JP5534355B2 - Goods storage equipment - Google Patents

Description

  The present invention provides an article storage body in which a plurality of storage units capable of storing articles are arranged in the storage body width direction, and is stored in the article storage body in a state of being arranged in the storage body width direction relative to the article storage body. An article carrying device in which a transfer device is movably provided by a carry-in section for carrying in an article to be carried, a moving body movable along a movement path along the lateral width direction of the storage body, and the operation of the article carrying device is controlled. Control means, and the transfer device moves out and retracts between a retraction position on the transfer device main body side and a protruding position protruding outward from the transfer device main body on which the article storage body is located. The present invention relates to an article storage facility that is configured by a retractable transfer device including a flexible retractable body.

  As a conventional article storage facility, for example, Patent Document 1 discloses an article storage body in which a plurality of storage sections of articles are arranged in the storage body lateral direction and vertical direction, and is movable in the lateral width direction and vertical direction of the article storage body. Transfer device and a transfer device provided in the transfer device, which can be moved back and forth between a retraction position on the transfer device side and a protruding position protruding from the transfer device toward the article storage body. There is disclosed an article storage facility that is provided with a body and can be freely taken out and stored in a storage section.

  In such an article storage facility, the article is transferred from the storage unit to another storage unit for the warehousing transport process for moving the article carried into the carry-in unit of the article storage facility to the storage unit and the article management in the article storage facility. In the case of having a picking system, the replenishing transport process for moving the article from the storage unit to the picking shelf for performing the picking operation is performed. For example, in the transfer processing for replacement, the transfer device is moved to the target stop position for the storage unit in which the article to be taken out is stored, and the take-out operation of taking out the article by the moving-out / moving body is performed, and The transfer device is moved to the target stop position of the storage unit to be stored in a state where the article is mounted on the moving-out / moving body by the take-out operation, and the article is moved to an appropriate placement position of the storage unit by the moving-out / moving body. The storing operation for storing is performed, and the transfer process for replacement is completed.

  However, in such a transport process for moving an article, when the exit / retreat moving body is moved into and out of the projecting position with the article mounted, deflection of the exit / retreat moving body is caused by the load of the article, etc. When the article is stored in the storage unit, there is a considerable displacement in the placement position of the article. Therefore, when the conveyance process is repeatedly performed on one article, the displacement of the placement position in the article storage unit is accumulated and gradually increases, and finally the article protrudes from the proper placement position in the storage unit. Inconveniences such as being placed at a different position occur.

  Therefore, in the article storage facility disclosed in Patent Document 1, an article positional deviation sensor that detects a positional deviation from the reference mounting position of the mounting position in the withdrawal / retraction direction of the article mounted on the withdrawal / removal body, and a positional deviation amount And a positional deviation amount measuring means for measuring the positional deviation amount of the article when the article positional deviation sensor detects the positional deviation of the article after the take-out operation, and the positional deviation amount is measured by the positional deviation amount measuring means. An operation is performed in which the moving / moving body of the transfer device is moved by a shift amount corresponding to the shift amount, and the position of the article with respect to the moving / moving body is corrected to a predetermined position. In this way, the article is stored in an appropriate placement position in the storage unit to be stored by causing the retractable moving body to protrude by a predetermined protruding amount in the storing operation.

JP 2006-103908 A

  However, in the article storage facility disclosed in Patent Document 1, as described above, when carrying out the article conveyance process, the take-out operation for taking out the article from the take-out storage unit and the storage operation for storing the article in the storage target storage unit are provided. In the meantime, a position correcting operation for correcting a positional deviation generated in the moving direction of the article mounted on the moving body is performed by the transfer device. Therefore, it takes time for the position correction operation, and there is a problem that the article cannot be moved quickly.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide an article storage facility capable of quickly moving an article to an appropriate position of a storage unit.

The object storage equipment according to the present invention for achieving the above object is as follows:
An article storage body in which a plurality of storage units capable of storing articles are arranged in the storage body width direction;
A carry-in unit into which articles to be stored in the article storage body are disposed in a state of being aligned in the storage body width direction with respect to the article storage body;
An article conveying apparatus in which a transfer device is movably provided by a movable body that is movable along a movement path along a lateral width direction of the storage body;
And a control means for controlling the operation of the article conveying device,
The transfer device includes a retractable movable body that can be moved back and forth between a retracted position on the transfer device main body side and a protruding position that protrudes outward from the transfer device main body where the article storage body is located. It is an article storage facility composed of a withdrawal type transfer device provided,
In order to transfer an article from the storage unit or the carry-in unit to the transfer device, the position of the article in the transfer device when the retracting / moving body is retreated from the protruding position to the retracted position. With respect to, a displacement amount detection means for detecting a displacement amount from an appropriate position in the exit / retreat direction of the retracting / moving body is provided,
The control means moves the transfer device to a target stop position with respect to the carry-in part or the storage part to be taken out when the article is taken out from the carry-in part or the storage part and stored in another storage part. A removal movement control for controlling the movement of the moving body,
Based on the detection information of the positional deviation amount detection means, the movable body is moved back and forth between the retracted position and the protruding position to take out articles from the carry-in part or the storage part to be taken out. , Transfer control for removal to acquire the amount of displacement from the appropriate position;
Storage movement control for controlling movement of the moving body so as to move the transfer device to a target stop position with respect to the storage unit to be stored;
The retraction / removal body is retracted in a state in which the protrusion movement amount for projecting / moving the retraction / removal body from the retraction position to the protrusion position is adjusted according to the displacement amount acquired by the removal transfer control. It is configured to perform storage transfer control for controlling the operation of the transfer device so as to store the article in the storage unit to be stored by protruding and moving from the position to the protruding position.

