JP4666224B2 - Goods transport equipment - Google Patents

Description

  The present invention relates to an article conveying facility provided with a plurality of moving objects for conveying an article that are movable along a movement path, and a control unit that controls the operation of the plurality of moving objects.

  The article transport facility as described above is for transporting articles by moving each of a plurality of moving bodies along a moving path, and improving the transport capability by transporting the articles by the plurality of moving bodies. I am trying.

  As such an article transport facility, conventionally, two movable bodies that can reciprocate along the movement path are provided, and the control means moves two units so as to transport the articles separately by a single movable body. It is comprised so that the movement of the single moving body which carries out conveyance operation | movement among the bodies may be controlled (for example, refer patent document 1).

JP 2002-175117 A

Such an article conveyance facility is used for conveying various articles, but the size of the articles to be conveyed is different, and the short article and the longitudinal direction of the moving path are along the longitudinal direction of the moving path. It may be required to convey a long article along. However, since the conventional article transporting equipment transports articles separately by a single moving body, the size of the articles that can be transported is limited to a size that can be supported by a single moving body. become. Therefore, although a short article can be conveyed along the longitudinal direction of the movement path, there is a possibility that a long article cannot be conveyed along the longitudinal direction of the movement path.
In order to transport a long article along the longitudinal direction of the moving path, the length of the moving body along the longitudinal direction of the moving path must be increased so that the article can be supported by a single moving body. In other words, the moving body is increased in size.

  The present invention has been made paying attention to such a point, and the object thereof is an article capable of conveying a short article and a long article along the longitudinal direction of the moving path without causing an increase in size of the moving body. The point is to provide transportation equipment.

In order to achieve this object, a first characteristic configuration of an article transporting facility according to the present invention includes a plurality of moving bodies for transporting articles that are movable along a moving path, and operations of the plurality of moving bodies. In the article conveying facility provided with a control means for controlling,
In the state in which the plurality of moving bodies can support short articles separately along the longitudinal direction of the moving path, and the adjacent objects along the longitudinal direction of the moving path are arranged at a set distance from each other. The plurality of units are configured to support a long article along the longitudinal direction of the movement path so that the article can be supported in a cooperative manner, and the control unit moves the short article along the longitudinal direction of the movement path. Each of the plurality of moving bodies in order to convey a long article along the longitudinal direction of the moving path is constituted a plurality of moving objects transporting operation of to perform integral carrying process control to move in a state of arranging spaced set distance between adjacent ones in the longitudinal direction of said movement path, said plurality Each of the mobile units The transfer means is configured to include an article transfer means, and the control means moves the single moving body that carries out the transfer operation among the plurality of moving bodies to the article receiving position in each of the separate transfer processes. And moving the moving body and the article transfer operation of the article transfer means to control the movement of the article and the article transfer means so as to drop the article by moving the article to the article unloading position. The moving body is moved so that the plurality of moving bodies that are transported among the plurality of moving bodies are moved to an article receiving location to receive the article and are moved to the article unloading location to drop the article. And an article transfer operation of the article transfer means, and the movement path passes through an article storage shelf provided with a plurality of storage sections arranged vertically and horizontally and an article support section for loading and unloading. Arranged In the case of each of the separate transport processing, when each of the separate conveyance processing commands a storage of a plurality of articles with a different storage unit as an object to be unloaded, or when a plurality of articles is commanded with a different storage unit as a target for receiving goods, A plurality of the article transfer means provided in each of the plurality of moving bodies are positioned at the article receiving position of the article receiving place, and the articles are transferred from the article receiving place by the plurality of article transferring means. The movement of the mobile body and the article transfer operation of the article transfer means are controlled, and then the plurality of the article transfer means provided in each of the plurality of mobile bodies is the article unloading position at the article unloading location. In order to lower the received article to the article lowering position, the process of controlling the movement of the movable body and the article transfer operation of the article transfer means can be executed.

When transporting a short article along the longitudinal direction of the moving path, the control means executes a separate transport process, and a single moving body that carries out the transporting operation transports a short article along the longitudinal direction of the moving path. It will move in support. Therefore, a short article can be conveyed along the longitudinal direction of the movement path by a single movable body that is conveyed.
When transporting a long article along the longitudinal direction of the moving path, the control means executes an integrated transport process, and a plurality of moving bodies that are transported are adjacent to each other along the longitudinal direction of the moving path. In a state where the items are arranged at a set distance, the long article is supported and moved in cooperation. Therefore, a long article can be transported along the longitudinal direction of the movement path in cooperation with a plurality of moving bodies that are transported. In this integrated conveyance process, for example, an article that is long along the longitudinal direction of the moving path in a state where the two moving bodies that are transported are arranged at a set distance along the longitudinal direction of the moving path. Each of the plurality of moving bodies that carry out the transport operation, such as supporting the end of each, only needs to support a part of the long article along the longitudinal direction of the moving path. Therefore, even if the length of the moving body along the longitudinal direction of the moving path is not increased, a long article can be transported along the longitudinal direction of the moving path by a plurality of moving bodies that are transported.
From the above, it has become possible to provide an article transport facility capable of transporting a short article and a long article along the longitudinal direction of the movement path without causing an increase in size of the moving body.
In each of the separate transport processes, the single movable body that is transported is moved to the movable body so that the single movable body that is transported is moved to the article receiving location and the article is received from the received location. An article transfer operation is performed on the provided article transfer means. Thereafter, the single movable body that is transported is moved and the article transfer provided to the movable body is moved so that the single movable body that is transported is moved to the article unloading location and the article is unloaded at the article unloading location. The loading means is operated to transfer the article.
Further, in the integrated conveyance process, the plurality of movable bodies that are transported are moved so that the plurality of movable bodies that are transported are moved to the article receiving location and the articles are received from the article receiving location. The article transfer means provided in each of the moving bodies is operated to transfer the article. Thereafter, the plurality of moving bodies that are transported are moved so that the plurality of moving bodies that are transported are moved to the article unloading location, and the articles are unloaded to the article unloading location, and the respective moving bodies are moved to the respective moving bodies. An article transfer operation is performed on the provided article transfer means.
In this way, by providing a plurality of moving bodies, it is possible to carry the article from the article receiving location to the article unloading location for the short article and the long article along the longitudinal direction of the movement path. As a receiving location and an article unloading location, it is possible to adapt a loading table or the like that simply supports an article, and it is possible to provide a useful article conveying facility that can simplify the configuration.

  According to a second characteristic configuration of the article transport facility according to the present invention, the control unit is configured to perform length information along a longitudinal direction of the moving path in an article that is long along the longitudinal direction of the moving path in the integrated transport process. In other words, the set distance separating the adjacent moving bodies along the longitudinal direction of the moving path is changed and adjusted.

In the integrated conveyance process, the control means, for example, based on the length information along the longitudinal direction of the moving path in the long article along the longitudinal direction of the moving path, the length along the longitudinal direction of the moving path in the article. The longer the length, the longer the set distance separating adjacent moving bodies along the longitudinal direction of the movement path can be changed.
In this way, by changing the set distance separating adjacent moving bodies along the longitudinal direction of the movement path in accordance with the length along the longitudinal direction of the movement path in a long article along the longitudinal direction of the movement path Thus, a long article along the longitudinal direction of the moving path can be accurately supported by a plurality of moving bodies. Therefore, even when the length of the long article along the longitudinal direction of the movement path differs in the length along the longitudinal direction of the movement path, the long article can be accurately conveyed.

  According to a third characteristic configuration of the article transporting facility according to the present invention, the control means is a single moving body that transports the moving speeds of a plurality of moving bodies that are transported in the integrated transport process in the separate transport processes. The movement of the moving body is controlled so as to move the moving body that is transported in a state of lower than the moving speed.

In the integrated transport process, the moving body that is transported is moved at a lower moving speed than that of each separate transport process, so that the change in the moving speed can be reduced. It will be possible to suppress movement. Therefore, even if a plurality of moving bodies that are transported operate support and move a long article along the longitudinal direction of the movement path, the article can be supported stably and accurately. A long article can be reliably conveyed along the longitudinal direction of the path.
Moreover, in each separate transport process, the moving body that is transported is moved at a higher moving speed than in the integrated transport process, so a short article can be moved along the longitudinal direction of the movement path with a single mobile body. The moving body can be moved at a higher moving speed while being accurately supported, so that the carrying capacity can be improved.

According to a fourth characteristic configuration of the article conveying facility according to the present invention, the moving body is a traveling body that can reciprocate along the moving path, and a lifting platform that can be lifted and lowered along a lifting mast erected from the traveling body. And a stacker crane provided with the article transfer means mounted on the lifting platform, wherein two stacker cranes are provided, and each of the two stacker cranes extends along the longitudinal direction of the moving path. The elevating mast is erected at the end portion of the traveling body on the side away from the adjacent stacker crane.

