elevator table side rotary encoder 14, the height position of the elevator table 3 is detected, and the elevator motor 3 is driven while the height position is fed back to designate the elevator table 3. Elevating platform elevating control unit 73 for elevating to the elevating position,
A travel position of the travel vehicle body 2 is detected by detecting the travel position of the travel vehicle body 2 based on the detection information (pulse signal) of the vehicle body side rotary encoder 25, and driving the travel electric motor 23 while feeding back the travel position. Or a travel control unit 74 that moves in the distance and direction;
Fork device 6 exit / exit command signal (fork projection command signal to article storage section D of left storage shelf A, right storage shelf A goods) to controller 54 of inverter 55 via optical transceivers 57, 56. A transfer control unit 75 that outputs a fork projection command signal to the storage unit D or a retreat command signal for returning the fork onto the lifting platform 3 to operate the fork device 6 to transfer the article F;
A cab elevating control unit 76 that drives the cab elevating electric motor 40 to elevate the cab 5 to a designated elevating position.
And is controlled by the crane control device CC to transfer the article F, transfer the article F to / from each article storage portion D, and the like, and raise and lower the cab 5. Further, data on the height position of the lift 3 detected by the lift control unit 73 is inputted to the cab lift control unit 76.
[Circuit of cab and fork device]
A circuit diagram of the cab 5 and the fork device 6 is shown in FIG.
[0039]
The c (common) terminal of the manual changeover switch 59 is connected to the fork exit / retraction motor 53, the output side terminal 55 b of the inverter 55 is connected to one a terminal of the manual changeover switch 59, and the other b terminal of the manual changeover switch 59. And the terminal of the outlet 58 is connected. Each power supply terminal 55 a of the inverter 55 is connected to each current collector 52.
[0040]
In FIG. 6, reference numeral 65 denotes a three-core cable having one end connected to the operation panel 37 of the cab 5 and the other end connected to a plug 66, and the plug 66 of this cable 65 is connected to an outlet 58. The cable 65 is usually stored in the cab body 31.
[0041]
The operation panel 37 has a three-phase alternating current from the cab current collector 46 to the fork retracting motor 53 via the cable 65, plug 66, outlet 58, and manual changeover switch 59 so as to move the fork main body to the left. Applying voltage (power feeding) (3-contact) fork left pushbutton switch 81, and cable 65, plug 66, outlet 58, and manual changeover switch from cab current collector 46 to move the fork body to the right A three-phase AC voltage is applied to the fork exit / retraction motor 53 via 59 (power is supplied) (three contact points), a fork right-hand pushbutton switch 82, a cab lift switch 83 for inputting a cab 5 lift command, A cab lowering switch 84 for inputting a lowering command and a cab automatic raising / lowering switch 85 for inputting automatic raising / lowering of the cab 5 are provided. That. The cab power supply rail 45, cab current collector 46, fork left-hand pushbutton switch 81, fork right-row pushbutton switch 82, cable 65, plug 66, outlet 58, and manual changeover switch 59 are connected to the fork exit / retraction motor 53. A power supply means is configured.
[0042]
In the left fork push button switch 81 and the right fork push button switch 82, the R phase and the T phase of the three phases are switched and applied to the fork exit / retraction motor 53, and the motor rotation is performed in the left direction and the right direction of the fork main body. A circuit is formed so as to be reversed. Therefore, while the manual changeover switch 59 is connected to the outlet 58 and the plug 66 of the cable 65 is connected to the outlet 58 side, the fork is driven leftward while the fork left-hand pushbutton switch 81 is operated. The fork moves to the left, and while the fork right-hand pushbutton switch 82 is being operated, the fork is driven to the right and the fork moves to the right.
[0043]
Further, the operation signals of the cab raising switch 83, the cab lowering switch 84, and the cab automatic raising / lowering switch 85 are input to the cab optical transceiver 47, and the cab optical transceiver 47 and the cab optical transceiver 48 on the traveling vehicle body side are connected. To the cab lifting control unit 76.
[0044]
The cab elevating control unit 76 drives the cab elevating electric motor 40 to raise the cab 5 while inputting the operation signal of the cab raising switch 83, and inputs the operation signal of the cab lowering switch 84. Meanwhile, when the cab raising / lowering electric motor 40 is driven to lower the cab 5 and an operation signal of the cab automatic raising / lowering switch 85 is input, the height of the elevator 3 detected and input by the elevator control unit 73. The cab 5 is automatically raised and lowered to the position.