According to the above characteristic configuration, when carrying out a conveyance process in which an article is taken out from the carry-in section or the storage section and stored in another storage section, the target stop position with respect to the carry-in section or storage section to be taken out is controlled by the removal movement control. The transfer device is moved, and in the transfer control for take-out, the article is taken out from the storage unit by the moving-out / out moving body of the transfer device, and the position of the article relative to the moving-out / moving body in the moving-out / out direction of the moving-out / moving body The amount of displacement from the appropriate position is acquired. Even when a displacement from the appropriate position is detected, storage movement control is performed to move the transfer device to a target stop position with respect to the storage unit to be stored while maintaining the article at the existing position. In the transfer control, the article can be stored at an appropriate mounting position in the storage unit to be stored by adjusting the protruding movement amount for protruding and moving the moving member in accordance with the detected displacement amount. it can. Accordingly, in this transport process, a special operation for correcting the positional deviation amount and the time required for the operation are not required.
In this way, when carrying out a conveyance process of taking out an article from the carry-in part or the storage part and storing it in another storage part, the positional deviation amount is calculated by using a series of operations of the moving-out and moving body performed by the control means. Since the operation for detection and the operation for correcting the positional deviation amount are performed, the article conveyance process can be performed quickly.

  According to a second characteristic configuration of the article storage facility according to the present invention, the misregistration amount detection means detects that the article has passed through a passage detection position set between the protruding position and the retraction position. The presence position of the article is provided based on the elapsed time from the detection of the passage of the article at the passage detection position by the article passage detection sensor until the withdrawal / retraction moving body reaches the withdrawal position. This is in that the amount of displacement from the proper position is detected.

  According to the above characteristic configuration, the positional deviation amount detection means includes the article passage detection sensor that detects that the article has passed through the passage detection position set between the protruding position and the retraction position. It is possible to detect that the article has passed through the passage detection position by using the movement of the article that is mounted on the vehicle and moves with the moving member. Also, based on the elapsed time from the detection of the passage of the article at the passage detection position by the article passage detection sensor to the time when the retractable moving body reaches the retracted position, the amount of positional deviation from the appropriate position with respect to the presence position of the article Therefore, by measuring the elapsed time using the movement of the exit / exit moving body in the operation of the exit / exit moving body returning to the retreat position, the positional deviation amount from the appropriate position is detected with respect to the existing position of the article. Thus, no special operation for detecting the amount of misalignment is required, and as a result, the article conveyance process can be performed quickly.

A third characteristic configuration of the article storage facility according to the present invention is provided with an article protrusion sensor that detects that the article protrudes outward from the transfer device,
The control means, after carrying out the removal transfer control, stops the storage movement control and the storage transfer control and detects the protrusion of the article when the article protrusion sensor detects the protrusion of the article. If no protrusion of the article is detected by the sensor, the storage movement control and the storage transfer control are performed.

  According to the above-described characteristic configuration, after the removal transfer control is performed in the article transfer process, when the article protrusion is detected by the article protrusion sensor, the storage movement control and the storage transfer following the removal transfer control are performed. Since the execution of the loading control is stopped, the article mounted on the transfer device is dropped from the transfer device or moved to the article storage body by moving the transfer device in a state of protruding from the transfer device. The article can be safely moved while avoiding the occurrence of a collision. On the other hand, since it is configured to perform storage movement control and storage transfer control if no protrusion of the article is detected, the article taken out from the storage unit to be taken out can be transferred to the storage unit to be stored. It can be moved quickly.

  A fourth characteristic configuration of the article storage facility according to the present invention is that the article protrusion sensor also serves as the article passage detection sensor.

  According to the above-described characteristic configuration, since the article protrusion sensor also serves as the article passage detection sensor, it is not necessary to provide the article passage detection sensor in the transfer device, and the presence position of the article is determined by the protrusion sensor. Since it is possible to detect that the transfer device protrudes outside and to detect the position of the article in the transfer device, the configuration of the transfer device can be simplified.

