JP5267856B2 - Stacker crane and article storage equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stacker crane capable of transferring an article between an article transfer target place and an article transfer device on both sides in an article transfer direction. <P>SOLUTION: A mounting and conveying part 27 is divided into a first mounting and conveying part 39 and a second mounting and conveying part 40. An advancing/retracting driving means 29 is configured to drive advancing/retracting of the mounting and conveying part 27 relative to each of a first protruded position and a second protruded position. The first mounting and conveying part 39 is configured to have a first overlapping part overlapping with a base 28 in an article transfer direction X, with respect to its length in the article transfer direction X, in a condition having the mounting and conveying part 27 protruded to the first protruded position. The second mounting and conveying part 40 is configured to have a second overlapping part overlapping with the base 28 in the article transfer direction X, with respect to its length in the article transfer direction X, in a condition having the mounting and conveying part 27 protruded to the second protruded position, and is configured to be longer than the first mounting and conveying part 39. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention is provided in a traveling carriage that travels along a traveling route, a lifting platform that is guided up and down by a lifting guide mast provided in a standing state from the traveling carriage, and the lifting platform, An article transfer device capable of transferring an article to an article transfer target location on both one side and the other side of the article transfer direction, with the width direction of the travel path as the article transfer direction; From the base, the placement transfer unit that places and transports the article in the article transfer direction, the retraction position that retracts the placement transport unit to the base side in the article transfer direction, and the base The present invention relates to a stacker crane provided with an exit / retreat driving means for driving out to and from a projecting position that projects outward in the article transfer direction, and an article storage facility provided with the stacker crane.

  In the article storage facility provided with the stacker crane as described above, for example, an article storage shelf provided with a plurality of storage units arranged in the vertical direction and the horizontal direction is arranged at intervals in the shelf front-rear direction. A stacker crane travel path is provided between the article storage shelves. As a result, the stacker crane moves the travel path between the article storage shelves with both the storage part of the one article storage shelf and the storage part of the other article storage shelf as the object transfer target location, An article is transferred to the storage section of the article storage shelf.

  In the conventional stacker crane, the distance from the article transfer device to the article transfer target location on one side in the article transfer direction is the same distance as the distance to the other article transfer target location. The first projecting position on one side and the second projecting position on the other side are determined so that the projecting amount of the transport unit is the same projecting amount. Therefore, the exit / retreat driving means sets the projection amount of the placement conveyance unit to the same projection amount when projecting the placement conveyance unit at each of the first projection position and the second projection position. And it is comprised so that a mounting conveyance part may be driven out and retracted with respect to each of a 2nd protrusion position. A loading / conveying section disposed on one side of the article transfer direction and provided swingably about a horizontal axis with the other end in the article transfer direction as a fulcrum; And a second loading / conveying section that is arranged on the other side in the article transfer direction and is provided to be swingable around a horizontal axis centering on one end in the article transfer direction (for example, , See Patent Document 1).

  In the conventional stacker crane, each of the first placement conveyance unit and the second placement conveyance unit is configured to have the same length in the article transfer direction. It is provided so that the part to be separated from the second loading / conveying unit is at the center of the base in the article transfer direction. Then, the article is transferred to the first placement / conveyance section when the placement / conveyance section is projected at the first protruding position, and to the second placement / conveyance section when the placement / conveyance section is projected from the second projection position. An overlapping portion that overlaps the base in the loading direction is configured to exist. On the other hand, on the base, the first guided body provided at the overlapping portion of the first mounting / conveying portion is guided upward when the mounting / conveying portion is protruded to the first protruding position. A first guide body that swings the transport unit around the horizontal axis, and a second guided body that is provided at an overlapping portion of the second transport unit when the transport unit is projected to the second protruding position. There is provided a second guide body that guides upward and swings the second loading / conveying section about the horizontal axis. As a result, when the loading / conveying unit is protruded to the first protruding position, the first loading / conveying unit is inclined and the second loading / unloading unit is also protruded to the second protruding position. The transport unit is in an inclined posture. Accordingly, the article can be transferred while using the inclination of the first placement / conveyance unit or the second placement / conveyance unit. For example, the article transfer device is moved to the target stop position with respect to the storage unit and then moved up and down The article can be transferred without raising or lowering the table.

JP 2008-63033 A

  In the conventional stacker crane, since the distance from the article transfer device to the article transfer target location on one side in the article transfer direction and the distance to the other article transfer target location are the same distance, the first The protruding amount of the loading and conveying unit is set to the same protruding amount at the protruding position and the second protruding position. However, for example, a space may be provided between the article transfer device and the article transfer location only on one side in the article transfer direction, and the article transfer target on the one side in the article transfer direction from the article transfer device. The distance to the location may be different from the distance to the other article transfer target location. In such a case, as will be described below, in the conventional stacker crane, when the mounting and conveying unit is protruded to the protruding position, the first mounting and conveying unit or the second mounting and conveying unit is moved around the horizontal axis. The first mounting / conveying unit or the second mounting / conveying unit may not be inclined. Therefore, it becomes impossible to transfer the article between the article transfer device and the article transfer target location.

For example, a case will be described in which the distance from the article transfer device to the article transfer target location on the other side in the article transfer direction is larger than the distance to the article transfer target location on the one side.
In the conventional stacker crane, the length in the article transfer direction of the first loading / conveying unit is the same as that of the second loading / unloading unit, which is about half the length of the base in the article transfer direction. Therefore, when the loading / conveying unit is protruded to the second protruding position, the length of the second loading / conveying unit is insufficient, and all of the second loading / conveying unit is moved from the base in the article transfer direction. It may protrude to the outer side, and an overlapping portion that overlaps the base in the article transfer direction may not be allowed to exist in the second placement conveyance unit. Therefore, when the mounting and conveying unit is protruded to the second protruding position, the second guided member provided in the second mounting and conveying unit on the outer side in the article transfer direction than the second guiding body provided on the base. There will be a body. As a result, the second guided body cannot be guided by the second guide body, and the second placement transport section cannot be swung around the horizontal axis, and the second placement transport section is inclined. It becomes impossible to take a posture.

  The present invention has been made paying attention to such a point, and the purpose thereof is the distance from the article transfer device to one article transfer target location in the article transfer direction and the other article transfer target location. A stacker crane capable of transferring an article between an article transfer target location on both sides in the article transfer direction and the article transfer device, and the stacker crane provided therein It is in the point which provides the provided article storage equipment.