[Inverter controller]
The controller 54 of the inverter 55 drives the fork exit / retraction motor 53 in accordance with the exit / retreat command signal of the fork device 6 input from the transfer controller 75 via the optical transceivers 57, 56. That is, when a fork protrusion command signal is input to the article storage section D of the left storage shelf A, the fork retracting motor 53 is driven until the left protrusion detection limit switch 61 is operated, and the articles in the right storage shelf A are also operated. When the fork protrusion command signal to the storage part D is input, the fork retracting motor 53 is driven until the right protrusion detection limit switch 62 operates, and when the retract command signal for returning the fork onto the lifting platform 3 is input, The fork exit / retreat motor 53 is driven until the retreat detection limit switch 63 operates. Therefore, when the fork retracting motor 53 is connected to the inverter 55 side by the manual changeover switch 59, the fork of the fork device 6 is driven by the drive signal output from the inverter 55 in response to the retracting command signal of the fork device 6. Be withdrawn.
[Action]
The operation will be described with the above configuration.
[0045]
The traveling vehicle body 2 is moved to the traveling position of the transportation command by the traveling control unit 74 in response to the loading / unloading command (conveying command) from the controller E1, and at the same time, the lifting platform 3 is moved to the lifting position of the transportation command by the lifting platform lift control unit 73. When the traveling vehicle body 2 arrives at the traveling position and the lifting platform 3 arrives at the raising / lowering position, the transfer control unit 75 sends an exit / exit command signal of the fork device 6 to the optical transceivers 57, 56 according to the conveyance command. Is output to the controller 54 of the inverter 55, and the fork retracting motor 53 is driven by the inverter 55 according to the control of the controller 54, the fork of the fork device 6 is retracted, and the article F is transferred. . Normally, the manual changeover switch 59 is selected on the inverter 55 side, and the fork retracting motor 53 is connected to the inverter 55.
[0046]
When the fork device 6 is driven, power is supplied from the power supply rail 51 to the inverter 55 via the current collector 52, and the fork retracting motor 53 is driven.
An abnormality occurs in the controller 54 or the optical transmitter / receiver 57 or 56 of the inverter 55 of the fork device 6, and the fork device 6 becomes inoperable according to the exit / retreat command signal of the fork device 6 of the transfer control unit 75, or the fork Sometimes remains protruding.
[0047]
When the fork is still protruding, the lifting platform 3 cannot be lowered. At this time, the worker performs the work of retracting the fork.
That is, the operator gets on the cab 5 using the lower part of the ladder 49 and operates the automatic elevating switch 85 of the operation panel 37. Then, the operation signal of the automatic elevating switch 85 is input to the cab elevating control unit 76 via the optical transceivers 47 and 48, and the cab elevating control unit 76 responds to the operation signal of the automatic elevating switch 85 with the cab. The elevator motor 40 is driven to automatically raise and lower the cab 5 to the elevator 3 position detected and input by the elevator control unit 73. When the cab 5 is stopped, the cab side lap 34 is opposed to the carriage side lap 38 at the same level.
[0048]
Next, the operator first opens the door body 33, takes out the cable 65, and goes out onto the cab-side trap 34. At this time, the door body 33 in contact with the stopper 36 serves as a safety fence. Then, the operator moves from the cab side lap 34 to the ladder 49 with the cable 65, and then moves from the ladder 49 to the carbure side lap 38. When the vehicle is transferred from the cab 5 to the lift 3 as described above, the flag 66 of the cable 65 is inserted into the outlet 58, and then the manual changeover switch 59 is operated to switch to the outlet 58 side (cab 5 side). As a result, the fork left row push button switch 81 and the fork right row push button switch 82 on the cab 5 side are connected to the fork retracting motor 53 as described above.
[0049]
Next, the ladder 49 is used to return from the lifting platform 3 to the cab 5 and operate the left fork pushbutton switch 81 or the right fork pushbutton switch 82 that moves the fork in the direction opposite to the fork protruding direction. During this operation, the fork exit / retraction motor 53 is connected from the cab-side power supply rail 45 via the current collector 46, the push button switch 81 or 82, the cable 65, the plug 66, the outlet 58, and the manual changeover switch 59. A phase alternating voltage is applied (power is supplied), the fork exit / retraction motor 53 rotates, and the fork moves from the protruding position to the retracted position in accordance with the rotation. Then, when it is confirmed that the fork has retracted onto the elevator 3, the operation of the push button switch 81 or 82 is stopped. As a result, power is not supplied to the fork retracting motor 53, the fork retracting motor 53 stops, and the fork stops.