According to a fifth characteristic configuration of the article storage facility according to the present invention, when the control means takes out the article from the storage unit and stores it again in the same storage unit, the target stop for the storage unit to be position-adjusted is provided. Adjustment storage movement control for controlling movement of the moving body to move the transfer device to a position;
The retracting / moving body is moved back and forth between the retracted position and the protruding position to take out an article from the storage unit to be adjusted, and based on the detection information of the misalignment detecting means. Transfer control for adjustment take-out to acquire the amount of positional deviation from the appropriate position for the position of the article in the exit / retreat direction of the retracting body;
In the state of adjusting the protruding movement amount for protruding and moving the retracting / moving body from the retracted position to the projecting position according to the displacement amount acquired by the adjustment / extraction transfer control, the retracting / moving body is It is configured to perform adjustment storage transfer control for controlling the operation of the transfer device so as to store the article in the storage portion to be stored by protruding from the retracted position to the protruding position. is there.

  According to the above characteristic configuration, the position adjustment process in which the article is once taken out from the storage unit and stored again in the same storage unit is configured by adjustment storage movement control, adjustment take-out transfer control, and adjustment storage transfer control. Since these controls are the same controls as part of the control for carrying out the article conveyance process described above, the control means can be made common with the control means for carrying the article conveyance process. . Therefore, with a simple configuration of the control means, an article placed at a position shifted from the storage position in the storage unit can be quickly moved to the storage position of the storage unit.

FIG. 2 is a schematic plan view showing article storage equipment. FIG. The side schematic diagram of a stacker crane. The figure which shows the retraction position and protrusion position of a primary fork part. The figure which shows the installation position of an article | item protrusion sensor. The figure which shows the state (a) which a primary fork part exists in a protrusion position, the state (b) which moves to a retraction position, the state (c) in a retraction position, and the correction protrusion position (d). The control block diagram of goods storage equipment. The flowchart which shows the control operation | movement of the conveyance process of articles | goods. The flowchart which shows the control action of transfer control for extraction. The flowchart which shows the control operation | movement of the transfer control for accommodation.

An embodiment of an article storage facility according to the present invention will be described with reference to the drawings.
As shown in FIG. 1 and FIG. 2, this article storage facility has a plurality of storage sections 2 that can store articles 1 in the vertical direction and the horizontal width direction of the shelf (corresponding to the horizontal width direction of the storage body, the vertical direction in FIG. 1). The article storage shelf 3 (corresponding to the article storage body), and a carry-in unit into which the articles 1 that are arranged in the shelf width direction with respect to the article storage shelf 3 and enter the article storage shelf 3 are carried from the outside. 4, an unloading unit 5 that is arranged in a state of being arranged in the width direction of the shelf with respect to the article storage shelf 3, and from which the articles 1 discharged from the article storage shelf 3 are unloaded, the carry-in unit 4, the unloading unit 5, A stacker crane 6 (corresponding to an article conveying device) that conveys the article 1 to and from the storage unit 2 is provided. Further, each storage section 2 in the article storage shelf 3 is configured to store the articles 1 in a state of being mounted on the mounting support section 1a. And the carrying-in part 4 and the carrying-out part 5 are comprised by the roller conveyor which conveys the state in which the articles | goods 1 are mounted and supported, for example.

  A pair of article storage shelves 3 are provided at intervals in the front-rear direction of the shelf (the left-right direction in FIG. 1 corresponding to the withdrawal / retreat direction) so that the front sides of the stacker crane 6 withdrawing / inserting the articles 1 face each other. Each storage section 2 in the article storage shelf 3 is configured to store the articles 1 in a state where the articles 1 are placed and supported by the placement support section 1a. Between the pair of article storage shelves 3 in the longitudinal direction of the shelf, it is formed as a moving space 7 in which the stacker crane 6 moves, and the carry-in part 4 and the carry-out part 5 are arranged to face each other with the moving space 7 in between. It is installed.

  As shown in FIGS. 1 to 3, the stacker crane 6 is a traveling carriage 11 that can travel along a traveling rail 8 (corresponding to a traveling path) provided in the lateral width direction of the article storage shelf 3 in the moving space 7. (Corresponding to a moving body), a lifting platform 13 which can be moved up and down along a lifting mast 12 standing on the traveling carriage 11, and a fork-type transfer device 14 provided in the lifting platform 13 are provided. It has been. Further, in the moving space 7 in which the stacker crane 6 moves, an upper guide rail 9 is disposed on the ceiling side along the shelf lateral width direction.

  One elevating mast 12 is erected on each of the front end portion and the rear end portion of the traveling carriage 11 in the shelf width direction. The upper and lower ends of the pair of front and rear lifting masts 12 are connected by an upper frame 15. An upper guide roller 16 is provided on the upper frame 15 so as to be guided by the upper guide rail 9 by contacting the upper guide rail 9.