In other words, since the moving body is a stacker crane, each stacker crane reciprocates the traveling body along the moving path and raises / lowers the lifting platform along the lifting mast, thereby causing a plurality of different vertical and horizontal directions. The article can be transferred to the place by the article transfer means. Therefore, for example, an article can be conveyed to an article storage shelf including a plurality of storage units arranged in the vertical direction and the horizontal direction.
Since the lifting mast is erected at the end portion of the traveling body on the side away from the adjacent stacker crane, the lifting mast does not interfere with the two stacker cranes in the integrated conveyance process. Thus, a long article can be supported along the longitudinal direction of the movement path.

The fifth characteristic configuration of the article transport facility according to the present invention, as a pre-Symbol accommodating portion, the length along the longitudinal direction of the short for accommodating section and the moving path for accommodating a short article along the longitudinal direction of the travel path A long storage section for storing a long article, and a short article support section for supporting a short article along the longitudinal direction of the movement path and the movement path as the article support section for loading and unloading A long article support section for storing a long article along the longitudinal direction of the sheet, and the control means includes the short section storage section and the short article support section in each of the separate transport processes. As the article receiving place and the article unloading place, the article transfer means in the single stacker crane that is transported and operated among the two stacker cranes is moved to the article receiving place to receive the article and unload the article. The moving body is moved down to lower the article, the traveling operation of the traveling body, the raising / lowering operation of the lifting platform, and the article transfer operation of the article transfer means are controlled, and the integrated In the conveyance process, the article transfer means in each of the two stacker cranes that are conveyed is used as an article using the long storage section and the long article support section as the article receiving place and the article unloading place. In order to receive the article by moving it to the receiving place and to move the article to the place to drop the article, the running operation of the traveling body, the raising / lowering action of the lifting platform, and the article transfer of the article transfer means It is configured to control the operation.

When the control means executes each separate conveyance process, a single stacker crane that performs conveyance receives a short article from the short article support section along the longitudinal direction of the movement path and lowers it to the short storage section. Warehousing and unloading can be performed in which a short article is received from the short storage section along the longitudinal direction of the movement path and is dropped onto the short article support section.
In addition, when the control means executes the integrated conveyance process, the two stacker cranes that are operated to move receive the long article along the longitudinal direction of the movement path from the long article support section and store the long article. It is possible to carry out warehousing to be taken down to the section, and taking out a long article from the long storage section along the longitudinal direction of the movement path and dropping it to the long article support section.
In this way, the two stacker cranes can transport the short article and the long article along the longitudinal direction of the movement path between the article storage shelf and the article support section for loading and unloading. This is a useful article transport facility that can be applied to an article storage facility such as a warehouse.

An embodiment in which an article conveying facility according to the present invention is applied to an article storage facility will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the article storage facility includes two article storage shelves 1 that are installed at an interval so that the front surfaces for putting in and out the article B face each other, and two article storage shelves 1. A stacker crane 3 is provided as a moving body for conveying articles that automatically moves in a reciprocating manner in a traveling passage 2 formed therebetween.

Each article storage shelf 1 is provided with a plurality of front and rear support columns 1a spaced apart in the horizontal width direction of the shelf (horizontal direction). Are arranged at intervals in the vertical direction.
A plurality of storage units 4 in the article storage shelf 1 are provided so as to be arranged in the vertical direction and the horizontal width direction of the shelf, and each of the plurality of storage units 4 mounts and supports the article B by the mounting support unit 1b. It is comprised so that the articles | goods B may be accommodated in a form.

As the article B, a long article (hereinafter referred to as “long article”) C and a longitudinal direction of the traveling rail 6 are arranged along the longitudinal direction of the traveling rail 6 installed on the floor surface of the work passage 2 as a moving path. There is a short article (hereinafter referred to as “short article”) D along the direction. In the long article C, there are a first long article C1 having a long length along the longitudinal direction of the traveling rail 6 and a second long article C2 having a short length along the longitudinal direction of the traveling rail 6.
As the storage section 4, a long storage section 41 that stores a long article C and a short storage section 42 that stores a short article D are provided. As the long storage section 41, a first long storage section 41a that stores the first long article C1 and a second long storage section 41b that stores the second long article C2 are provided. Yes.
Incidentally, in the illustrated example, the first long storage portions 41a and the second long storage portions 41b are provided one by one in the shelf width direction, and the short length storage portions 42 are provided in a plurality of rows in the shelf width direction.

In the work path 2 of the two article storage shelves 1, a traveling rail 6 is installed on the floor surface, and a guide rail 7 is installed on the upper side. The stacker crane 3 is provided so as to move horizontally on the traveling rail 6 while being guided by the guide rail 7.
A ground-side controller 8 as a control means for controlling the operation of the stacker crane 3 is provided at the end on the loading platform 5 side of both ends of the traveling rail 6. In the article storage shelf 1, the long storage unit 41 is disposed closer to the ground controller 8 than the short storage unit 42.
The ground-side controller 8 manages storage information such as which storage unit 4 stores which product B and which storage unit 4 stores the product B, and which storage unit 4 stores the product B. The storage unit 4 and the storage unit 4 from which the article B is taken out are selected.

The loading table 5 as an article support part for loading / unloading the article B entering the article storage shelf 1 or the article B delivered from the article storage shelf 1 is adjacent to the shelf width direction of the article storage shelf 1. It is installed on the side of the article storage shelf 1.
The loading table 5 is provided with a long loading table 51 as a long article supporting unit that supports the long article C, and a short loading table 52 as a short article supporting unit that supports the short article D. It has been. A pair of the long load mounting table 51 and the short load mounting table 52 are provided across the traveling rail 6, and the long load mounting table 51 is disposed closer to the ground side controller 8 than the short load mounting table 52. ing.
As the long loading table 51, a first long loading table 51a that supports the first long article C1 and a second long loading table 51b that supports the second long article C2 are provided. Yes. Further, two short loading platforms 52 are provided in a state of being aligned along the longitudinal direction of the traveling rail 6, and the one positioned on the ground controller 8 side is a first short loading table 52 a, and the article storage shelf 1 side. The second short load mounting table 52b is located at the position.

  Two stacker cranes 3 are provided in a state of being aligned in the longitudinal direction of the traveling rail 6. In this embodiment, the two stacker cranes 4 that are located on the loading platform 5 side will be described as the first stacker crane 3a, and the one that is located on the article storage shelf 1 side will be described as the second stacker crane 3b.

  As shown in FIG. 3, each of the two stacker cranes 3 travels along a traveling carriage 9 as a traveling body that can reciprocate along the traveling rail 6, and an elevating mast 10 erected on the traveling carriage 9. An elevator 11 that can be moved up and down, and an electric article transfer device 12 (for example, a fork-type article transfer device) as an article transfer means mounted on the elevator 11 are configured.

The two stacker cranes 3 can support the short articles D separately as shown in FIG. 4 and are adjacent to each other along the longitudinal direction of the traveling rail 6 as shown in FIGS. 5 and 6. In a state where objects are arranged at a set distance, the long article C is configured to be supported in a cooperative manner.
Each of the two stacker cranes 3 is configured such that the length of the traveling rail 6 of the traveling carriage 9 in the longitudinal direction corresponds to the length of the short article D. And when conveying the 1st elongate article | item C1, as shown in FIG. 5, two trucks 9 of the stacker crane 3 which adjoins along the longitudinal direction of the running rail 6 are separated by 1st set distance R1. The both ends of the first long article C1 are supported by the article transfer device 12 in each of the stacker cranes 3. When transporting the second long article C2, as shown in FIG. 6, the two traveling carts 9 of the stacker cranes 3 adjacent to each other along the longitudinal direction of the traveling rail 6 are separated by a second set distance R2. The both ends of the second long article C2 are supported by the article transfer device 12 in each of the stacker cranes 3.

Each of the two stacker cranes 3 is placed and supported on the loading table 5 for loading and unloading by the traveling operation of the traveling carriage 9, the lifting operation of the lifting platform 11, and the article transfer operation of the article transfer device 12. Warehousing the stored article B in the storage section 4 of the article storage shelf 1 or unloading the article B stored in the storage section 4 of the article storage shelf 1 to the loading / unloading table 5 for loading / unloading. It is configured.
And about the 1st elongate article C1 of the elongate article C, between the 1st elongate loading platform 51a and the 1st elongate storage part 41a, with the 1st stacker crane 3a and the 2nd stacker crane 3b. Transport. The second long article C2 of the long article C is conveyed by the first stacker crane 3a and the second stacker crane 3b between the second long loading platform 51b and the second long storage section 41b. .
Further, for the short article D, the first stacker crane 3a is transported between the first short load mounting table 52a and the short storage unit 42, and the second stacker crane 3b is used for the second short load mounting table 52b and the short load loading table 52b. It is transported to and from the storage unit 42. The short load mounting table 52 is configured such that the two stacker cranes 3 are arranged side by side in the horizontal movement direction, and the short article C can be transferred by the article transfer device 12 provided respectively. Has been.

Each of the two stacker cranes 3 is provided with a single elevating mast 10, and this single elevating mast 10 is a traveling carriage on the side away from the stacker crane 3 adjacent in the longitudinal direction of the traveling rail 6. 9 is erected at the end portion.
An upper frame 13 is provided at the upper end of the lifting mast 10 so as to be guided by the guide rail 7.