In order to achieve this object, the first characteristic configuration of the stacker crane according to the present invention is ascending / descending by a traveling carriage that travels along a traveling route and an elevating guide mast provided standing from the traveling carriage. An elevator that is guided freely, and provided on the elevator, with the width direction of the travel path as the article transfer direction, the article transfer target locations on both one side and the other side of the article transfer direction. An article transfer device capable of transferring an article is provided. The article transfer device places and conveys an article in the article transfer direction, and the placement and transfer section is connected to the article. A stacker crane comprising: a retraction position for retreating to the base side in the transfer direction; and a retracting drive means for driving to retreat from the base to a projecting position for projecting outward in the article transfer direction. ,
The placing and conveying unit is disposed on one side of the article transfer direction, and the other side end of the article transfer direction is positioned on one side of the center of the base in the article transfer direction; A first loading / conveying portion provided swingably around a horizontal axis centered on the other side end portion, and one end portion in the article transfer direction disposed on the other side of the article transfer direction Is positioned on one side of the center of the base in the article transfer direction, and is divided into a second loading / conveying portion provided so as to be swingable around a horizontal axis centered on the one side end portion. The exit / retreat driving means has a first projecting position as the projecting position defined on one side in the article transfer direction, and the projecting amount of the placement transport unit is larger than the first projecting position. And a second protruding position as the protruding position defined on the other side in the article transfer direction. The first conveying section is configured to drive the first conveying section, and the first conveying section protrudes from the first projecting position at the first projecting position. In this state, a first overlapping portion that overlaps the base in the article transfer direction is configured to exist, and the second placement transport unit has a length in the article transfer direction. A second overlapping portion overlapping the base in the article transfer direction in a state in which the placing and conveying portion is protruded at the two protruding positions, and is longer than the first placing and conveying portion. The first guided body provided on the first overlapping portion of the first loading / conveying portion is arranged on the upper side when the placing / conveying portion is protruded to the first protruding position. guide to to move the first mounting conveying one side edge portion on the upper side of the first placing conveying portion And a second guide provided at the second overlapping portion of the second loading / conveying portion when the placement / conveying portion is protruded to the second protruding position. A second guide body that swings the second loading / conveying section about a horizontal axis so as to guide the guided body upward and move the other end of the second loading / conveying section upward. Is in the point provided.

  According to this characteristic configuration, the other end in the article transfer direction of the first placement conveyance unit and the one end in the article transfer direction of the second placement conveyance unit are the bases in the article transfer direction. It is located on one side of the center. That is, the part where the first placement transport unit and the second placement transport unit are separated is located on one side of the center of the base in the article transfer direction. Thus, the length of the second mounting / conveying unit in the article transfer direction is made longer than that of the first mounting / conveying unit. Can be longer than half the length of the table. Therefore, even if the second protruding position is determined to be larger in the protruding amount from the retracted position of the mounting and conveying unit than the first protruding position, the mounting and conveying unit is protruded to the second protruding position. In some cases, a second overlapping portion that overlaps the base in the article transfer direction can be present in the second placement conveyance unit. As a result, the second guided body can guide the second guided body upward by the second guide body when the placing and conveying section is projected to the second projecting position, and the second placing and conveying section is centered on the horizontal axis. It can be tilted by swinging around. Conversely, the length of the first loading / conveying unit in the article transfer direction is shorter than half of the length of the base in the article transfer direction, but the first protruding position is shorter than the second protruding position. Since the protruding amount of the loading / conveying unit is small, when the loading / unloading unit is protruded to the first protruding position, the first loading / unloading unit has a first overlapping portion that overlaps the base in the article transfer direction. Can be made. Therefore, the first guided body can be guided upward by the first guide body when the placement conveyance section is projected to the first projecting position, and the first placement conveyance section is rotated around the horizontal axis. It can be swung to make it tilted.

  If the distance from the article transfer device to the article transfer target location on one side in the article transfer direction is different from the distance to the other article transfer target location, the article transfer direction on the longer side is the distance The second protruding position can be determined on one side of the first and the first protruding position can be determined on the other opposite side. Therefore, when the article is transferred to the article transfer target locations on both sides in the article transfer direction, the first placement conveyance section or the second placement conveyance section can be in an inclined posture, and the article Transfer can be performed properly.

  The second characteristic configuration of the stacker crane according to the present invention is such that the first placement conveyance unit and the second placement conveyance unit are arranged on the horizontal axis when the first placement conveyance unit is swung around the horizontal axis. The second mounting / conveying unit when swung around the center is configured to have the same inclined posture inclined at a set angle with respect to the horizontal direction.

  According to this characteristic configuration, when the product is transferred to the article transfer target location on one side in the article transfer direction, or when the product is transferred to the article transfer target location on the other side, the inclined posture of the placement transport unit is set. It is possible to have the same inclination posture inclined at a set angle with respect to the horizontal direction. Thereby, when transferring to an article transfer target location on one side in the article transfer direction, or when transferring to an article transfer target location on the other side, the transfer of the article is performed using the same inclination. It can be carried out. Therefore, it is possible to transfer articles by performing the same operation without performing different operations as control of the article transfer device on one side and the other side in the article transfer direction. Simplification can be achieved.

  A third characteristic configuration of the stacker crane according to the present invention is such that the first guided body and the second guided body are configured by guided rollers that are rotatable around a horizontal axis, and the first guided body and The second guide body is configured by an inclined body that guides the guided roller upward as the placement conveyance unit approaches the first projecting position or the second projecting position.

  According to this characteristic configuration, the first guided body and the second guided body can be guided rollers having a simple configuration, and the first guided body and the second guided body are also inclined bodies having a simple configuration. However, the guided roller can be reliably guided upward by the inclined body. In addition, since the first guided body and the second guided body are guided rollers that are the same member, and the first guided body and the second guided body are inclined bodies that are the same member, the article transfer direction The structure for making the inclined posture of the loading / conveying unit the same inclined posture when transferring to the article transfer target location on one side of the article and when transferring to the article transfer target location on the other side is easy. It will be something.