  The elevator 13 is supported and supported by a pair of front and rear elevating masts 12 so as to be movable up and down, and is supported by being suspended by elevating chains 17 connected to the left and right sides thereof. The elevating chain 17 is wound around a first guide sprocket 18 provided on the upper frame 15 and a second guide sprocket 19 provided on one elevating mast 12, and is wound on one end of the traveling carriage 11. It is connected to the drum 20. The hoisting drum 13 is moved up and down by an electric motor 21 for raising and lowering, and the raising and lowering base 13 is raised and lowered by performing a feeding operation and a winding operation of the raising and lowering chain 17.

  The traveling carriage 11 is provided with a pair of front and rear traveling wheels 22 that are rotatable on the traveling rail 8. One of the pair of front and rear traveling wheels 22 is configured as a driving traveling wheel 22a that is rotationally driven by a traveling electric motor 23, and the other is configured as a driven traveling wheel 22b that can freely rotate.

  The traveling carriage 11 is provided with a lift distance measuring sensor 24 that detects the lift position of the lift 13 on the lift path. The elevating distance measuring sensor 24 projects distance measuring light (laser light) along the vertical direction toward the elevating reflector 24a provided on the elevating platform 13, and is reflected by the elevating reflector 24a. It is configured to measure the distance to the lifting platform 13 by receiving the received light. The lift distance measuring sensor 24 is configured to detect the lift position of the lift 13 on the lift path from the measured distance to the lift 13.

  The travel carriage 11 is provided with a travel distance measuring sensor 26 that detects the travel position of the travel carriage 11 on the travel route of the travel rail 8. The traveling distance measuring sensor 26 projects distance measuring light (laser light) toward the traveling reflector 26a along the horizontal width direction of the shelf and receives the light reflected by the traveling reflector 26a. Thus, the distance between the traveling reflector 26a and the traveling carriage 11 in the lateral width direction of the shelf is measured. The traveling reflector 26 a is provided on the ground side of the end of the traveling rail 8, and the installation position is set as a reference position for detecting the traveling position of the traveling carriage 11. 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 26a, to the traveling carriage 11 and detect the traveling position of the traveling carriage 11 on the traveling route. ing.

  As shown in FIG. 4A, the fork-type transfer device 14 has a fixed fork portion 28a (corresponding to the transfer device main body) side on which the article 1 can be placed and supported and is attached to the lift 13. 2 and 4B, a primary fork that can be moved back and forth between a fixed fork portion 28a and a protruding position that protrudes outward from where the article storage shelf 3 is positioned, as shown in FIGS. A fork portion 28 having a portion 28c (corresponding to a retracting / moving body) and an exit / retreat driving means 29 for retracting and driving the primary fork portion 28c to a retracted position and a protruding position are provided. Here, the retreat position is such that the center portion of the primary fork portion 28c in the retracting direction coincides with the center portion of the fixed fork portion 28a.

  The fork portion 28 includes a fixed fork portion 28a fixed to the elevator 13 and a secondary fork portion 28b supported by the fixed fork portion 28a so as to be slidably movable and retractable with respect to the fixed fork portion 28a. The secondary fork portion 28b is slidably guided and supported by the secondary fork portion 28b. The secondary fork portion 28b is configured by a three-stage fork portion 28 including a primary fork portion 28c.

  The exit / retreat drive means 29 includes a pair of pinion gears 31 that mesh with a rack gear 30 fixed to the secondary fork portion 28b, an exit / retreat electric motor 32 that rotationally drives the pair of pinion gears 31 with an output gear 32a, and one end portion. Is connected to the end of the fixed fork portion 28a and the other end is connected to the end of the primary fork portion 28c. The pinion gear 31 and the electric motor 32 for moving in and out are provided in the fixed fork portion 28a, and each of the two drive wires 33 has a horizontal axis centered at the end of the secondary fork portion 28b. It is wound around an idler pulley 34 that can freely rotate.

  As the retractable electric motor 32 drives the pinion gear 31 to rotate forward and backward, the secondary fork portion 28b moves back and forth with respect to the fixed fork portion 28a due to the engagement of the pinion gear 31 and the rack gear 30. Then, the idle pulley 34 moves in the longitudinal direction of the drive wire 33 along with the retreat movement, and the primary fork portion 28c moves out and retreats with respect to the secondary fork portion 28b. In this way, the exit / retreat drive means 29 rotates the exit / retreat electric motor 32 in the forward and reverse directions, so that the retracting position shown in FIG. 4A and the protruding position shown in FIG. Thus, the primary fork portion 28c is configured to be withdrawn / withdrawn.

  A rotary encoder (not shown) is attached to the rotation shaft of the exit / exit electric motor 32, and a pulse signal is output from the rotary encoder as the exit / exit electric motor 32 rotates. The pulse signal is output as position detection information from the transfer device 14 and input to the transfer control unit 27c (see FIG. 7).