The elevating platform 11 is supported and supported by an elevating mast 10 erected on the traveling carriage 9 so as to be movable up and down, and supported by being suspended by elevating wires 14.
The elevating wire 14 is wound around a guide pulley 15 provided on the upper frame 13 and a guide pulley 16 provided on one elevating mast 10, and is connected to a take-up drum 17 provided at one end of the traveling carriage 9. ing.
The take-up drum 17 is driven to rotate forward and backward by an inverter-type elevating electric motor 18 and the elevating platform 11 is moved up and down by a feeding operation or a winding operation of the elevating wire 14.

  The lifting platform 11 is provided with a lifting rotary encoder 19 that detects the lifting position of the lifting platform 11 in the vertical direction. Although illustration is omitted, a sprocket that meshes with a chain provided along the longitudinal direction of the lifting mast 10 is provided on the rotary shaft of the lifting rotary encoder 19. Then, the lifting rotary encoder 19 detects the lifting position of the lifting platform 11 in the vertical direction from the lifting distance of the lifting platform 11.

In each of the two stacker cranes 3, a pair of front and rear traveling wheels 20 are arranged on the traveling carriage 9 with an interval in the longitudinal direction of the traveling rail 6.
In addition, each of the pair of front and rear traveling wheels 20 comes into contact with the traveling rail 6 from the lower side so that the upward movement of the traveling rail 20 is restricted. A backup roller 29 that restricts the flying from the traveling rail 6 is provided.

  Of the pair of front and rear traveling wheels 20, an inverter type traveling electric motor 21 that drives a traveling wheel 20 a located on the side away from the stacker crane 3 adjacent in the longitudinal direction of the traveling rail 6 is provided. It is comprised as a driving wheel for propulsion. Of the pair of traveling wheels 20, the traveling wheels 20 b located on the side close to the stacker crane 3 adjacent in the longitudinal direction of the traveling rail 6 are configured as freely driven wheels.

As shown in FIGS. 1 and 3, a traveling laser range finder 22 for projecting ranging beam light in the longitudinal direction of the traveling rail 6 is provided at both ends of the traveling rail 6. Yes. The traveling laser range finder 22 detects the traveling position of the traveling carriage 9 by projecting toward the reflector 23 installed on the traveling carriage 9 and detecting the distance to the traveling carriage 9. It is configured.
The first traveling laser range finder 22a disposed at the end on the loading platform 5 side detects the traveling position of the traveling carriage 9 in the first stacker crane 3a, and the end on the article storage shelf 1 side. The second traveling laser range finder 22b is configured to detect the traveling position of the traveling carriage 9 in the second stacker crane 3b.

  As shown in FIG. 7, each of the two stacker cranes 3 includes a traveling inverter 24 that operates the traveling electric motor 21 or the article transfer device 12, and a lifting inverter 25 that operates the lifting electric motor 18, An input / output device 26 capable of outputting detection information of the lifting rotary encoder 19 is provided.

  A communication controller (not shown) is provided for each of the ground-side controller 8 provided on the ground side, the traveling inverter 24 provided in each of the two stacker cranes 3, the lifting inverter 25, and the input / output device 26. Is provided. Further, the first optical transmission device 27 for transferring information between the ground-side controller 8 and the first stacker crane 3a, and the information transfer between the ground-side controller 8 and the second stacker crane 3b. A second optical transmission device 28 is provided.

  The first optical transmission device 27 and the second optical transmission device 28 exchange information by optical transmission between the optical transmission devices 27a and 28a on the ground side and the optical transmission devices 27b and 28b on the stacker crane 3 side. It is configured. As shown in FIG. 1, the ground-side optical transmission devices 27a and 28a are disposed at the end of the traveling rail 6, and the ground-side optical transmission device 27a in the first optical transmission device 27 is the first traveling device. The ground-side optical transmission device 28a in the second optical transmission device 28 is disposed beside the second traveling laser range finder 22b.

  Then, the communication controller provided in the ground-side controller 8, the communication inverter provided in each of the traveling inverter 24, the lifting inverter 25, and the input / output device 26, the first optical transmission device 27, and the second optical transmission device 28. A communication network is configured. In this communication network, the ground controller 8 is set as a master, and the traveling inverter 24, the lifting inverter 25, and the input / output device 26 are configured as slaves.

Detection information of the first traveling laser range finder 22a and the second traveling laser range finder 22b is input to the ground-side controller 8, and the ground-side controller 8 detects the traveling cart 9 in the first stacker crane 3a. The traveling position and the traveling position of the traveling carriage 9 in the second stacker crane 3b are managed.
Further, detection information of the lifting rotary encoder 19 provided in each of the two stacker cranes 3 is input to the ground-side controller 8 via the communication network, and the ground-side controller 8 is connected to the first stacker crane 8. The lift position of the lift 11 in 3a and the lift position of the lift 11 in the second stacker crane 3b are managed.
And the ground side controller 8 controls the action | operation of the inverter 24 for driving | running | working and the inverter 25 for raising / lowering by giving various command information to the 1st stacker crane 3a and the 2nd stacker crane 3b via the above-mentioned communication network. The operation of the two stacker cranes 3 is controlled.

  The ground side controller 8 controls the movement of a single stacker crane 3 that is transported and operated among the two stacker cranes 3 to transport the short article D as a process of transporting the article B. In order to transport the long article C, the two stacker cranes 3 that are transported are controlled so as to be moved in a state in which adjacent ones are arranged at a set distance from each other along the longitudinal direction of the traveling rail 6. It is comprised so that a conveyance process may be performed.

First, each separate conveyance process will be described.
In each of the separate transport processes, the ground-side controller 8 uses a short storage unit 42 and a short load mounting table 52 as an article receiving place and an article unloading place to perform a single transport operation of the two stacker cranes 3. In order to move the article transfer device 12 in the stacker crane 3 to the article receiving location to receive the short article D and move it to the article unloading location to lower the short article D, the traveling operation of the traveling carriage 9, the lifting platform 11 And the article transfer operation of the article transfer device 12 are controlled.
Incidentally, the ground side controller 8 selects one article receiving object selected from the plurality of short storage units 42 or the short load mounting table 52 as an article receiving location, and selects from the plurality of short storage units 42 or the short load mounting table 52. One article unloading object is used as an article unloading location.

When the explanation is added, first, the ground side controller 8 travels the traveling carriage 9 in order to move the article transfer device 12 in the single stacker crane 3 that is transported to the short article receiving position of the article receiving place. Each moving control for moving the article transfer device 12 in order to receive the short article D from the article receiving location, while performing the traveling control for the elevator and the raising / lowering control for raising and lowering the elevator 11. Is configured to do.
Next, the ground-side controller 8 causes the traveling carriage 9 to travel to move the article transfer device 12 in the single stacker crane 3 that is transported to the short article unloading position at the article unloading position. In addition to performing separate lifting control for lifting the lifting platform 11, performing separate transfer control for performing the article transfer operation of the article transfer device 12 so as to lower the short article D at the article lowering position. It is configured.

  The short article receiving position and the short article unloading position are positions determined from a horizontal target traveling position for positioning the traveling carriage 9 and a vertical target lifting position for positioning the lifting platform 11. The short article receiving position and the short article unloading position are determined for each of the plurality of short storage sections 42 and each of the short loading platforms 52. Further, the short article receiving position defined in the short storage section 42 and the short loading table 52 that is the object receiving object is the article receiving position of the article receiving position, and the short storage section 42 and the short object receiving object is the object receiving position. The short article unloading position determined on the loading table 52 is the article unloading position at the article unloading position.

The separate travel control will be described.
In each separate travel control, the travel operation of the travel carriage 9 in the single stacker crane 3 that is transported is controlled, and the travel carriage 9 is brought to the target travel position at the short article receiving position or the target travel position at the short article unloading position. To run.
The ground-side controller 8 is used for traveling in a single stacker crane 3 that is transported via a communication network so that the traveling carriage 9 travels to a target traveling position at a short article receiving position or a target traveling position at a short article unloading position. The inverter 24 is instructed with travel command information. Then, the traveling inverter 24 switches to a state in which the traveling electric motor 21 is operated based on the traveling command information, and controls the operation of the traveling electric motor 21.

Specifically, the ground-side controller 8 outputs travel speed command information for instructing the target travel speed to the travel inverter 24 in the single stacker crane 3 that is transported via the communication network every time the set time elapses. Command as travel command information. The traveling inverter 24 adjusts the current value applied to the traveling electric motor 21 so that the traveling speed of the traveling carriage 10 becomes the target traveling speed commanded by the traveling speed command information.
Then, when the traveling position of the traveling carriage 9 in the single stacker crane 3 that performs the transportation operation reaches the target traveling position, the ground-side controller 8 uses the traveling inverter in the single stacker crane 3 that performs the transportation operation via the communication network. 24, the travel stop command information is commanded as travel command information. Based on the travel stop command information, the travel inverter 24 stops the travel electric motor 21 and applies a brake to stop the travel cart 9 at the target travel position.