[0050]
Next, the ladder 49 is used to move again from the cab 5 to the lifting platform 3, the flag 66 of the cable 65 is removed from the outlet 58, and then the manual changeover switch 59 is operated to switch to the inverter 55 side.
[0051]
Then, the cable 49 is held and the ladder 49 is used to return from the elevator 3 to the cab 5 again, the cable 65 is accommodated, the door body 33 is closed, and the cab lowering switch 84 is operated. The operation signal of the cab lowering switch 84 is input to the cab lifting / lowering control unit 76 via the optical transceivers 47 and 48, and the cab lifting / lowering control unit 76 sends the operation signal according to the operation signal of the cab lowering switch 84. While inputting, the cab raising / lowering electric motor 40 is driven to lower the cab 5. When the cab 5 is lowered to the lowering limit, the operation of the cab lowering switch 84 is stopped, whereby the cab 5 is stopped. When the cab 5 is stopped, the cab 5 is lowered to the lower limit, and the operator uses the ladder 49 to descend to the ground side, thereby completing a series of operations.
[0052]
In this way, the elevator 5 can be lowered by supplying power directly from the cab 5 to the fork retracting motor 53, forcibly moving the fork, and retracting the fork onto the elevator 3.
[0053]
As described above, according to the present embodiment, power is supplied to the fork device 6 (inverter 55) from the power supply rail 51 laid on the lifting mast 4 via the current collecting device 52 of the lifting platform 3, and is provided on the lifting platform 3. The fork device 6 is controlled by the controller 54 of the inverter 55, and the signals are transmitted and received by the optical transceivers 56 and 57, so that the fork retracting motor 53 of the fork device 6 is actually controlled and driven from the traveling vehicle body 2. The moving cable can be eliminated, and as the stacker crane C becomes larger, the elevating mast 4 becomes higher. As a result, the moving cable becomes longer. Can solve the problem of running and tend to become unstable, and the moving cable and the guide of this moving cable You can solve the problem that the cost is high.
[0054]
In addition, by performing the actual exit / exit control of the fork device 6 by the controller 54 of the inverter 55 provided on the elevator 3, the control burden on the crane control device CC side can be reduced, and the left protrusion detection limit switch 61, It is no longer necessary to route the signal wires of the right protrusion detection limit switch 62 and the retreat detection limit switch 63 with a moving cable, and the number of cores can be reduced at least as much as that of the conventional moving cable, and thus a thin and light cable is used. Thus, the swing of the elevating mast 4 due to the influence of the movement of the moving cable during traveling can be reduced, and the unstable traveling can be reduced.
[0055]
Further, by supplying power to the fork device 6 from the power supply rail 51 laid on the lifting mast 4 via the current collecting device 52 of the lifting platform 3, at least a line for feeding and driving the fork retracting motor 53 from the moving cable is eliminated. Therefore, a thin and light cable can be used, the swing of the elevating mast 4 due to the influence of the movement of the moving cable during traveling can be reduced, and the unstable traveling can be reduced.
[0056]
Also, by transmitting and receiving signals with the optical transceivers 56 and 57, the number of cores can be reduced at least as much as that of the conventional moving cable by the amount of this signal line, and thus a thin and light cable can be used. It is possible to reduce the swing of the elevating mast 4 due to the influence of the movement of the moving cable during traveling, and to reduce the unstable traveling.
[0057]
In addition, according to the present embodiment, the fork device 6 can be directly driven without passing through the inverter 55 (controller 54) of the lifting platform 3 by enabling direct power supply from the maintenance cab 5 to the fork device 6. The fork device 6 can be forcibly driven when a problem occurs in the inverter 55, the controller 54, etc., and the fork device 6 remains protruding to the article storage portion D of the storage shelf A. Occurrence of a situation in which the elevator 3 cannot be lowered can be avoided.
[0058]
Further, according to the present embodiment, the maintenance cab 5 is automatically moved up and down to the lift position of the lift base 3 detected by the lift base lift control unit 73, so that the cab 5 is quickly moved to the lift base 3 position. Therefore, work such as recovery can be started quickly, and the operator does not have to drive to move up and down to the position of the lifting platform 3, thereby reducing the burden on the operator.