As shown in FIG. 5, the article protrusion sensor S is disposed in the vicinity of both end portions in the retracting direction of the primary fork portion 28 c while being fixed to the lifting platform 13.
The article protrusion sensor S is a sensor that detects that the article 1 in the primary fork portion 28c protrudes from an appropriate position in the extension / retraction direction on the primary fork portion 28c.

  The article protrusion sensor S is also configured to function as an article passage detection sensor that detects that the article 1 has passed through a passage detection position set between the protruding position and the retraction position. That is, the article protrusion sensor S has a sensor main body Sa disposed on one side with the primary fork portion 28c interposed therebetween, and a photoreceptor Sb disposed on the other side, and the primary is extended from the sensor main body Sa to the primary. A photoelectric switch is configured to detect the light beam L emitted in the direction perpendicular to the direction in which the fork portion 28c is withdrawn with the photoreceptor Sb. Thereby, when the article 1 placed on the primary fork portion 28c moves together with the primary fork portion 28c and the end of the article 1 reaches the arrangement position of the article protrusion sensor S, the light beam L emitted from the sensor main body Sa. Is blocked by the article 1, the photoreceptor Sb cannot capture the light beam L from the sensor body Sa, and therefore can detect the presence of the article 1 and the position of the article 1. It should be noted that the article non-detection state in which the article 1 is not present between the sensor main body Sa and the photoreceptor Sb and the photoreceptor Sb can capture the light L is the sensor OFF state, and the article 1 is present and the light L The article detection state that cannot be detected is defined as the sensor ON state.

  Based on FIGS. 6A to 6C, detection of the amount of displacement from the proper position of the article 1 on the primary fork portion 28c will be described. The amount of displacement from the proper position is detected by comparing the actual position P1 of the article 1 on the primary fork portion 28c with the reference mounting position P (corresponding to the proper position). Here, the presence position P1 of the article 1 is detected based on the elapsed time from when the article protrusion sensor S detects the passage of the article 1 at the article detection position until the fork portion 28 reaches the retraction position. On the other hand, the reference mounting position P is predetermined and stored in a storage unit (not shown) of the transfer control unit 27c shown in FIG. 7, for example, near the center in the exit / retreat direction on the primary fork unit 28c. It can be set as the position where the article 1 is mounted. Accordingly, the misregistration amount detection means Z for detecting the misregistration amount is constituted by the article protrusion sensor S and the transfer control unit 27c.

The detection of the presence position P1 of the article 1 on the primary fork portion 28c will be described. As shown in FIG. 6A, when the article 1 is mounted on the primary fork portion 28c from the take-out storage portion T at the protruding position, and the primary fork portion 28c is retracted to the retracted position, the article 1 is the primary fork. When the end of the article 1 reaches the position of the light beam L of the sensor body Sa of the article protrusion sensor S (corresponding to the passage detection position) when it moves together with the primary fork section 28c while being mounted on the section 28c. Since the light beam L emitted from the light beam is blocked by the article 1, the light receiving body Sb is in an article detection state (sensor ON state) in which the light beam L cannot be captured, whereby the article 1 is passing through the passage detection position. It can be detected. Further, when the article 1 passes through the passage detection position in the retraction direction, as shown in FIG. 6B, the article non-detection state (sensor) in which the light beam L emitted from the sensor body Sa is captured again by the sensor body Sa. (OFF state), and the retraction operation is continued until the retraction position as shown in FIG. Here, the transfer control unit 27c knows the retraction speed of the primary fork unit 28c in advance, and calculates the required time from the time when the sensor is turned off to the time when the retraction is moved to the time when the retraction is stopped. It is possible to detect. And the presence position P1 on the primary fork part 28c of the articles | goods 1 can be confirmed from the retraction speed and required time. Then, the position shift amount E can be detected by comparing the existence position P1 of the article 1 thus obtained with the reference mounting position P set in advance.
The article 1 is stored in the target storage portion M by adjusting the protruding movement amount by which the primary fork portion 28c is protruded and moved from the retracted position to the protruding position in accordance with the positional deviation amount E thus detected.

  In addition, as shown in FIG. 7, a crane control device 27 (corresponding to control means) that controls the operation of the stacker crane 6 based on a command from the ground-side controller 10 is provided. The crane control device 27 is supplied with the detection information of the lifting distance measuring sensor 24, the detection information of the traveling distance measuring sensor 26, the detection information of the article protrusion sensor S, and the position detection information of the transfer device 14. It is comprised so that.

  The crane control device 27 includes a travel control unit 27 a that controls the travel of the traveling carriage 11, a lift control unit 27 b that controls the lift of the lift platform 13, and a transfer control unit 27 c that controls the operation of the fork-type transfer device 14. It is configured. And it is comprised so that the below-mentioned extraction movement control, extraction transfer control, storage movement control, and storage movement control can be performed.