The separate lifting control will be described.
In this separate lifting control, the lifting operation of the lifting platform 11 in the single stacker crane 3 that is transported is controlled, and the lifting platform 11 is brought to the target lifting position at the short article receiving position or the target lifting position at the short article lowering position. Raise and lower.
The ground-side controller 8 is a lift inverter 25 in a single stacker crane 3 that is transported via a communication network so as to raise and lower the lift 11 to a target lift position at the article receiving position or a target lift position at the article drop position. Command up / down command information. And the raising / lowering inverter 25 controls the action | operation of the raising / lowering electric motor 18 based on raising / lowering command information.

Specifically, the ground-side controller 8 sends up / down speed command information for instructing the target up / down speed to the up / down inverter 25 in the single stacker crane 3 that is transported via the communication network every time the set time elapses. Command as lift command information. The raising / lowering inverter 25 adjusts the electric current value with respect to the raising / lowering electric motor 18 so that the raising / lowering speed of the raising / lowering stand 11 becomes the target raising / lowering speed commanded by the raising / lowering speed command information.
And when the raising / lowering position of the raising / lowering platform 11 reaches the target raising / lowering position, the ground side controller 8 sends the raising / lowering stop command information to the raising / lowering inverter 25 in the single stacker crane 3 which carries out conveyance operation via a communication network. Command. The lifting / lowering inverter 25 stops the lifting / lowering electric motor 18 based on the lifting / lowering stop command information and applies the brake to stop the lifting / lowering platform 11 at the target lifting / lowering position.

The separate transfer control will be described.
In this separate transfer control, the article transfer operation of the article transfer device 12 of the single stacker crane 3 that is transported is controlled to receive the short article D from the article receiving location or to the item unloading location. Take D down.
The ground-side controller 8 includes a traveling inverter in a single stacker crane 3 that is transported via a communication network in a state where the traveling carriage 9 is stopped at the target traveling position and the lifting platform 11 is stopped at the target lifting position. 24 is instructed to transfer information. Then, the traveling inverter 24 switches to a state in which the article transfer device 12 is operated based on the transfer command information, and operates the article transfer device 12 to perform the article transfer operation.

The case where the article transfer device 12 is a fork-type article transfer device will be described with respect to the operation of the separate transfer control. In this case, the short article unloading position is set higher than the short article receiving position.
When the short article D is received from the short storage section 42 or the short article loading table 52, the fork is protruded with the article transfer device 12 positioned at the short article receiving position, and then the lifting platform 11 is raised by a set distance. By doing so, the short article D is received from the short storage section 42 or the short load mounting table 52, and then the fork is retracted.
When the short article D is wholesaled on the short storage section 42 or the short load mounting table 52, the short article D is placed in a state where the article transfer device 12 on which the short article D is placed and supported on the fork is positioned at the short article unloading position. After the fork on which is placed and supported is projected, the elevator 11 is lowered by a set distance, whereby the short article D is unloaded on the short storage section 42 or the short load mounting base 52, and then the fork is retracted.
As described above, in the fork-type article transfer device, the short article D is transferred between the short storage section 42 or the short load mounting table 52 by the fork withdrawal / retraction operation and the lifting platform 11 lifting / lowering operation. It is configured.

Next, the integrated conveyance process will be described.
In this integrated conveyance process, the ground-side controller 8 uses the long storage unit 41 and the long loading table 51 as an article receiving place and an article unloading place to transfer articles in each of the two stacker cranes 3 that are transported. In order to move the loading device 12 to the article receiving location to receive the long article C and move it to the article unloading location to lower the long article C, the traveling operation of the traveling carriage 9, the lifting operation of the lifting platform 11, And it is comprised so that the article transfer operation | movement of the article transfer apparatus 12 may be controlled.
Incidentally, the ground-side controller 8 sets one article receiving object selected from the plurality of long storage units 41 or the long loading platform 51 as an article receiving location, and the plurality of long storage units 41 or the long loading units. One article unloading object selected from the table 51 is set as an article unloading location.

Then, the ground side controller 8 moves the traveling speed of the traveling carriage 9 that operates in the integrated conveyance processing to be lower than the traveling speed of the traveling carriage 9 that operates in the separate conveyance processing and moves up and down in the integrated conveyance processing. The traveling operation of the traveling carriage 9 and the lifting operation of the lifting platform 11 are controlled so that the lifting speed of the platform 11 is lower than the lifting speed of the lifting platform 11 that performs the lifting operation in each separate conveyance process.
As described above, the ground-side controller 8 is in a state where the moving speed of the two stacker cranes 3 that are transported in the integrated transport process is lower than the moving speed of the single stacker crane 3 that is transported in the separate transport process. The operation of the stacker crane 3 is controlled to move the stacker crane 3 that is transported.

When transporting the first long article C1 in the integrated transport process, the ground-side controller 8 uses the first long storage part 41a and the first long loading platform 51a as the article receiving place and the article unloading place. As shown in FIG. 5, the stacker cranes 3 adjacent to each other along the longitudinal direction of the traveling rail 6 to support both ends of the first long article C <b> 1 by the article transfer device 12 in each of the two stacker cranes 3. The traveling cart 9 is caused to travel so as to be moved in a state where the traveling carts 9 are arranged with a first set distance R1 therebetween.
Further, when transporting the second long article C2 in the integrated transport process, the ground-side controller 8 uses the second long storage section 41b and the second long load mounting table 51b as the article receiving place and the article unloading place. As shown in FIG. 6, the stacker cranes adjacent to each other along the longitudinal direction of the traveling rail 6 to support both ends of the second long article C <b> 2 by the article transfer device 12 in each of the two stacker cranes 3. The traveling cart 9 is caused to travel so that the three traveling carts 9 are moved in a state where they are arranged at the second set distance R2.
As described above, the ground-side controller 8 separates the adjacent stacker cranes 3 along the longitudinal direction of the traveling rail 6 based on the length information along the longitudinal direction of the traveling rail 6 in the long article C in the integrated conveyance process. It is configured to change and adjust the set distance.

The operation of the integrated transport process will be described. First, the ground controller 8 moves the article transfer device 12 in each of the two stacker cranes 3 that are transported to the long article receiving position of the article receiving position. In addition to performing integrated traveling control for traveling the traveling carriage 9 and integrated lifting control for moving the lifting platform 11 up and down, the article transfer device 12 is operated to transfer articles so as to receive the long article C from the article receiving location. The long article C is received from the article receiving location by performing the integral transfer control.
Next, the ground controller 8 causes the traveling carriage 9 to travel so as to move the article transfer device 12 in each of the two stacker cranes 3 that are transported to the long article unloading position of the article unloading position. The control and the up-and-down control for raising and lowering the lifting platform 11 are performed, and the integrated transfer control for performing the article transfer operation of the article transfer device 12 is performed so that the long article C is lowered at the article lowering position. Thus, the long article C is unloaded at the article unloading position.

The long article receiving position and the long article unloading position are a horizontal target traveling position for positioning the traveling carriage 9 in each of the two stacker cranes 3 at a set distance in the longitudinal direction of the traveling rail 6, and This is a position determined from a vertical lift target position for positioning the lift 11 in each of the two stacker cranes 3 at the same lift position. Thus, the long article receiving position and the long article unloading position are the two stacker cranes 3 in a state in which the traveling carriage 9 in each of the two stacker cranes 3 is separated by a set distance in the longitudinal direction of the traveling rail 6. Are set to be in a state in which the lifting platform 11 is positioned at the same lifting position.
The long article receiving position and the long article unloading position are determined for each of the plurality of long storage units 41 and the long loading table 51. In the first long storage 41a and the first long loading platform 51a, the traveling carriage 9 in each of the two stacker cranes 3 is determined to be positioned at a first set distance R1 in the longitudinal direction of the traveling rail 6. In the second long storage portion 41b and the first long loading platform 51b, the traveling carriage 9 in each of the two stacker cranes 3 is positioned at a second set distance R2 in the longitudinal direction of the traveling rail 6. It is determined to let you.

The integrated travel control will be described.
In this traveling control, the traveling operation of the traveling carriage 9 in each of the two stacker cranes 3 is performed so that the traveling carriage 9 in each of the two stacker cranes 3 travels with a set distance in the longitudinal direction of the traveling rail 6. By controlling, the traveling carriage 9 in each of the two stacker cranes 3 travels to the target traveling position at the long article receiving position or the target traveling position at the long article unloading position.
By the way, when transporting the first long article C1, the set distance is set as the first set distance R1, and when transporting the second long article C2, the set distance is set as the second set distance R2.