[0059]
In the present embodiment, as shown in FIG. 6, power supply rails 45 and 51 are laid along the elevating mast 4 to supply power to the operation panel 37 of the cab 5, the inverter 55 of the fork device 6, and the like. However, it can also be made to supply electric power with non-contact electric power supply equipment.
[0060]
That is, as shown in FIG. 7, instead of the power supply rails 45 and 51, an induction line 91 for passing a high-frequency current is laid vertically along the elevating mast 4, and the cab 5 and the elevating platform are opposed to the induction line 91. 3 is provided with a pickup coil 92, and the pickup coil 92 is connected with a stabilized power supply 93 that converts the electromotive force induced by the pickup coil 92 into a commercial frequency AC voltage at a constant reference voltage and outputs the same. Constitute. The stabilized power supply 93 includes a capacitor, a rectifier circuit, a frequency conversion circuit, and the like that form a resonance circuit that resonates with the frequency of the induction line 91 together with the pickup coil 92. With this configuration, electric power is supplied from the stabilized power supply 93 of the cab 5 to the operation panel 37 and the optical transceiver 47 of the cab 5, and the inverter 55 and the optical transceiver 56 of the elevator 3 from the stabilized power supply 93 of the elevator 3. Is supplied with power. In FIG. 7, reference numeral 94 denotes a high frequency power supply device that supplies a high frequency current to the induction line 91.
[0061]
In this way, by supplying power to the fork device 6 from the induction line 91 laid on the lifting mast 4 via the pickup coil 92 of the lifting platform 3, a conventional moving cable becomes unnecessary, and even if the lifting mast 4 becomes higher. The problem that the running becomes unstable can be solved.
[0062]
Further, in the present embodiment, the stacker crane C includes the two lifting masts 4 as pillars suspended from the traveling body, but includes only one lifting mast 4, and this one lifting mast 4 4 may be a stacker crane in which the lifting platform 3 moves up and down and the cab 5 moves up and down.
[0063]
In the present embodiment, power is supplied to the cab 5 through the power supply rail 45 so that power can be supplied directly from the power supply rail 45 to the fork retracting motor 53 of the fork device 6. A device (for example, a device comprising a rechargeable battery and a DC-AC converter connected to the battery and converting a direct current into an alternating current with a rated voltage and frequency of the fork retracting motor 53). The fork retracting motor 53 may be directly supplied with power.
[0064]
In the present embodiment, the power supply rails 45 and 51 (or the induction line 91) are laid for the fork and the cab, respectively. However, one power supply rail (or the induction line 91) laid on the elevating mast 4 is used. It is also possible to supply power by sharing the power. At this time, the cab current collector 46 (or pickup coil 92) is installed so as to collect electricity at a position below the fork current collector 51 (or pickup coil 92). It is necessary that the cab 5 stopped at the lower limit does not become an obstacle to free raising and lowering of the elevator 3.
[0065]
In the present embodiment, optical transceivers 56 and 57 and optical transceivers 47 and 48 are used between the crane control device CC and the fork device 6 and between the crane control device CC and the cab 5, respectively ( Although signals (information) are transmitted using light, it is also possible to transmit signals (information) using a wireless device (using radio waves).
[0066]
In the present embodiment, the storage shelves A arranged side by side in the left-right direction are each configured to have the article storage portion D in the front-rear direction, but each storage shelf A is not only in the front-rear direction but also in the left-right direction (depth direction). ), The article storage unit D may be arranged. At this time, the fork device 6 has a configuration (double deep type) in which the fork (insertion / extraction tool) can be positioned and retracted with respect to each article storage portion D in the left-right direction of each storage shelf A.
[0067]
In the present embodiment, the pair of article mounting tables E2 of the article loading / unloading unit E is used as a loading / unloading port for loading / unloading the articles F. However, one of these article loading tables E2 is dedicated to the loading opening of the articles F. The other can also be used exclusively for the carry-out port.
[0068]
In the present embodiment, a fixed article mounting table (load receiving table) E2 is used as the article handling means of the article loading / unloading section E. However, even if a conveyor, a self-propelled carriage, a lift receiving table or the like is used. Good.
[0069]
In the present embodiment, the movement positions of the traveling vehicle body 2 and the lifting platform 3 are obtained by counting the output pulses of a rotary encoder such as the vehicle body-side rotary encoder 25. However, the distance measuring device using light, that is, movement A vehicle body using a laser rangefinder that projects a distance measuring beam light from a reflector installed on one end of the path B or the lower surface of the elevator 3 and measures the distance by the reflected light from the reflector. 2 and the moving position of the lifting platform 3 may be obtained.