The operation of the stacker crane 6 will be described based on the flowchart shown in FIG. The crane control device 27 takes out the article 1 from the carry-in section 4 or the storage section 2 in which the article 1 is stored from the ground-side controller 10 and stores the article 1 in another storage section 2 in which the article 1 is stored. When the command is received, on the basis of the command, the traveling carriage 11 and the lifting platform 13 are moved so that the transfer device 14 is moved to a target stop position with respect to the carry-in unit 4 or the storage unit 2 (referred to as the extraction storage unit T) to be taken out. The movement control for taking out is performed (# 101). Subsequently, as shown in FIGS. 6A to 6C, the primary fork portion 28c is moved from the retracted position to the protruding position to take out the article 1 from the take-out storage portion T, and the position deviation amount detection means Z Then, the removal transfer control (# 102) is performed to acquire the positional deviation amount E from the reference mounting position P with respect to the position P1 of the article 1 in the moving direction of the primary fork 28c.
When the removal transfer control is completed, the storage movement control for moving the transfer device 14 to the target stop position with respect to the storage unit 2 to be stored (referred to as the target storage unit M) is performed (# 103). Then, as shown in FIG. 6 (d), the target storage portion is adjusted by adjusting the protrusion movement amount that causes the primary fork portion 28c to protrude from the retracted position to the protruding position in accordance with the displacement amount acquired in the removal transfer control. By carrying out storage transfer control (# 104) for controlling the operation of the transfer device 14 so as to store the article 1 in M, the article transfer processing from the take-out storage section T of the article 1 to the target storage section M is performed. Is completed.

  Note that the target stop position for the take-out storage unit T for the removal movement control and the target stop position for the target storage unit M for the storage movement control are determined in advance corresponding to each of the carry-in unit 4 and the plurality of storage units 2. It has been. The target lifting stop position of the removal movement control is set to a position that is lower than the mounting support section 1a of the storage section 2 and the mounting section of the carry-in section 4 by a set height, and the position of the storage movement control is A position that is higher than the placement support portion 1a of the storage portion 2 and the placement portion of the carry-in portion 4 by a set height is determined. Thereby, it is comprised so that accommodation to the storage part 2 of the articles | goods 1 and taking out from the storage part 2 may be performed smoothly.

  Each control performed in the article transport process will be described in detail. First, in the movement control for taking out, the crane control device 27 is configured so that the transfer device 14 is moved from the take-out storage unit T to the target stop position where the article 1 is properly taken out by the transfer device 14. The operation of the crane 6 is controlled. That is, the travel control unit 27a performs travel control for controlling the operation of the travel electric motor 23 to travel the travel carriage 11 to the target travel stop position based on the detection information of the travel distance measuring sensor 26, and The elevating control unit 27b performs elevating control for controlling the operation of the elevating electric motor 21 to elevate the elevating platform 13 to the target elevating stop position based on the detection information of the elevating distance measuring sensor 24.

  At this time, with reference to the target travel stop position, a travel stop allowable range in which the transfer device 14 can appropriately transfer articles to and from the take-out storage unit T is determined, and the target lift stop position is also set. The lift stop allowable range based on the target lift stop position is defined. In the travel control, the traveling carriage 11 is stopped within the travel stop allowable range, and in the lift control, the lift base 13 is set within the lift stop allowable range. I try to stop it.

  Then, when the traveling carriage 11 is stopped within the travel stop allowable range and the lifting platform 13 is stopped within the lift stop allowable range, the removal movement control is completed, and then the removal transfer control is performed. In the transfer control for taking out, the transfer control for taking out the article 1 from the take-out storage unit T by moving the primary fork portion 28c from the protruding position to the retracted position is performed. Further, when moving to the retreat position, based on the detection information of the article protrusion sensor S, the presence position P1 of the article 1 in the withdrawal direction on the primary fork portion 28c is detected, and the presence position P1 is detected in advance. Compared with the reference mounting positions P that are determined and stored in the storage unit (not shown) of the transfer control unit 27c, the amount of displacement of these positions is detected.

  Next, the removal transfer control will be described in detail based on the flowchart shown in FIG. The transfer control unit 27c starts to project the primary fork unit 28c (# R1) and, as shown in FIG. 6 (a), to the projecting position (target projecting position) below the article 1 of the take-out storage unit T. The primary fork portion 28c is protruded (# R2), and the protruding operation is stopped (# R3). The raising / lowering control part 27b controls the operation | movement of the raising / lowering electric motor 21 to raise the raising / lowering stand 13 only by setting height. Then, by raising the elevator 13 with the primary fork portion 28c protruding to the protruding position, an article scooping operation for scooping out the article 1 in the take-out storage portion T by the primary fork portion 28c is performed (# R4). Subsequently, the operation of the fork portion 28 to the retirement position starts (# R5). As shown in FIG. 6B, when the article 1 passes through the passage detection position in the retraction direction, the article protrusion sensor S changes from the sensor OFF state to the sensor ON state (# R6). At this time, counting by the timer is started (# R7). Then, as shown in FIG. 6 (c), the retraction operation is stopped at the retraction position (# R8, # R9), the count by the timer is stopped (# R10), and the time from the start of the count is transferred. 27c is stored in a storage unit (not shown).