A feature configuration of the article storage facility according to the present invention is provided with the stacker crane according to any one of the first to third feature configurations, and a plurality of storage units as the article transfer target portions are arranged in a vertical direction and a horizontal direction. The article storage shelves provided are article storage facilities provided on both sides in the width direction of the travel route,
As the stacker crane, a first stacker crane in which the lifting guide mast is provided on one side in the lateral direction of the travel path, and a second stacker in which the lifting guide mast is provided on the other side in the lateral direction of the travel path. A crane is provided, and the first stacker crane and the second stacker crane are arranged in a lateral direction of the travel path from the lifting guide mast so that the lifting platform does not contact the lifting guide mast of the other stacker crane. Each of the first stacker crane and the second stacker crane is provided so as to move from the lift guide mast. It is configured to line up in the order of the first placement transport unit and the second placement transport unit in the extending direction. .

  In such an article storage facility, the first stacker crane and the second stacker crane extend from the lifting guide mast in the lateral direction of the travel path so that the lifting platform does not contact the lifting guide mast of the other stacker crane. Since it is provided so as to be movable along the traveling path while being able to pass each other, the lifting guide mast of the mating stacker crane is placed between the article transfer device and the storage portion in the lateral direction of the traveling path. Will provide enough space to pass through. Therefore, in the first stacker crane, the traveling in which the lifting guide mast of the mating stacker crane is located on the one side in the lateral direction of the traveling path on which the own lifting guide mast is positioned is located more than the distance from the article transfer device to the storage unit. The distance from the article transfer device to the storage portion on the other side in the lateral width direction of the path is larger. On the other hand, in the second stacker crane, the distance from the article transfer device to the storage section on one side in the lateral direction of the travel path is larger than the distance from the article transfer apparatus to the storage section on the other side in the lateral direction of the travel path. Will be bigger. As described above, when the first stacker crane and the second stacker crane are provided so as to move each other along the movement path, the distance from the article transfer device to the storage portion on one side in the lateral width direction of the travel path and the other The distance to the storage section on the side will be different.

  Therefore, as described in the first characteristic configuration of the stacker crane according to the present invention, the second projecting position is defined on one side in the lateral width direction of the traveling path on the longer distance side, and the first projecting position is disposed on the other opposite side. By defining, when the article is transferred to both storage units in the width direction of the travel path, the first placement conveyance unit or the second placement conveyance unit can be set in an inclined posture. Transfer can be performed properly. Therefore, the first stacker crane and the second stacker crane are moved to each other along the movement path to improve the conveyance capacity, and the article is appropriately transferred to the storage units on both sides in the lateral direction of the travel path. It is possible to provide an article storage facility that can be used.

An embodiment of a stacker crane according to the present invention and an article storage facility provided with the stacker crane will be described with reference to the drawings.
As shown in FIG. 1 to FIG. 3, this article storage facility is formed between two article storage shelves 1 that are installed at an interval so that the direction of putting in and out the articles is opposed to each other, and the two article storage shelves 1. A stacker crane 3 that moves along the travel path 2 (corresponding to a travel route) is provided. In the shelf width direction of the article storage shelf 1 (longitudinal direction of the travel path, vertical direction in FIG. 1), articles 4 carried from the outside are placed and supported on both sides of the article storage shelf 1, and the article storage shelf 1. A loading / unloading section 5 is provided for placing and supporting the articles 4 that are unloaded from and unloaded from the outside.

  Each article storage shelf 1 is configured by a plurality of a pair of front and rear support columns 1a standing at an interval in the width direction of the shelf, and connecting the support columns 1a adjacent in the width direction of the shelf with a plurality of upper and lower shelf plates 1b. ing. The shelf board 1b is configured to place and support the article 4 in a state in which a part of the article 4 protrudes forward in the front-rear direction of the shelf. The shelf board 1b is configured to place and support the plurality of articles 4 in a state where the plurality of articles 4 are arranged in the shelf width direction. In this way, the storage unit 6 (corresponding to an article transfer target location) in the article storage shelf 1 is configured to store the article 4 in a state where the article 4 is placed and supported by the shelf board 1b. . A plurality of storage units 6 are provided so as to be arranged in the vertical direction and the horizontal direction on both sides of the movement path 2 in the longitudinal direction of the shelf (the lateral width direction of the travel route, the horizontal direction in FIG. 1).

  The stacker crane 3 has a first stacker crane 3a that moves on one side (right side in FIGS. 1 and 3) in the longitudinal direction of the shelf around the movement path 2, and the other side in the longitudinal direction of the shelf (in FIGS. 1 and 3). A second stacker crane 3b that moves on the left side) is provided. Two lower rails 7 are laid in parallel along the shelf width direction on the floor surface of the movement passage 2, and two upper rails 8 are arranged in parallel along the shelf width direction above the movement passage 2. ing. Of the two lower rails 7 and the upper rail 8, one arranged on one side in the longitudinal direction of the shelf (the right side in FIGS. 1 and 3) moves the first stacker crane 3 a along the movement path 2. This is for moving the second stacker crane 3b along the movement path 2 on the other side in the longitudinal direction of the shelf (left side in FIGS. 1 and 3). Each of the first stacker crane 3a and the second stacker crane 3b guides the movement path 2 over the entire length of the article storage shelf 1 in the width direction of the shelf and the place where the loading / unloading portion 5 is arranged by the guidance of the lower rail 7 and the upper rail 8. It is provided so that it can reciprocate freely.

  Hereinafter, although the 1st stacker crane 3a and the 2nd stacker crane 3b are explained, both stacker cranes 3a and 3b are the same in structure except that they are different from each other. Therefore, the same structure will be collectively referred to as the stacker crane 3 without distinguishing between the first stacker crane 3a and the second stacker crane 3b.

  The stacker crane 3 is provided on a traveling carriage 9 that can travel along the lower rail 7, a lifting platform 11 that can be moved up and down along a lifting guide mast 10 erected on the traveling carriage 9, and the lifting platform 11. An article transfer device 12 capable of transferring the article 4 to the storage unit 6 and the carry-in / out unit 5 is provided.

The traveling carriage 9 is formed in a flat shape that is long in the lateral width direction of the shelf, and the traveling carriage 9 of the first stacker crane 3a and the traveling carriage 9 of the second stacker crane 3b move along the movement path 2 in a state where they can pass each other. Is configured to do.
The lifting guide mast 10 of the first stacker crane 3a is provided on the traveling carriage 9 in a state of being moved to one side (right side in FIGS. 1 and 3) in the longitudinal direction of the shelf, and the lifting guide mast 10 of the second stacker crane 3b is The traveling carriage 9 is provided in a state of being moved to the other side in the longitudinal direction of the shelf (left side in FIGS. 1 and 3).
The lifting platform 11 of the first stacker crane 3a extends from the lifting guide mast 10 of the first stacker crane 3a to the lifting guide mast 10 so as not to contact the lifting guide mast 10 of the second stacker crane 3b. Cantilevered. The lifting platform 11 of the second stacker crane 3b also extends from the lifting guide mast 10 of the second stacker crane 3b to the lifting guide mast 10 so as not to contact the lifting guide mast 10 of the second stacker crane 3b. Cantilevered.
In this way, the first stacker crane 3 and the second stacker crane 3b are configured to reciprocate along the movement path 2 in a state in which they can pass each other.