When traveling with respect to the target traveling position at the article receiving position, the traveling carriage 9 in each of the two stacker cranes 3 is individually operated to move the traveling carriage 9 in each of the two stacker cranes 3 at the article receiving position. By stopping at the target traveling position, the traveling carriage 9 in each of the two stacker cranes 3 is set in a state of being separated by a set distance in the longitudinal direction of the traveling rail 6.
The operation at this time will be described. The ground-side controller 8 travels to the travel inverter 24 in each of the two stacker cranes 3 via the communication network in order to travel the travel vehicle 9 to the target travel position at the article receiving position. Command information is commanded. The travel command information at this time is for causing the travel cart 9 to travel to the target travel position at the article receiving position. Then, the traveling inverter 24 in each of the two stacker cranes 3 controls the operation of the traveling electric motor 21 by switching to the state in which the traveling electric motor 21 is activated based on the traveling command information.

Specifically, every time the set time elapses, the ground-side controller 8 commands travel speed command information for commanding the target travel speed as travel command information to the travel inverter 24 via the communication network. The traveling inverter 24 adjusts the current value applied to the traveling electric motor 21 so that the traveling speed of the traveling carriage 9 becomes the target traveling speed commanded by the traveling speed command information.
Then, when the traveling position of the traveling carriage 9 reaches the target traveling position, the ground-side controller 8 instructs the traveling inverter 24 as traveling instruction information via the communication network. Based on the travel stop command information, the travel inverter 24 stops the travel electric motor 21 and applies a brake to stop the travel cart 9 at the target travel position.

When traveling with respect to the target traveling position at the article unloading position, the traveling carriage 9 in each of the two stacker cranes 3 is integrally traveled at a set distance in the longitudinal direction of the traveling rail 6, and the target at the article unloading position is obtained. The traveling carriage 9 in each of the two stacker cranes 3 is stopped at the traveling position.
The operation at this time will be described. The ground-side controller 8 is configured so that the two traveling trucks 9 of the two stacker cranes 3 integrally travel to the target traveling position at the article unloading position via the communication network. The travel command information having the same command content is commanded to the travel inverter 24 in each of the stacker cranes 3.
Then, the traveling inverters 24 in each of the two stacker cranes 3 are switched to a state in which the traveling electric motor 21 is operated based on the traveling command information having the same command content, and control the operation of the traveling electric motor 21. To do.

In this manner, the traveling command information having the same command content is commanded from the ground side controller 8, and the operation of the traveling electric motor 21 is controlled by the traveling command information, so that the traveling cart in each of the two stacker cranes 3 is used. 9 can be made to travel integrally to the target travel position at the article unloading position with a set distance in the longitudinal direction of the travel rail 6.
As for the travel command information commanded from the ground side controller 8 to the travel inverter 24, as described above, the travel speed command information for commanding the target travel speed is commanded every time the set time elapses. When the travel position is reached, the travel stop command information is commanded. Further, the ground-side controller 8 sets the traveling speed command information so that the traveling speed of the traveling carriage 9 driven by the integrated traveling control is lower than the traveling speed of the traveling carriage 9 driven by the separate traveling control. Command.

In this integrated travel control, when traveling with respect to the target travel position at the article unloading position, the ground-side controller 8 uses the two stacker cranes based on the travel position of the travel carriage 9 in each of the two stacker cranes 3. 3, the distance separating the traveling carriage 9 in the longitudinal direction of the traveling rail 6 is monitored at any time. When the distance separating the traveling carriage 9 in each of the two stacker cranes 3 in the longitudinal direction of the traveling rail 6 is out of the allowable range, the ground-side controller 8 instructs the traveling stop instruction information to The traveling carriage 9 in each of the stacker cranes 3 is configured to stop traveling.
The set range at this time is determined on the basis of the set distance so that the long article C can be supported cooperatively by the article transfer device 12 in each of the two stacker cranes 3 within the set range. ing. In this manner, by stopping the traveling carriage 9 in each of the two stacker cranes 3, the article transfer in each of the two stacker cranes 3 during the traveling of the traveling carriage 9 in each of the two stacker cranes 3. The traveling carriage 9 in each of the two stacker cranes 3 is stopped before the long article C can be supported by the mounting device 12 in a cooperative manner, so that the long article C can be prevented from dropping.
By the way, when the traveling truck 9 in each of the two stacker cranes 3 is stopped, the two stacker cranes are arranged so that the ground-side controller 8 separates the traveling carriage 9 in each of the two stacker cranes 3 from each other by a set distance. After driving only one of the traveling carriages 9 in each of the three, the integral traveling control is resumed.

As described above, when the distance separating the traveling carriage 9 in each of the two stacker cranes 3 in the longitudinal direction of the traveling rail 6 is out of the allowable range, the ground-side controller 8 in each of the two stacker cranes 3. The traveling carriage 9 is stopped. When the distance separating the traveling carriage 9 in the longitudinal direction of the traveling rail 6 in each of the two stacker cranes 3 is out of the set distance, but within the allowable range. The traveling speed of the traveling carriage 9 in each of the two stacker cranes 3 is adjusted so that the distance separating the traveling carriage 9 in each of the two stacker cranes 3 in the longitudinal direction of the traveling rail 6 becomes the set distance. The running speed adjustment process may be performed.
As the travel speed adjustment processing, for example, when the distance between the ground-side controller 8 separating the travel cart 9 in each of the two stacker cranes 3 in the longitudinal direction of the travel rail 6 is shorter than the set distance, the travel direction In order to make the traveling vehicle 9 located on the rear side lower in traveling speed than the traveling vehicle located on the front side, the traveling speed command information is commanded to the traveling inverter 24 in each of the two stacker cranes 3. Further, when the distance between the ground-side controller 8 separating the traveling carriage 9 in each of the two stacker cranes 3 in the longitudinal direction of the traveling rail 6 is longer than the set distance, the traveling carriage located on the front side in the traveling direction. The traveling speed command information is commanded to the traveling inverter 24 in each of the two stacker cranes 3 in order to make the traveling speed lower than that of the traveling carriage 9 positioned on the rear side.

The integral lifting control will be described.
In this integrated lifting control, the lifting platform 11 in each of the two stacker cranes 3 is lifted and lowered so that the lifting platform 11 in each of the two stacker cranes 3 is integrally lifted while being positioned at the same lifting position. By controlling the operation, the elevator 11 in each of the two stacker cranes 3 is moved up and down to the target lift position at the article receiving position or the target lift position at the article unloading position.
The same lifting / lowering platform 11 in each of the two stacker cranes 3 is lifted / lowered with respect to the target lifting / lowering position at the article receiving position and when the lifting / lowering with respect to the target lifting / lowering position at the article unloading position. It is lifted up and down in a state where it is positioned.

The operation at this time will be described. The ground-side controller 8 is connected via a communication network so that the elevator 11 in the pair of traveling carriages 9 can be raised and lowered integrally to the target lift position in a state where the lift 11 is located at the same lift position. The lift command information having the same command content is commanded to the lift inverter 25 in each of the stacker cranes 3. And the raising / lowering inverter 25 in each of a pair of traveling cart 9 controls the action | operation of the raising / lowering electric motor 18 based on the raising / lowering command information of the same command content.
In this way, by giving up / down command information having the same command content from the ground side controller 8 and controlling the operation of the up / down electric motor 18 in each of the two stacker cranes 3 by the up / down command information, The stacker cranes 3 of the stacker cranes 3 can be moved up and down integrally to the target lift position in a state where the lift base 11 is positioned at the same lift position.

More specifically, every time the set time elapses, the ground controller 8 commands the same target lifting speed to the lifting inverters 25 in each of the two stacker cranes 3 via the communication network. Command speed command information as lift command information. The raising / lowering inverter 25 in each of the two stacker cranes 3 adjusts the current value applied to the raising / lowering electric motor 18 so that the raising / lowering speed of the raising / lowering board 11 becomes the target raising / lowering speed commanded by the raising / lowering speed command information. . At this time, the ground-side controller 8 sends up / down speed command information so that the up / down speed of the up / down table 11 to be lifted / lowered by the integrated up / down control is lower than the up / down speed of the up / down table 11 to be moved up / down by the separate up / down control. Command.
And when the raising / lowering position of the raising / lowering stand 11 reaches a target raising / lowering position, the ground side controller 8 raises / lowers the raising / lowering stop command information with respect to the raising / lowering inverter 25 in each of the two stacker cranes 3 via a communication network. Command as command information. The raising / lowering inverter 25 in each of the two stacker cranes 3 stops the raising / lowering electric motor 18 and stops the elevator 11 at the target raising / lowering position by applying a brake based on the raising / lowering stop command information.

In this integrated lifting control, the ground-side controller 8 monitors the lifting position of the lifting platform 11 in each of the two stacker cranes 3 as needed. Then, when the ground controller 8 moves up and down with respect to the target lifting position at the article unloading position, if the height difference of the lifting position of the lifting platform 11 in each of the two stacker cranes 3 is out of the allowable range, the lifting stop is stopped. The command information is commanded so that the lifting platform 11 in each of the two stacker cranes 3 is lifted and stopped.
The set range at this time is determined so that the long article C can be supported cooperatively by the article transfer device 12 in each of the two stacker cranes 3 within the set range. In this way, by moving up and down the lifting platform 11 in each of the two stacker cranes 3, the article transfer in each of the two stacker cranes 3 during the lifting and lowering of the lifting platform 11 in each of the two stacker cranes 3. The elevator 11 in each of the two stacker cranes 3 is lifted and stopped before the long article C cannot be supported in cooperation with the mounting device 12, thereby preventing the long article C from falling.
By the way, when the lifting platform 11 in each of the two stacker cranes 3 is lifted and stopped, the ground controller 8 causes the lifting position of the lifting platform 11 in each of the two stacker cranes 3 to be the same lifting position. After raising / lowering only one of the lift platforms 11 in each of the two stacker cranes 3, the integral lift control is resumed.