  Then, the crane control device 27 determines the protrusion of the article 1 on the primary fork section 28c by the article protrusion sensor S in a state where the movement of the primary fork section 28c to the retraction position is completed by the removal transfer control (#). R11). When it is confirmed that the protrusion is detected, that is, when the article protrusion sensor S is in the sensor ON state, the article conveyance processing is stopped (# R12). On the other hand, if the protrusion is not detected, the time required from when the sensor is turned on to the OFF state measured by the timer until it stops at the retraction position, and the retraction of the primary fork portion 28c set in advance is performed. The presence position P1 is detected from the speed (# R13), the presence position P1 of the article 1 is compared with a preset reference mounting position P, and a positional deviation amount E is calculated (# R14). The positional deviation amount E thus stored is stored in the recording unit of the crane control device 27 (# R15), and the removal transfer control is completed.

  When the removal transfer control is completed, the storage movement control is performed to control the movement of the moving body so as to move the transfer device 14 to the target stop position with respect to the target storage unit M. In the storage movement control, similarly to the take-out movement control, the traveling control unit 27a performs the traveling control and the elevating control unit 27b performs the elevating control, so that the traveling carriage is at the target traveling stop position with respect to the target accommodating unit M. 11 is moved, and the lifting platform 13 is moved up and down to the target lifting / lowering stop position. At this time, as the target lifting / lowering stop position for storage is the same as the target lifting / lowering stopping position, the allowable lifting / lowering stop range is determined. In the travel control, the travel carriage 11 is stopped within the travel stop allowable range, the storage movement control is completed, and the storage transfer control is started.

  The storage transfer control will be described in detail based on the flowchart shown in FIG. First, the transfer control unit 27c calculates a corrected protrusion movement amount that causes the primary fork portion 28c to move in accordance with the positional deviation amount E acquired in the removal transfer control (# S1). Then, the primary fork portion 28c on which the article 1 is placed above the target storage unit M starts to project and move (# S2), and the projecting movement amount to project and move becomes the corrected projecting movement amount and reaches the corrected projecting position. If it is determined that it has been performed (# S3), the protruding operation is stopped (# S4). When the projecting operation of the primary fork portion 28c is completed, the elevating control unit 27b controls the operation of the elevating electric motor 21 to lower the elevating platform 13 by a set height in order to place the article 1 in the target storage unit M. The article placing operation is performed (# S5). In this way, by lowering the elevating table 13 with the primary fork portion 28c on which the article 1 is placed protruding, the reference placement position M1 of the target storage portion M as shown in FIG. The article 1 is placed so as to coincide with each other. Finally, the transfer control unit 27c retracts the primary fork unit 28c to the retreat position on the lifting platform 13 side (# S6 to # S8). Is completed, and the article conveying process is terminated.

  Further, the crane control device 27 takes out the article from the storage unit 2 and stores it again in the same storage unit 2 according to a command from the ground-side controller 10, and sets the placement position of the article 1 in the storage unit 2 as a reference. The position adjustment process for adjusting the position to the placement position can be performed.

In this position adjustment process, first, adjustment movement control is performed to control the movement of the traveling carriage 11 so as to move the transfer device 14 to the target stop position for the storage unit 2 to be subjected to the position adjustment process. The primary fork portion 28c is moved from the retracted position to the protruding position to take out the article 1 from the storage unit 2 to be adjusted, and the article protruding sensor S and the transfer control unit are moved during the movement from the protruding position to the retracted position. Based on the detection information of the deviation amount detection means Z constituted by 27c, for the adjustment take-out for acquiring the position deviation amount E from the reference mounting position P for the position P1 of the article 1 in the direction of withdrawal of the primary fork portion 28c. Transfer control is performed.
Then, the primary fork portion 28c is moved from the retracted position in a state in which the protruding movement amount for projecting and moving the primary fork portion 28c from the retracted position to the protruding position is adjusted according to the positional deviation amount E acquired by the adjustment take-out transfer control. It is completed by carrying out adjustment storage transfer control for controlling the operation of the transfer device 14 so as to store the article 1 in the storage unit 2 to be stored by projecting to the protruding position.

  In the above-described article transport process, the article 1 stored in the storage unit 2 is taken out and moved to another storage unit 2, and the article 1 is placed at the reference placement position M1 of the other storage unit 2. However, in this position adjustment process, after the article 1 stored in the storage section 2 is taken out, the article 1 is stored again in the original storage section 2 without moving to another storage section 2. This is a control, and when the article placement position of the article 1 stored in the storage section 2 is deviated from the reference placement position, the article 1 is moved to another storage section 2 without being moved. It is possible to adjust the position to the reference placement position in the storage unit 2.