  The lifting guide mast 10 is formed in a flat shape that is long in the shelf width direction, and one elevating guide mast 10 is erected on one end side of the traveling carriage 9 in the shelf width direction. The lifting guide mast 10 is erected on the traveling carriage 9 at a position that is biased toward the side approaching the article storage shelf 1 from the lower rail 7 when viewed in the width direction of the shelf. The lifting guide mast 10 is configured such that its upper end is higher than the lower end of the upper rail 8. Two upper guide rollers 14 provided in a state of sandwiching the upper rail 7 are supported by a support body 13 extending in the longitudinal direction of the shelf at the upper end portion of the lifting guide mast 10. The contact between the two upper guide rollers 14 and the upper rail 7 restricts the movement of the stacker crane 3 in the longitudinal direction of the shelf.

  The lifting platform 11 is fitted to two lifting rails 15 provided on the lifting guide mast 10 and supported by the single lifting guide mast 10 so as to be movable up and down in the vertical direction. One end of a lifting / lowering chain 16 for lifting and lowering the lifting / lowering base 11 is connected to the lifting / lowering base 11. The raising / lowering chain 16 is wound around an upper sprocket 17 provided at the upper part of the raising / lowering guide mast 10, and is wound around a lower sprocket 18 provided at the traveling carriage 9, and the other end thereof is taken up by the lifting platform 11. It is connected to. A drive sprocket 20 that is rotationally driven by a lifting electric motor 19 is engaged with the lifting chain 16. The lifting platform 11 is configured to move up and down by moving the lifting chain 16 in the longitudinal direction by forward and reverse rotation driving of the lifting motor 19.

  The traveling carriage 9 is provided with traveling wheels 21 that are rotatable on the lower rail 7. One of the pair of front and rear traveling wheels 21 is configured as a drive wheel 21a that is rotationally driven by a traveling electric motor 22, and the other is configured as a driven wheel 21b that can freely rotate.

  The traveling carriage 9 is provided with a lifting distance measuring sensor 23 that detects the lifting position of the lifting platform 11 in the lifting path. The elevating distance measuring sensor 23 projects distance measuring light (laser light) along the vertical direction toward the elevating reflector 24 provided on the elevating platform 11 and is reflected by the elevating reflector 24. By receiving the received light, the distance to the elevator 11 is measured. The lift range sensor 23 is configured to detect the lift position of the lift base 11 from the measured distance to the lift base 11.

The travel cart 9 is provided with a travel distance measuring sensor 25 that detects the travel position of the travel cart 9 in the movement path 2. The traveling distance measuring sensor 25 projects distance measuring light (laser light) toward the traveling reflector 26 along the shelf width direction and receives the light reflected by the traveling reflector 26. Thus, the distance between the traveling reflector 26 and the traveling carriage 9 in the shelf width direction is measured.
The traveling reflector 26 is provided on the ground side of the end of the moving passage 2, and the installation position is set as a reference position for detecting the traveling position of the traveling carriage 9. The traveling distance measuring sensor 26 is configured to measure the distance from the reference position, which is the installation position of the traveling reflector 26, to the traveling carriage 9 and detect the traveling position of the traveling carriage 9.

The article transfer device 12 will be described with reference to FIGS.
Since the article transfer device 12 has the shelf front-rear direction as the article transfer direction, in FIGS. 5, 6, and 9 to 11, the vertical direction in the figure is shown as the article transfer direction X. 5, 6, and 9 to 11, the upper side in the figure is illustrated as one side X1 in the article transfer direction X, and the lower side in the figure is illustrated as the other side X2 in the article transfer direction. Yes.

  The article transfer device 12 is configured to place and convey the article 4 in the article transfer direction X, and a retreat position (withdrawal of the placement and transfer section 27 toward the base 28 in the article transfer direction X ( For example, see FIG. 9) and an exit / retreat drive means 29 that drives to exit and retract from the base 28 to a projecting position (see, for example, FIGS. 10 and 11) that projects outward in the article transfer direction X. Yes.

  The base 28 is formed in a rectangular shape in plan view, and is fixedly supported by the lifting platform 11. A slide moving body 30 having a length in the article transfer direction X shorter than that of the base 28 is provided on the upper side of the base 28 so as to be slidable in the article transfer direction X. On the upper part of the slide moving body 30, a loading / conveying unit 27 is disposed at the center of the orthogonal direction Y orthogonal to the article transfer direction X, and the article transfer direction on both sides of the mounting / conveying unit 27 in the orthogonal direction Y. An extending frame 31 extending in the direction X is disposed. The placement conveyance unit 27 and the extended frame body 31 are provided so as to move in the article transfer direction X integrally with the slide moving body 30.

As shown in FIGS. 5, 7, and 8, the upper surface of the base 28 is extended along the article transfer direction X in order to slide the slide moving body 30 in the article transfer direction X. Two slide movement rails 32 are provided. On the other hand, a guided portion 33 that is guided in the article transfer direction X while being engaged with the slide moving rail 32 is provided on the lower surface side of the slide moving body 30.
Further, the base 28 is endlessly wound around a plurality of guide rotators 35 and a driven rotator 34 disposed at both ends of the article transfer direction X at the center in the orthogonal direction Y. A belt 36 for exit / retreat driving is disposed. As shown in FIG. 6, on the lower side of the base 28, a drive rotating body 38 that is driven to rotate by an exit / retreat electric motor 37 is provided to engage with a retracting drive belt 36. ing. The slide moving body 30 is connected to the exit / retreat driving belt 36 at the connecting portion 30a, and the retracting drive belt 36 is wound by the forward / reverse rotation drive of the exit / retreat electric motor 37 to transfer the article. It is configured to slide in the direction X. In this manner, the loading / conveying unit 27 is provided at the retracted position and the protruding position so as to be retractable by sliding movement of the slide moving body 29 in the article transfer direction X. The exit / exit drive means 29 is configured by an exit / exit drive belt 36, an exit / exit electric motor 37, and the like.