As described above, the ground-side controller 8 stops raising / lowering the lifting platform 11 in each of the two stacker cranes 3 when the height difference of the lifting position of the lifting platform 11 in each of the two stacker cranes 3 is out of the allowable range. However, when the elevator 11 in each of the two stacker cranes 3 is not in the same elevator position, but the height difference in the elevator position is within an allowable range, the elevator in each of the two stacker cranes 3 You may make it perform the raising / lowering speed adjustment process which adjusts the raising / lowering speed of the raising / lowering stand 11 in each of the two stacker cranes 3 so that the raising / lowering position of 11 may become the same raising / lowering position.
As the lifting speed adjustment process, for example, the ground controller 8 lowers the lifting speed of the preceding lifting platform 11 lower than that of the subsequent lifting platform 11 in the lifting direction of the lifting platform 11 in each of the two stacker cranes 3. Therefore, ascending / descending speed command information is commanded to the raising / lowering inverter 25 in each of the two stacker cranes 3.

The integral transfer control will be described.
In this integrated transfer control, the article transfer operation of the article transfer device 12 in each of the two stacker cranes 3 is controlled, and the two articles transfer device 12 controls the long article from the article receiving location. C is received or the long article C is lowered to the article unloading position.
The ground-side controller 8 stops the traveling carriage 9 in each of the two stacker cranes 3 at the target traveling position and stops the lifting platform 11 in each of the two stacker cranes 3 at the target lifting position. The same transfer command information is instructed to the traveling inverters 24 in the two stacker cranes 3 via the communication network. Then, the traveling inverters 24 in each of the two stacker cranes 3 are switched to a state in which the article transfer device 12 is operated based on the transfer command information, thereby causing the article transfer device 12 to be transferred.
Thus, the movement command information of the same command content is commanded from the ground side controller 8, and the article transfer operation of the article transfer device 12 in each of the two stacker cranes 3 is controlled by the transfer command information. Thus, the article transfer device 12 in each of the two stacker cranes 3 can be synchronized with the article transfer device 12 and the article transfer device 12 in each of the two stacker cranes 3 can operate the long article. C can be transferred.

The ground-side controller 8 performs a short article storage process for storing the short article D placed and supported on the short loading table 52 in the short storage section 42 and a short storage section 42 as separate conveyance processes. The short article delivery process which takes out the stored short article D to the short loading stage 52 is configured to be executable. And the ground side controller 8 can perform a simultaneous warehousing process, a 1st single warehousing process, and a 2nd single warehousing process as a short article warehousing process . The single shipping process and the second single shipping process can be executed.
In addition, the ground-side controller 8 performs, as an integrated conveyance process, a long article storage process for storing the long article C placed and supported on the long loading platform 51 in the long storage section 41, and a long article. The long article delivery process for taking out the long article C stored in the storage section 41 to the long loading table 51 is configured to be executable. Then, the ground-side controller 8 performs the first long article warehousing process for warehousing the first long article C1 and the second long article warehousing process for warehousing the second long article C2 as the long article warehousing process. Can be executed. In addition, the ground-side controller 8 performs a first long article delivery process for delivering the first long article C1 and a second long article delivery process for delivering the second long article C2 as the long article delivery process. It is feasible.

  Thus, although the ground side controller 8 can perform various processes as the conveyance process for conveying the article B, the length information along the longitudinal direction of the traveling rail 6 of the article B to be conveyed and the article B to be conveyed. The transport request information such as the number information and the command information for instructing whether the article B is in or out is instructed by the input by the manually operated operation means or the host controller. Accordingly, a process selected from a plurality of processes is executed.

Hereinafter, description will be added for each processing.
First, the simultaneous warehousing process will be described with reference to FIG. The movement at this time is indicated by a solid line arrow.
This simultaneous warehousing process is selected as the stacker crane 3 that transports and operates the first stacker crane 3a and the second stacker crane 3b, and the first stacker crane 3a and the second stacker crane 3b receive the short articles D separately and simultaneously. To do.
Incidentally, when executing this simultaneous warehousing process, the short article D is placed on both the first short load carrying table 521 and the second short load carrying table 522. Among them, the short article D to be stored in the back side of the article storage shelf 2 is placed on the second short loading platform 52b.

First, as shown by a dotted line in the figure, the ground-side controller 8 positions the article transfer device 12 provided in the first stacker crane 3a at the short article receiving position of the first short load carrying table 52a and the second The article transfer device 12 provided in the stacker crane 3b is positioned at the short article receiving position of the second short load carrying table 52b, and the short article D is received from the short load carrying table 52 by the two article transfer devices 12. Accordingly, each of the first stacker crane 3a and the second stacker crane 3b is subjected to a separate travel control, a separate lift control, and a separate transfer control.
The ground controller 8 then unloads the article B2 that has received the two transfer devices 12 provided in each of the first stacker crane 3a and the second stacker crane 3b, as indicated by a solid line in the figure. Each of the first stacker crane 3a and the second stacker crane 3b is placed at the short article lowering position of the target short storage section 42 to lower the received short article D so as to be stored in the short storage section 42. Each separate running control, each separate lifting control and each separate transfer control are performed.
By the way, with respect to the short storage section 42 that stores the received short articles D, the ground-side controller 8 has the first stacker crane 3a in the horizontal movement direction of the stacker crane 3 rather than the second stacker crane 3b. The direction is selected so as to be closer to the short loading table 52.

Next, the first single storage process will be described with reference to FIG. The movement at this time is indicated by a solid line arrow.
In the first warehousing process, the first stacker crane 3a located on the short loading platform 52 side is selected as the stacker crane 3 to be transported, and the first stacker crane 3a receives the short article D. .
The ground controller 8 first places the article transfer device 12 provided in the first stacker crane 3a at the short article receiving position of the first short loading platform 52a as shown by the dotted line in the figure, In order to receive the short article D from the first short load carrying table 52a by the article transfer device 12, the first stacker crane 3a performs the separate travel control, the separate lift control, and the separate transfer control.
Then, as shown by the solid line in the drawing, the ground-side controller 8 next receives the short article D that has received the article transfer device 12 provided in the first stacker crane 3a as a target for unloading the short article D. The first stacker crane 3a is placed in the short article lowering position, and the received short article D is lowered so as to be stored in the short storage section 42. Perform transfer control.
Further, the ground controller 8 controls the operation of the second stacker crane 3b so as to retract the article transport by the first stacker crane 3a without interfering with it. In FIG. 9, since the current position of the second stacker crane 3b is a position that does not interfere with the conveyance of the articles by the first stacker crane 3a, the second stacker crane 3b is kept on the spot.

Next, the second single warehousing process will be described based on FIG. The movement at this time is indicated by a solid line arrow.
In this second single warehousing process, the second stacker crane 3b located on the article storage shelf 1 side is selected as the stacker crane 3 to be transported, and the second stacker crane 3 receives the short article D.
Since the second single warehousing process is different from the first single warehousing process in the stacker crane 3 that is transported and operated, the operation of the second stacker crane 3b that is the stacker crane 3 that is transported and operated is described. Will not be described.
The ground-side controller 8 controls the operation of the first stacker crane 3a so as to wait for the article transfer device 12 provided in the first stacker crane 3a to be placed on the first short loading platform 52a. The first stacker crane 3a is retracted so as not to disturb the article conveyance by the second stacker crane 3b.

  Next, the simultaneous shipping process will be described. In contrast to the simultaneous warehousing process, the simultaneous warehousing process is performed by selecting the first stacker crane 3a and the second stacker crane 3b as the stacker crane 3 to be transported as shown by the dotted arrows in FIG. The crane 3a and the second stacker crane 3b deliver the short articles D separately and simultaneously. Therefore, first, as shown by the solid line in the figure, the short article D is received from the short storage section 42, and then, as shown by the dotted line in the figure, the received short article D is to be lowered onto the short loading table 52. In addition, for each of the first stacker crane 3a and the second stacker crane 3b, a separate travel control, a separate lift control and a separate transfer control are performed.

  Next, the first single delivery process will be described. In contrast to the first warehousing process, the first single warehousing process selects the first stacker crane 3a as the stacker crane 3 to be transported and operated as shown by the dotted arrow in FIG. Takes out the short article D. Therefore, first, as shown by the solid line in the figure, the short article D is received from the short storage section 42, and then, as shown by the dotted line in the figure, the received short article D is to be lowered onto the short loading table 52. The first stacker crane 3a is subjected to a separate travel control, a separate lift control and a separate transfer control.