[0070]
【The invention's effect】
  As described above, according to the present invention,Since the power can be directly supplied from the maintenance lifting body to the delivery means, the delivery means of the lifting body can be directly driven, and the delivery means can be used in the case where a failure occurs in the control means of the delivery means. Can be forcibly driven, and it is possible to avoid a situation in which the elevating body cannot be lowered while the transfer means is operating toward the article storage unit.be able to.
[Brief description of the drawings]
FIG. 1 is a perspective view of an essential part of an article storage facility according to an embodiment of the present invention.
FIG. 2 is a schematic configuration diagram of a stacker crane of the article storage facility.
FIG. 3 is an enlarged view of a main part of a stacker crane of the article storage facility.
FIG. 4 is a cross-sectional plan view of an essential part of a cab portion of a stacker crane of the same article storage facility.
FIG. 5 is a control configuration diagram of the article storage facility.
FIG. 6 is a circuit diagram of a cab and fork device of a stacker crane of the same article storage facility.
FIG. 7 is a circuit diagram of the cab and fork device of the stacker crane in the embodiment of the present invention.
[Explanation of symbols]
FS goods storage facility
A Storage shelf
B Work passage
C Stacker crane
CC crane control device
D Goods storage
E Goods carry-in / out section
E1 controller
E2 Product placement table (carrying-in / out exit)
F article
1 Traveling rail
2 Driving body
3 Lifting platform
4 Lifting mast
5 Maintenance cab
6 Fork device
12 Electric motor for lifting
14 Elevator base rotary encoder
23 Electric motor for running
37 Operation panel
40 Electric motor for raising and lowering the cab
45,51 Feed rail
46,52 current collector
47, 48, 56, 57 Optical transceiver
53 Fork Exit / Exit Motor
54 controller
55 Inverter
58 outlet
59 Manual selector switch
65 cable
66 plug
73 Elevator Control Unit
74 Travel controller
75 Transfer control unit
76 Cab lift control unit
81 Fork left-hand pushbutton switch
82 Fork right-hand pushbutton switch
83 Cab lift switch
84 Cab down switch
85 Automatic lift switch
91 Induction line
92 Pickup coil
93 Stabilized power supply

Claims (7)

A plurality of article storage units that store articles, a traveling body that travels along the article storage unit, a lifting body that moves up and down along a column that is suspended from the traveling body, and a lifting body that is provided on the lifting body, An article storage facility comprising article transport means having delivery means for delivering the article at an article storage unit and a carry-in / out port,
A maintenance lifting body is provided so as to freely move up and down along the column body,
An article storage facility characterized in that power can be directly supplied to the delivery means from the maintenance lifting body . The article storage facility according to claim 1, wherein the elevator body is provided with control means for controlling the protruding operation and the retracting operation of the delivery means . Laying a power supply rail for the maintenance lifting body in the vertical direction along the column,
The maintenance lift is provided with a current collector that slides on a power supply rail for the maintenance lift, and a left-hand pushbutton switch and a right-hand pushbutton switch of the delivery means,
Power is supplied to the delivery means from the power collector of the maintenance lifting body via the left-hand pushbutton switch or the right-hand pushbutton switch, thereby enabling manual operation of the delivery means. The article storage facility according to claim 1 or 2 . Laying the power supply rail for the delivery means in the vertical direction along the column,
The current elevating body is provided with a current collector that slides on a power supply rail for the delivery means, and power is supplied to the delivery means from the current collector . The article storage facility according to any one of the above. Laying an induction line that allows high-frequency current to flow along the column,
Said lifting body, wherein the pick-up coil disposed opposite to the dielectric line, the electromotive force induced in the pickup coil of claim 1 to claim 3, characterized in <br/> be powered to the transfer means The article storage facility according to any one of the above. The traveling body is provided with an overall control means for controlling the entire operation of the article conveying means,
The article according to any one of claims 1 to 5, further comprising an optical communication unit that transmits information between the overall control unit and a control unit that controls the transfer unit. Storage facilities. An elevating position detecting means for detecting the elevating position of the elevating body is provided, and the maintenance elevating body is raised and lowered to the elevating position of the elevating body detected by the elevating position detecting means to supply power to the delivery means. The article storage facility according to claim 1, wherein:

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