The placement transport unit 27 includes a first placement transport unit 39 disposed on one side X1 in the article transfer direction X and a second placement transport unit 40 disposed on the other side X2 in the article transfer direction X. It is divided.
As shown in FIGS. 5 and 9, the first loading / conveying unit 39 includes a first drive wheel 41 located at the other end 39 a in the article transfer direction X and one end 39 b in the article transfer direction X. The belt is provided with a pair of endless first conveyor belts 43 wound around the first driven wheel 42 located at a distance in the orthogonal direction Y. Similarly to the first placement / conveyance section 39, the second placement / conveyance section 40 also has a second drive wheel 45 located at one end 40a in the article transfer direction X and the other side in the article transfer direction X. The belt conveyor includes a pair of endless second conveyor belts 47 wound around the second driven wheel 46 positioned at the end portion 40b at an interval in the orthogonal direction Y.

  The first drive wheel 41 is positioned on one side X1 from the center P of the base 28 in the article transfer direction X, and the second drive wheel 45 is also from the center P of the base 28 in the article transfer direction X. Is also located on one side X1. As a result, the other end 39a of the first loading / conveying section 39 in the article transfer direction X and the one end 40a of the second loading / conveying section 40 in the article transfer direction X are in the article transfer direction X. It is comprised so that it may be located in the one side X1 rather than the center P of the base 28 of this. That is, the section K between the first loading / conveying unit 39 and the second loading / conveying unit 40 is configured to be located on one side X1 from the center P of the base 28 in the article transfer direction X. Yes.

  The first drive wheel 41 is rotationally driven by a first drive shaft 44 extending in the orthogonal direction Y, and the first loading / conveying section 39 is provided so as to be swingable around the axis of the first drive shaft 44. The second drive wheel 45 is also rotationally driven by the second drive shaft 48 extending in the orthogonal direction Y, and the second loading / conveying section 40 is provided so as to be swingable around the axis of the second drive shaft 48. It has been. As a result, the first loading / conveying unit 39 is provided so as to be swingable around the horizontal axis with the other end 39a in the article transfer direction X as a fulcrum, and the second loading / conveying unit 40 is also transferred to the article. It is provided so as to be swingable around the horizontal axis centering on one side end 40a in the direction X as a fulcrum.

  In order to synchronously drive the first mounting / conveying unit 39 and the second mounting / conveying unit 40, an electric motor for conveyance that synchronously drives the first drive shaft 44 and the second drive shaft 48 via a gear interlocking mechanism 49. 50 is provided. The transfer electric motor 50 is provided so as to move integrally with the slide moving body 30 in the article transfer direction X, similarly to the first placement transfer unit 39 and the second placement transfer unit 40. Thereby, even if the placement conveyance part 27 is moving in the article transfer direction X, the first placement conveyance part 39 and the second placement conveyance part 40 can be driven synchronously. It is configured as follows.

  Since the article transfer device 12 transfers the article 4 to the storage units 6 on both the one side X1 and the other side X2 in the article transfer direction X, the article transfer device 12 is used as the protruding position of the placement transport unit 27. A first protruding position (for example, see FIG. 10) on one side X1 in the direction X and a second protruding position (for example, see FIG. 11) on the other side X2 in the article transfer direction X are defined. And the 2nd protrusion position is defined so that the protrusion amount of the mounting conveyance part 27 from a retraction position may become larger than a 1st protrusion position. The exit / exit drive means 29 operates the exit / exit electric motor 37 so that the sliding movement amount of the slide moving body 30 is larger when protruding to the second protruding position than when protruding to the first protruding position. It is configured to control and drive the loading / unloading unit 27 to and from the first protruding position and the second protruding position, respectively.

  As shown in FIG. 10, the first loading / conveying unit 39 has a length in the article transfer direction X based on the article transfer direction X in a state where the loading / unloading unit 27 protrudes to the first protruding position. A first overlapping portion overlapping with the base 28 is configured to exist. In addition, as shown in FIG. 11, the second loading / conveying unit 40 also has the length in the article transfer direction X in the state where the loading / unloading unit 27 protrudes to the second protruding position. The second overlapping portion overlapping with the base 28 is made to exist. Since the amount of protrusion of the loading / conveying unit 27 from the retraction position is larger at the second protruding position than at the first protruding position, the second loading / conveying unit 40 is more than the first loading / conveying unit 39. Also, the length in the article transfer direction X is increased. The difference in length in the article transfer direction between the first placement transport unit 39 and the second placement transport unit 40 is that the placement transport unit 27 projects from the retraction position to the first projecting position and the second projecting position. It is set according to the difference in the amount of protrusion when making it.

As shown in FIGS. 9 to 11, a first guided roller 51 (corresponding to a first guided body) that is rotatable around the horizontal axis is provided in the first overlapping portion of the first loading and conveying unit 39. A second guided roller 52 (corresponding to a second guided body) that is provided so as to contact the upper surface of the base 28 and is rotatable around the horizontal axis also in the second overlapping portion of the second mounting and conveying unit 40. Is provided in contact with the upper surface of the base 28.
The base 28 is provided with a first inclined body 53 (corresponding to a first guide body) that is higher at one end in the article transfer direction X toward the other end in the article transfer direction X. A second inclined body 54 (corresponding to a second guide body) that is higher at the end portion is provided at the end portion. As shown in FIG. 10, the first inclined body 53 guides the first guided roller 51 of the first loading / conveying portion 39 upward when the loading / conveying portion 27 protrudes to the first protruding position. It is configured. By the guidance of the first guided roller 51 by the first inclined body 53, the first placement transport unit 39 is swung around the axis of the first drive shaft 44, and the first placement transport unit 39 is moved in the horizontal direction. It is comprised so that it may become the inclination attitude | position which inclines with respect. Further, as shown in FIG. 11, the second inclined body 54 guides the second guided roller 52 of the second loading / conveying unit 40 upward when the loading / conveying unit 27 is projected to the second protruding position. Is configured to do. By the guidance of the second guided roller 52 by the second inclined body 54, the second placement conveyance unit 40 is swung around the axis of the second drive shaft 48, and the second placement conveyance unit 40 is moved in the horizontal direction. It is comprised so that it may become the inclination attitude | position which inclines with respect.