  Next, the second single delivery process will be described. In contrast to the second warehousing process, this second single evacuation process selects the second stacker crane 3b as the stacker crane 3 to be transported and operated as shown by the dotted arrow in FIG. Takes out the short article D. Therefore, first, as shown by the solid line in the figure, the short article D is received from the short storage section 42, and then, as shown by the dotted line in the figure, the received short article D is to be lowered onto the short loading table 52. The second stacker crane 3b is subjected to a separate travel control, a separate lift control and a separate transfer control.

Next, the first long article warehousing process will be described based on FIG. The movement at this time is indicated by a solid line arrow.
In the first long article storage process, the first stacker crane 3a and the second stacker crane 3b cooperate to receive the first long article C1.
The ground controller 8 first receives the article transfer device 12 in each of the first stacker crane 3a and the second stacker crane 3b as shown by the dotted line in the drawing. In the state where the traveling carriage 9 in each of the two stacker cranes 3 is separated by a set distance in the longitudinal direction of the traveling rail 6 and the elevator base 11 in each of the two stacker cranes 3 is placed in the same elevation position. In order to receive the first elongate article C1 from the first elongate loading platform 51a, the first stacker crane 3a and the second stacker crane 3b are integrated traveling control, integrated elevating control, and integrated transfer. Control.
Then, as shown by the solid line in the figure, the ground-side controller 8 next unloads the first long article C1 that has received the transfer device 12 in each of the first stacker crane 3a and the second stacker crane 3b. The two long stacker cranes 3 of the two long stacker cranes 3 are located at a set distance in the longitudinal direction of the traveling rail 6 and are set in two positions. In order to lower the received first long article C1 so as to be stored in the first long storage portion 41a, the lift base 11 in each of the stacker cranes 3 is placed in the same lift position. For the 3a and the second stacker crane 3b, integral travel control, integral lift control and integral transfer control are performed.

Next, the second long article warehousing process will be described based on FIG. The movement at this time is indicated by a solid line arrow.
In the second long article storage process, the first stacker crane 3a and the second stacker crane 3b cooperate to receive the second long article C2.
First, as shown by the dotted line in the figure, the ground-side controller 8 receives the article transfer device 12 in each of the first stacker crane 3a and the second stacker crane 3b and receives the long article on the second long loading table 51b. In the state where the traveling carriage 9 in each of the two stacker cranes 3 is separated by a set distance in the longitudinal direction of the traveling rail 6 and the elevator base 11 in each of the two stacker cranes 3 is placed in the same elevation position. The first stacker crane 3a and the second stacker crane 3b are integrated traveling control, integrated lifting control, and integrated transfer to receive the second elongated article C2 from the second elongated loading platform 51b. Control.
Then, as shown by the solid line in the figure, the ground-side controller 8 next unloads the second long article C2 that has received the transfer device 12 in each of the first stacker crane 3a and the second stacker crane 3b. The first stacker crane is positioned so that the received second long article C2 is stored in the second long storage section 41b at the position where the second long storage section 41b is placed. For the 3a and the second stacker crane 3b, integral travel control, integral lift control and integral transfer control are performed.

  Next, the first long article delivery process will be described. In contrast to the first long article warehousing process, the first long article warehousing process is performed by the first stacker crane 3a and the second stacker crane 3b cooperating as shown by the dotted arrows in FIG. The long article C1 is delivered. Therefore, first, as shown by the solid line in the drawing, the first long article C1 is received from the first long storage portion 41a, and then, as shown by the dotted line in the drawing, the received first long article C1 is received. Are moved to the first long loading platform 51a, the first stacker crane 3a and the second stacker crane 3b are subjected to integral traveling control, integral lifting control, and integral transfer control.

  Next, the second long article delivery process will be described. In the second long article delivery process, the second stacker crane 3b cooperates with the second stacker crane 3b as shown by the dotted arrow in FIG. The long article C2 is delivered. Accordingly, first, the second long article C2 is received from the second long storage portion 41b as shown by the solid line in the figure, and then the received second long article C2 as shown by the dotted line in the figure. Is moved to the second long loading platform 51b, the integrated stacking control, the integrated lifting control and the integrated transfer control are performed on the first stacker crane 3a and the second stacker crane 3b.

The operation of the ground controller 8 will be described based on the flowcharts of FIGS.
The ground controller 8 determines whether the article B to be conveyed is a long article C or a short article C2 from the conveyance request information as shown in FIG. When the carrying process is executed (steps 1 and 2) and it is determined that the article D is a short article D, each carrying process is executed (steps 3 and 4).

The integrated transport process will be described with reference to FIG.
If it is determined that the ground-side controller 8 is the first long article C1, the command content of the transport request information is determined whether the transport request information is a warehousing command or a warehousing command (step 11). And the ground side controller 8 will perform a 1st elongate goods warehousing process, if the command content of conveyance request information commands warehousing (steps 12 and 13). Moreover, the ground side controller 8 will perform a 1st elongate article delivery process, if the instruction | command content of conveyance request information is what instructs delivery (steps 14 and 15).
When the ground controller 8 determines from the transport request information that it is the second long article C2, it determines the command content of the transport request information whether the transport request information is an entry command or an exit command (step) 16). And the ground side controller 8 will perform a 2nd elongate goods warehousing process, if the command content of conveyance request information commands warehousing (steps 17 and 18). Moreover, the ground side controller 8 will perform a 2nd elongate article delivery process if the instruction | command content of conveyance request information is what commands delivery (steps 19 and 20).

Each separate conveyance process will be described with reference to FIG.
The ground side controller 8 receives a plurality of short articles D with the short storage portion 42 having different command contents of the transport request information as an object to be unloaded when the transport request information instructs to store the short articles D. Is performed, the selection process for warehousing is performed to select whether the simultaneous warehousing process is executed or the first single warehousing process is continuously executed, and the process selected in the warehousing selection process is executed (step 31-34). Further, the ground controller 8 executes the second single warehousing process when the command content of the transport request information instructs the warehousing of one short article D with the short storage section 42 as the object to be unloaded. (Steps 35 and 36).
When the transport request information instructs the delivery of the short article D, the ground-side controller 8 issues a plurality of short articles D with the short storage section 42 having different command contents of the transport request information as an article receiving object. Is performed, the selection process for shipping is performed to select whether to execute the simultaneous shipping process or the continuous execution of the first single shipping process, and the process selected in the selection process for shipping is executed (step 37-40). Further, the ground controller 8 executes the second single delivery process when the command content of the transport request information instructs the delivery of one short article D with the one short storage section 42 as the object receiving target. (Steps 41 and 42).

  When the ground controller 8 is instructed to store a short article D for which one short storage section 42 is to be unloaded, and to issue a short article D for which one short storage section 42 is a receiving object. In this case, the second single entry process and the second single exit process are continuously executed (steps 43 and 44).

The warehousing selection process will be described.
Selection conditions for selecting either the simultaneous warehousing process or the continuous execution of the first single warehousing process are determined according to the respective current positions of the two stacker cranes 3 in the horizontal movement direction of the stacker crane 3. It has been. For example, when the first stacker crane 3 a and the second stacker crane 3 b are positioned on the short load mounting table 52, the selection condition is that execution of the simultaneous storage process is selected, and the first stacker crane 3 a is positioned on the short load mounting table 52. And when the 2nd stacker crane 3b is located in the back | inner side range which is the side away from the short load mounting stand 52 among the article storage shelves 2, it is determined to select the continuous execution of the first single warehousing process. Yes.
And the ground side controller 8 performs execution of simultaneous warehousing process and continuous execution of the first single warehousing process based on the respective current positions and selection conditions of the two stacker cranes 3 in the horizontal movement direction of the stacker crane 3. Is selected and the selected process is executed.

The shipping selection process will be described.
As in the case of the selection process for warehousing, either the execution of the simultaneous evacuation process or the continuous execution of the first single evacuation process based on the respective current positions of the two stacker cranes 3 in the horizontal movement direction of the stacker crane 3 Selection conditions for selecting these are defined.
Then, the ground side controller 8 executes the simultaneous shipping process and the continuous execution of the first single shipping process based on the current positions and selection conditions of the two stacker cranes 3 in the horizontal movement direction of the stacker crane 3. Is selected and the selected process is executed.

[Another embodiment]
(1) In the above embodiment, as the long storage portion 41, the first long storage portion 41a and the second long storage portion 41b are provided separately. For example, on the long beam By providing a storage portion for storing the article in a form for placing and supporting the article, a long storage portion serving as both the first long storage portion 41a and the second long storage portion 41b is provided. Also good.
Also, with respect to the long loading table 51 as the article support part for loading and unloading, in the above embodiment, the first long loading table 51a and the second long loading table 51b are provided separately. Further, a long load mounting table that serves as both the first long load mounting table 51a and the second long load mounting table 51b may be provided.

(2) In the above embodiment, as the long storage portion 41, two types of storage portions, the first long storage portion 41a and the second long storage portion 41b, are provided, and an article support portion for loading and unloading. As for the long load mounting table 51, there are provided two types of storage units, a first long load mounting table 51a and a second long load mounting table 51b. It is also possible to provide one type of storage unit only for the first long storage unit 41a and implement, for example, a single type of storage unit only for the first loading table 51a as the long loading table 51a. is there.

(3) In the above embodiment, the ground controller 8 is adjacent to the stacker along the longitudinal direction of the traveling rail 6 based on the length information along the longitudinal direction of the traveling rail 6 in the long article C in the integrated conveyance process. The set distance of the crane 3 is changed and adjusted in two stages of the first set distance R1 and the second set distance R2, but based on the length information along the longitudinal direction of the traveling rail 6 in the long article C. The set distance of the stacker cranes 3 adjacent to each other along the longitudinal direction of the traveling rail 6 can be changed and adjusted steplessly, and a plurality of long articles having different lengths along the longitudinal direction of the traveling rail 6 in the long article C are different. C can be conveyed.

(4) In the above-described embodiment, the ground-side controller 8 has a traveling speed of the traveling carriage 9 that travels in the integrated transportation process lower than the traveling speed of the traveling carriage 9 that travels in the separate transportation process, and is integrated transportation. The traveling operation of the traveling carriage 9 and the lifting operation of the lifting platform 11 are controlled so that the lifting speed of the lifting platform 11 that lifts and lowers in the processing is lower than the lifting speed of the lifting platform 11 that lifts and lowers in each separate transport process. However, for example, the traveling speed of the traveling carriage 9 that travels in the integrated transport process is made lower than the traveling speed of the traveling carriage 9 that travels in the separate transport process. The same elevating speed can be set in the processing and the separate conveying processes. Whether to speed like can be appropriately changed.

(5) In the above embodiment, the travel laser rangefinder for detecting the travel position of the travel cart 9 is provided. For example, the travel cart 9 in each of the two stacker cranes 3 is provided with a travel rotary encoder. Thus, the traveling position of the traveling carriage 9 can also be detected. In this case, the detection information of the traveling rotary encoder is output by the input / output device, and is input to the ground-side controller 8 via the communication network.

(6) In the said embodiment, the ground side controller 8 controls the operation | movement of the stacker crane 3 by directly communicating various information with the inverter 24 for driving | running | working and the inverter 25 for raising / lowering via a communication network. However, a crane side controller that controls the operation of the traveling inverter 24 and the lifting inverter 25 is provided on the stacker crane 3 side, and the ground side controller 8 provides command information for instructing the crane side controller to perform various operations. By giving, you may make it the crane side controller control the action | operation of the stacker crane 3 based on the command information.

(7) In the above embodiment, the two stacker cranes 3 are provided so as to be reciprocally movable along the traveling rail 6. However, the number of stacker cranes 3 can be changed as appropriate, for example, two stacker cranes. It is also possible to provide four stacker cranes 3 by setting three as one set. In this case, the long article C is transported by the two stacker cranes 3 of each group.

(8) In the above-described embodiment, as the moving body, the traveling carriage 9 that can travel along the traveling rail 6, the lifting platform 11 that can be moved up and down along the lifting mast 10 that is erected on the traveling carriage 9, and the lifting platform 11 illustrates the stacker crane 3 including the article transfer device 12 mounted on the vehicle 11, for example, a carriage unit that can travel along the traveling rail, and an article transfer device that includes the article transfer device installed in the carriage unit. The vehicle can be adapted as a moving body, and various moving bodies capable of reciprocating on a traveling rail can be applied as the moving body .

Top view of goods storage equipment Side view of goods storage equipment Side view of stacker crane Side view of stacker crane Side view of stacker crane Side view of stacker crane Control block diagram of goods storage equipment The figure which shows the operation in simultaneous entry processing and simultaneous delivery processing The figure which shows the operation | movement in the 1st single warehousing process and the 1st single warehousing process The figure which shows the operation | movement in a 2nd single warehousing process and a 2nd single warehousing process. The figure which shows the operation | movement in a 1st elongate article warehousing process and a 1st elongate article delivery process. The figure which shows the operation | movement in a 2nd long goods warehousing process and a 2nd long goods warehousing process. Flow chart showing the operation of the ground controller Flow chart showing the operation of the ground side controller in the integrated transfer process Flowchart showing the operation of the ground side controller in each separate transport process

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Article storage shelf 4 Storage part 5 Article support part for loading / unloading 3 Stacker crane as a moving body 6 Moving path 8 Control means 9 Traveling body 10 Lifting mast 11 Lifting table 12 Article transfer device 41 Long storage part 42 Short Storage section 51 long article support section 52 short article support section

Claims (5)

A plurality of movable bodies for conveying articles that are movable along a movement path;
An article conveying facility provided with a control means for controlling the operation of the plurality of moving bodies,
In the state in which the plurality of moving bodies can support short articles separately along the longitudinal direction of the moving path, and the adjacent objects along the longitudinal direction of the moving path are arranged at a set distance from each other. It is configured to be able to support a long article in cooperation with the longitudinal direction of the movement path,
Each of the transfer means for controlling the movement of a single moving body that is transported among the plurality of moving bodies in order to transport a short article along the longitudinal direction of the moving path; and In order to convey a long article along the longitudinal direction of the movement path, a plurality of moving bodies that are transported among the plurality of moving bodies are adjacent to each other along the longitudinal direction of the movement path. Are configured to execute an integrated conveyance process that controls to move in a state where they are arranged at a set distance apart ,
Each of the plurality of moving bodies is configured to include article transfer means,
The control means is
In each of the separate conveyance processes, a single movable body that performs conveyance among the plurality of movable bodies is moved to an article receiving location to receive the article and moved to an article unloading location to lower the article. Therefore, it is configured to control the movement of the moving body and the article transfer operation of the article transfer means, and
In the integrated conveyance process, the plurality of movable bodies that are to be conveyed among the plurality of movable bodies are moved to the article receiving location to receive the article and moved to the article unloading location to lower the article. , Configured to control the movement of the moving body and the article transfer operation of the article transfer means,
The movement path is disposed so as to pass through an article storage shelf provided with a plurality of storage units arranged vertically and horizontally and an article support part for loading and unloading.
In the case of each of the separate transport processing, when each of the separate conveyance processing commands a storage of a plurality of articles with a different storage unit as an object to be unloaded, or when a plurality of articles is commanded with a different storage unit as a target for receiving goods, A plurality of the article transfer means provided in each of the plurality of moving bodies are positioned at the article receiving position of the article receiving place, and the articles are transferred from the article receiving place by the plurality of article transferring means. The movement of the mobile body and the article transfer operation of the article transfer means are controlled, and then the plurality of the article transfer means provided in each of the plurality of mobile bodies is the article unloading position at the article unloading location. An article transport facility configured to execute processing for controlling movement of the moving body and article transfer operation of the article transfer means so as to place the received article at an article lowering position .   The control means is adjacent to the longitudinal direction of the moving path based on length information along the longitudinal direction of the moving path in an article that is long along the longitudinal direction of the moving path in the integrated conveyance process. The article conveyance facility according to claim 1, configured to change and adjust the set distance separating a moving body.   A moving body that operates in a state in which the control means lowers the moving speed of a plurality of moving bodies that perform the conveying operation in the integrated conveying process to be lower than the moving speed of a single moving body that performs the conveying operation in each separate conveying process The article conveyance facility according to claim 1, wherein the movement of the moving body is controlled to move the object. A traveling body in which the movable body can reciprocate along the movement path, a lifting platform that can be moved up and down along a lifting mast erected from the traveling body, and the article transfer mounted on the lifting platform A stacker crane provided with means, and two such stacker cranes are provided,
Each of the two stacker cranes is configured to erect the lifting mast at an end portion of the traveling body on the side away from the stacker crane adjacent along the longitudinal direction of the moving path. Item conveying equipment given in any 1 paragraph of claims 1-3 . As the storage section, a short storage section that stores a short article along the longitudinal direction of the movement path and a long storage section that stores a long article along the longitudinal direction of the movement path are provided. ,
As the article support section for loading and unloading, for a long article housing a short article support section that supports a short article along the longitudinal direction of the movement path and a long article along the longitudinal direction of the movement path And an article support part,
The control means is
In each of the separate transport processes, in the single stacker crane that performs the transport operation of the two stacker cranes, using the short storage section and the short article support section as the article receiving location and the article unloading location. In order to move the article transfer means to the article receiving location to receive the article and to move to the article unloading location to lower the article, the traveling operation of the traveling body, the lifting operation of the lifting platform, and the article Configured to control the article transfer operation of the transfer means; and
In the integrated transport process, the article transfer means in each of the two stacker cranes that are transported using the long storage section and the long article support section as the article receiving location and the article unloading location. To the article receiving location, to receive the article and to move to the article unloading location, to lower the article, the traveling operation of the traveling body, the lifting operation of the lifting platform, and the article of the article transfer means The article conveyance facility according to claim 1, wherein the article conveyance facility is configured to control a transfer operation .

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