  The first guided roller 51 of the first placement / conveyance unit 39 and the second guided roller 52 of the second placement / conveyance unit 40 are in the other side end of the first placement / conveyance unit 39 in the article transfer direction X. It arrange | positions so that the distance from the part 39a and the distance from the one side edge part 40a of the 2nd mounting conveyance part 40 may become the same distance. The first inclined body 53 and the second inclined body 54 are the same member having the same inclined surface, and are arranged so that the distance from the center P of the base 28 is the same in the article transfer direction X. ing. In this way, the inclined posture of the first loading / conveying unit 39 when the loading / unloading unit 27 protrudes to the first protruding position, and the first when the loading / unloading unit 27 protrudes to the second protruding position. 2 The inclined posture of the loading / conveying unit 40 is configured to be the same inclined posture that is inclined at a set angle with respect to the horizontal direction.

  As shown in FIGS. 5, 7, and 8, the extension frame 31 that moves integrally with the slide moving body 30 includes first and second light emitting / receiving types at the center and both ends in the orthogonal direction Y. Third in-stock sensors 55 to 57 are provided. The first and third in-stock sensors 55 and 57 detect whether or not the article 4 protrudes in the article transfer direction X in a state where the article 4 is placed and supported by the article transfer device 12. Sensor. The second in-stock sensor 56 is a sensor for detecting that the front end or the rear end of the article 4 has passed through the center in the article transfer direction X when the article 4 is transferred by the article transfer device 12. It is.

As described above, the article transfer device 12 divides the placement / conveyance section 27 into the first placement / conveyance section 39 and the second placement / conveyance section 40 in the article transfer direction X. Each of the 3a and the second stacker crane 3b is configured such that the lifting platform 11 is arranged in the order of the first loading and conveying unit 39 and the second loading and conveying unit 40 in a direction extending from the lifting guide mast 10. That is, since the first stacker crane 3a is provided with the lifting platform 11 so as to extend from the lifting guide mast 11 on one side in the longitudinal direction of the shelf to the other side, from one side (right side in FIG. 1) in the longitudinal direction of the shelf. The first mounting / conveying unit 39 and the second mounting / conveying unit 40 are arranged in this order. Thus, in the first stacker crane 3a, the first projecting position is defined on one side (right side in FIG. 1) in the longitudinal direction of the shelf and the second projecting position is defined on the other side (left side in FIG. 1).
Conversely, the second stacker crane 3b is provided with the lifting platform 11 so as to extend from the other side lifting guide mast 11 in the shelf front-rear direction to the other side in the shelf front-rear direction (the left side in FIG. 1). To the first mounting / conveying unit 39 and the second mounting / conveying unit 40 in this order. Thereby, in the 2nd stacker crane 3b, a 1st protrusion position is defined in the other side (left side in FIG. 1) of the shelf front-back direction, and a 2nd protrusion position is defined in one side (right side in FIG. 1).

  By disposing the first mounting / conveying unit 39 and the second mounting / conveying unit 40 as described above, the first stacker crane 3a is configured so that the article transfer device 12 and the other end side in the shelf front-rear direction in the shelf front-rear direction ( Even if a space through which the lifting guide mast 11 of the second stacker crane 3 b passes is provided between the storage unit 6 located on the left side in FIG. 1, the article between the article transfer device 12 and the storage unit 6. 4 can be transferred appropriately. Further, with respect to the second stacker crane 3b as well, the lifting / lowering guide of the second stacker crane 3b is provided between the article transfer device 12 in the longitudinal direction of the shelf and the storage portion 6 located on one side in the longitudinal direction of the shelf (right side in FIG. 1). Even if a space through which the mast 11 passes is provided, the article 4 can be appropriately transferred between the article transfer device 12 and the storage unit 6 thereof. Therefore, the first stacker crane 3a and the second stacker crane 3b move the article 4 appropriately with respect to both the storage units 6 on one side and the other side in the longitudinal direction of the shelf while moving along the moving path 2 with respect to each other. Can be listed.

  Although illustration is omitted, a ground-side controller is provided on the ground side, a crane control device is provided on the stacker crane side, and the crane control device operates the stacker crane 3 based on a command from the ground-side controller. Configured to control. The crane control device is configured to receive detection information of various sensors such as a travel distance sensor 25, a lift distance sensor 23, and first to third load sensors 55 to 57.

  The crane control device moves the article transfer device 12 to the target stop position of the target storage unit 6 or the loading / unloading unit 5 based on the detection information of the traveling distance measuring sensor 25 and the detection information of the lifting distance measuring sensor 23. Therefore, the operation of the traveling electric motor 22 and the lifting electric motor 19 is controlled. Here, the target stop position is set to be higher when the article 4 is unloaded from the storage section 6 or the loading / unloading section 5 than when the article 4 is loaded from the storage section 6 or the loading / unloading section 5. Yes. Then, the crane control device transfers the article 4 between the article transfer device 12 and the target storage unit 6 or the loading / unloading unit 5 with the article transfer device 12 positioned at the target stop position. The operation of the article transfer device 12 is controlled.

Hereinafter, the transfer of the article 4 between the article transfer device 12 and the storage unit 6 will be described with reference to FIGS. 12 and 13.
First, a description will be given of a case where the article transport unit 27 is made to project from the retracted position to the first projecting position and the article 4 is scooped from the storage unit 6. In the first stacker crane 3a, the article 4 is picked up from the storage section 6 of the right article storage shelf 1 in FIG. 1 in the longitudinal direction of the shelf. In the second stacker crane 3b, the left side in FIG. This is when the article 4 is picked up from the storage section 6 of the article storage shelf 1.

  As shown in FIG. 12 (a), the crane control device starts the operation of the electric motor 37 for exiting and retracting so that the mounting and transporting unit 27 protrudes from the retracted position to the first protruding position, and the first mounting and transporting unit. The first transport belt 43 of the section 39 and the second transport belt 47 of the second placement transport section 40 are wound in the pulling direction so that the transport direction of the article 4 is on the article transfer device 12 side. In order to operate the part 27, the electric motor 50 for conveyance is started to operate. Here, the crane control device has a relative speed of 0 (zero) between the protruding speed of the placement transport unit 27 and the transport speed of the first placement transport unit 39 and the second placement transport unit 40 toward the article transport device 12 side. ), The exit / exit electric motor 37 and the conveying electric motor 50 are operated. Thereby, when the loading / conveying unit 27 comes into contact with the article 4, the force acting on the article 4 on the storage unit 6 side and the force acting on the article transfer device 12 side can be made equal. It is possible to prevent the posture of the article 4 from changing. Therefore, the unstable behavior of the article 4 can be suppressed and the article 4 can be scooped in a stable posture.

  As shown in FIG. 12B, the crane control device sets the set protrusion amount corresponding to the first protrusion position where the protrusion amount of the mounting and conveying unit 27 is based on the detection information of the rotary encoder provided in the electric motor 57 for moving in and out. Then, assuming that the placing and conveying section 27 has reached the first protruding position, the electric motor 37 for exit and withdrawal is stopped, and the electric motor 50 for conveyance is also stopped. At this time, the first placement conveyance unit 39 is in an inclined posture, and the first placement conveyance unit 39 is in contact with the lower surface of the article 4.

  As shown in FIG. 12 (c), the crane control device causes the first conveying belt 43 of the first loading and conveying unit 39 and the second conveying belt 47 of the second loading and conveying unit 40 to be wound in the retracting direction. Then, the electric motor 50 for conveyance is started to operate the placement and conveyance unit 27 so that the conveyance direction of the article 4 is on the article transfer device 12 side. Here, since the first placement / conveyance unit 39 is in contact with the lower surface of the article 4, the article 4 can be conveyed to the article transfer device 12 side by friction at that time, and the first placement / conveyance can be performed. Since the portion 39 is inclined, the article 4 can be transported to the article transfer device 12 side while utilizing the weight of the article 4.

  As shown in FIG. 12 (d), when the crane control device detects the presence of the article 4 by the second load sensor 56, the crane control device moves out from the first protruding position to the retracted position. The retraction electric motor 37 is started to operate, and when it is determined from the detection information of the rotary encoder provided in the retraction electric motor 57 that the placement conveyance unit 27 has reached the retraction position, the retraction electric motor 37 is deactivated. Let

  As shown in FIG. 12 (e), the crane control device determines that the article 4 has reached a desired position after the set time has elapsed since the second presence sensor 56 has detected the presence of the article 4. The electric motor 50 is deactivated. At this time, the crane control device is configured to confirm whether or not the article 4 protrudes in the article transfer direction based on detection information of the first presence sensor 55 and the third arrival sensor 56.

Next, the case where the article transport unit 27 is caused to project from the retracted position to the second projecting position and the article 4 is scooped from the storage unit 6 will be described. In the first stacker crane 3a, the article 4 is picked up from the storage section 6 of the article storage shelf 1 on the left side in FIG. 1 in the longitudinal direction of the shelf. In the second stacker crane 3b, the right side in FIG. This is when the article 4 is picked up from the storage section 6 of the article storage shelf 1.
In this case, the operation is the same as that described with reference to FIG.

As shown in FIG. 13A, the crane control device causes the placement transport unit 27 to project from the retracted position to the second projecting position, and to transport the article 4 to the article transfer device 12 side. In order to operate the unit 27, the operation of the exit / exit electric motor 37 and the transport electric motor 50 is started. As illustrated in FIG. 13B, when the placement conveyance unit 27 reaches the second projecting position, the crane control device stops the operation of the electric motor 37 for withdrawal and the electric motor 50 for conveyance.

  As shown in FIG. 13C, the crane control device starts the operation of the electric motor 50 for conveyance so as to operate the placement conveyance unit 27 so as to convey the article 4 to the article transfer device 12 side. Here, since the second placement conveyance unit 40 is in contact with the lower surface of the article 4, the article 4 can be conveyed to the article transfer device 12 side by friction at that time, and the second placement conveyance is possible. Since the portion 40 is in an inclined posture, the article 4 can be conveyed to the article transfer device 12 side while utilizing the weight of the article 4. As shown in FIG. 13 (d), when the crane control device detects the presence of the article 4 by the second load sensor 56, the crane control device moves out the placement conveyance unit 27 from the first protruding position to the retracted position. When the retraction electric motor 37 is started to be operated and it is determined that the placement conveyance unit 27 has reached the retraction position, the retraction electric motor 37 is stopped. As shown in FIG. 13 (e), when the set time has elapsed after the presence of the article 4 is detected by the second in-stock sensor 56, the crane control apparatus stops the operation of the electric motor 50 for conveyance, and the article 4 Is positioned at the desired position.

  When the loading / unloading unit 27 is protruded from the retracted position to the first protruding position and the article 4 is unloaded in the storage unit 6, basically, an operation opposite to the operation described in FIG. 12 is performed. Therefore, although not shown, it will be described with reference to FIG. In this case, in the first stacker crane 3a, the article 4 is wholesaled in the storage unit 6 of the right article storage shelf 1 in FIG. 1 in the longitudinal direction of the shelf, and in the second stacker crane 3b, FIG. This is a case where the articles 4 are wholesaled in the storage section 6 of the left-side article storage shelf 1.

  Referring to FIG. 12 (a), the crane control device starts the operation of the electric motor 37 for exiting and retracting so that the placement transport unit 27 projects from the retracted position to the first projecting position, and the first placement transport. The first conveying belt 43 of the section 39 and the second conveying belt 47 of the second loading / conveying section 40 are wound in the delivery direction so that the conveying direction of the article 4 is on the storage section 6 side. The transfer electric motor 50 is started to operate.

  Referring to FIG. 12B, when the crane control device changes from the state in which the presence of the article 4 is detected by the first in-stock sensor 55 to the state in which the presence of the article 4 is not detected, the electric transport motor 50 Decrease the rotation speed. Referring to FIG. 12 (c), for example, when the set time elapses after the crane control device has not detected the presence of the article 4 by the first inventory sensor 55, the crane control apparatus puts the article 4 into the storage unit 6. As a wholesale, the electric motor 50 for conveyance is stopped.

  Referring to FIG. 12 (d), the crane control device starts the operation of the electric motor 37 for withdrawal so that the placement transport unit 27 is retracted from the first protruding position to the retracted position, and the first placement transport is performed. The first conveying belt 43 of the section 39 and the second conveying belt 47 of the second loading / conveying section 40 are wound in the delivery direction so that the conveying direction of the article 4 is on the storage section 6 side. The transfer electric motor 50 is started to operate. Here, in the crane control device, the relative speed between the retraction speed of the placement transport unit 27 and the transport speed toward the storage unit 6 by the first placement transport unit 39 and the second placement transport unit 40 is 0 (zero). The exit / exit electric motor 37 and the conveying electric motor 50 are operated so that Thereby, when the loading / conveying unit 27 moves away from the article 4, the force acting on the article 4 toward the storage unit 6 and the force acting on the article transfer device 12 can be made equal. 4 can be prevented from changing. Therefore, the unstable behavior of the article 4 can be suppressed and the article 4 can be wholesaled in a stable posture.

  Referring to FIG. 12 (e), when the crane control device determines from the detection information of the rotary encoder provided in the exit / exit electric motor 57 that the placement conveyance unit 27 has reached the retreat position, the crane control device The motor 37 is deactivated and the conveying electric motor 50 is also deactivated.

  When the loading / unloading unit 27 is protruded from the retracted position to the second protruding position and the article 4 is unloaded from the storage unit 6, the description is omitted because it is the same as the above-described operation.

[Another embodiment]
(1) In the above-described embodiment, the inclined posture of the first mounting / conveying unit 39 when the mounting / conveying unit 27 is protruded to the first protruding position, and the mounting / conveying unit 27 is protruded to the second protruding position. The inclination posture of the second loading / conveying unit 40 is not limited to the same inclination posture inclined at a set angle with respect to the horizontal direction, but may be inclined postures having different inclination angles with respect to the horizontal direction.

(2) In the above embodiment, the first guided body and the second guided body are configured by guided rollers, and the first guided body and the second guided body are configured by inclined bodies. It is possible to appropriately change the members constituting the guided body and the second guided body and the members constituting the first guide body and the second guide body. .

(3) In the above embodiment, the article transfer target location is the storage portion of the article storage shelf provided on both sides in the width direction of the travel route, but other locations can also be used as the article transfer target location. It is not limited to the storage section.

Top view of goods storage equipment Sectional view in the width direction view of the travel path of the article storage shelf Sectional view in the longitudinal direction of the travel path of the article storage shelf Top view of stacker crane Plan view of the article transfer device Sectional view in a direction perpendicular to the article transfer direction of the article transfer device Sectional view of the article transfer device as viewed in the article transfer direction Side view of the article transfer device as viewed in the article transfer direction Sectional view in a direction perpendicular to the article transfer direction of the article transfer device Sectional view in a direction perpendicular to the article transfer direction of the article transfer device Sectional view in a direction perpendicular to the article transfer direction of the article transfer device Operational diagram when scooping items from the storage Operational diagram when scooping items from the storage

Explanation of symbols

1 goods storage shelf 2 travel route (moving passage)
DESCRIPTION OF SYMBOLS 3 Stacker crane 6 Storage part 9 Traveling carriage 10 Elevating guide mast 11 Elevating stage 12 Article transfer device 27 Placement conveyance part 28 Base 29 Ejection / extraction drive means 39 First placement conveyance part 40 Second placement conveyance part 51 First 1st guided roller as 1 guided body 52 2nd guided roller as 2nd guided body 53 1st inclined body as 1st guided body 54 2nd inclined body as 2nd guided body

Claims (4)

A traveling carriage that travels along the traveling path;
A lifting platform guided by a lifting guide mast provided in a standing condition from the traveling carriage,
Articles that are provided on the lifting platform and that can transfer articles to the article transfer target locations on one side and the other side of the article transfer direction with the width direction of the travel path as the article transfer direction A transfer device,
From the base, the placement transfer unit that places and transports the article in the article transfer direction, the retraction position that retracts the placement transport unit to the base side in the article transfer direction, and the base A stacker crane comprising exit / retreat driving means for retracting and driving to a projecting position for projecting outward in the article transfer direction,
The placing and conveying unit is disposed on one side of the article transfer direction, and the other side end of the article transfer direction is positioned on one side of the center of the base in the article transfer direction; A first loading / conveying portion provided swingably around a horizontal axis centered on the other side end portion, and one end portion in the article transfer direction disposed on the other side of the article transfer direction Is positioned on one side of the center of the base in the article transfer direction, and is divided into a second loading / conveying portion provided so as to be swingable around a horizontal axis centered on the one side end portion. And
The exit / retreat driving means includes a first projecting position as the projecting position defined on one side of the article transfer direction and the projecting amount of the placing and transporting unit larger than the first projecting position. It is configured to drive the placement / conveyance unit out of and into the second projecting position as the projecting position defined on the other side in the article transfer direction,
The first loading / conveying unit has a length in the article transfer direction that overlaps with the base in the article transfer direction in a state where the loading / unloading unit protrudes from the first protruding position. Configured to have one overlap,
The second loading / conveying unit has a length in the article transfer direction that overlaps with the base in the article transfer direction in a state in which the loading / unloading unit protrudes from the second protruding position. 2 overlapping portions are present, and are configured to be longer than the first placement transport unit,
The base guides the first guided body provided at the first overlapping portion of the first loading / conveying portion upward when the placing / conveying portion is protruded to the first protruding position. The first guide body for swinging the first loading / conveying section about the horizontal axis to move the one end of the first loading / conveying section upward , and the second protruding position as described above. When the placement / conveyance section is projected, the second guided body provided in the second overlapping portion of the second placement / conveyance section is guided upward, and the other end of the second placement / conveyance section is A stacker crane provided with a second guide body that swings the second loading / conveying unit about a horizontal axis to be moved upward . The second loading when the first loading and conveying section and the second loading and conveying section are swung around the horizontal axis when the first loading and conveying section is swung around the horizontal axis. The stacker crane according to claim 1, wherein the placing and conveying unit is configured to have the same inclined posture that is inclined at a set angle with respect to a horizontal direction . The first guided body and the second guided body are constituted by guided rollers that are rotatable around a horizontal axis,
The first guide body and the second guide body are configured by an inclined body that guides the guided roller upward as the placement conveyance unit approaches the first projecting position or the second projecting position. The stacker crane according to claim 1 or 2. An article storage shelf provided with the stacker crane according to any one of claims 1 to 3, wherein a plurality of storage units as the article transfer target portions are arranged in a vertical direction and a horizontal direction, and a lateral direction of the travel path. Goods storage equipment provided on both sides of the
As the stacker crane, there is provided a first stacker crane in which the lifting guide mast is provided on one side of the traveling route, and a second stacker crane in which the lifting guide mast is provided on the other side of the traveling route,
The first stacker crane and the second stacker crane are provided in a state extending from the lifting guide mast in the lateral direction of the travel path so that the lifting platform does not contact the lifting guide mast of the other stacker crane. , Provided movably along the travel route in a state where they can pass each other,
Each of the first stacker crane and the second stacker crane is configured so that the lifting platform is arranged in the order of the first loading conveyance unit and the second loading conveyance unit in a direction extending from the lifting guide mast. Goods storage equipment.

Images