  Further, the adjustment movement control in this position adjustment process is the same control as the take-out movement control in the above-described article conveyance process, and the adjustment take-out transfer control is also shown in FIGS. 6 (a) to 6 (c). This is the same control as the take-out transfer control in the above-described article transport process described in detail by the operation shown and the flowchart shown in FIG. Further, the adjustment storage transfer control is the same control as the storage transfer control in the above-described article transport processing described in detail with reference to the operation shown in FIG. 6D and the flowchart shown in FIG. Therefore, the control performed in the position adjustment process can be performed by using a part of the control performed in the above-described article transport process.

[Another embodiment]
(1) In the above embodiment, the article protrusion sensor S that detects that the article 1 protrudes outward from the transfer device 14 is provided, and the article protrusion sensor S is mounted on the primary fork portion 28c. However, the present invention is not limited to this, and the article passage detection sensor may be provided separately from the article protrusion sensor S.

(2) In the above embodiment, when detecting the traveling position of the traveling carriage 11 on the traveling path and the lifting position of the lifting platform 13 on the lifting path, the distance measuring sensor 26 for traveling and the distance measuring sensor 24 for lifting are provided. However, the present invention is not limited to this, and various sensors can be applied to detect the travel position and the lift position. For example, a rotary encoder that can rotate as the travel carriage 11 travels and the lift 13 moves up and down. It is also possible to detect the traveling position of the traveling carriage 11 on the traveling path and the lifting position of the lifting platform 13 on the lifting path.

(3) In the above embodiment, when detecting the mounting position of the article 1 on the primary fork portion 28c, the article protruding sensor S is turned off from the ON state when the article 1 passes the detection position of the article protruding sensor S. The presence position of the article 1 is detected from the required time from when it enters the state to when it stops at the retraction position and the preset retraction speed of the primary fork 28c. For example, the article protrusion sensor S is turned on. The position of the article 1 is determined by counting the output pulses from the rotary encoder provided on the rotary shaft of the electric motor 32 for moving in and out of the transfer device 14 from when the state is changed to the OFF state until it stops at the retracted position. It may be detected.
(4) In the said embodiment, although the stacker crane 6 which makes the traveling trolley 11 a moving body was illustrated as an article conveyance apparatus concerning this invention, it is not restricted to this, For example, it is an autonomous traveling type | mold which uses a vehicle body as a moving body. The present invention can be applied to various article transfer devices such as an article transport vehicle.

(5) In the above embodiment, the transfer device 14 is a fork type, but this is not a limitation, and the transfer device 14 may be a clamp type.

(6) In the above-described embodiment, the article protrusion sensor C is provided at a position outside the transfer device 14 in the direction in which the primary fork portion 28c is withdrawn (see FIG. 5). The fork portion 28c may be provided at a position inside the transfer device 14 in the direction in which the fork portion 28c is retracted.

DESCRIPTION OF SYMBOLS 1 Goods 2 Storage part 3 Goods storage body 4 Carry-in part 6 Goods conveyance apparatus 11 Moving body 14 Transfer apparatus 27 Control means 28a Transfer apparatus main body 28c Ejection / removal body E Position shift amount P Appropriate position P1 Existence position Z Position shift amount Detection means

Claims (5)

An article storage body in which a plurality of storage units capable of storing articles are arranged in the storage body width direction;
A carry-in unit into which articles to be stored in the article storage body are disposed in a state of being aligned in the storage body width direction with respect to the article storage body;
An article conveying apparatus in which a transfer device is movably provided by a movable body that is movable along a movement path along a lateral width direction of the storage body;
And a control means for controlling the operation of the article conveying device,
The transfer device includes a retractable movable body that can be moved back and forth between a retracted position on the transfer device main body side and a protruding position that protrudes outward from the transfer device main body where the article storage body is located. It is an article storage facility composed of a withdrawal type transfer device provided,
In order to transfer an article from the storage unit or the carry-in unit to the transfer device, the position of the article in the transfer device when the retracting / moving body is retreated from the protruding position to the retracted position. With respect to, a displacement amount detection means for detecting a displacement amount from an appropriate position in the exit / retreat direction of the retracting / moving body is provided,
The control means moves the transfer device to a target stop position with respect to the carry-in part or the storage part to be taken out when the article is taken out from the carry-in part or the storage part and stored in another storage part. A removal movement control for controlling the movement of the moving body,
Based on the detection information of the positional deviation amount detection means, the movable body is moved back and forth between the retracted position and the protruding position to take out articles from the carry-in part or the storage part to be taken out. , Transfer control for removal to acquire the amount of displacement from the appropriate position;
Storage movement control for controlling movement of the moving body so as to move the transfer device to a target stop position with respect to the storage unit to be stored;
The retraction / removal body is retracted in a state in which the protrusion movement amount for projecting / moving the retraction / removal body from the retraction position to the protrusion position is adjusted according to the displacement amount acquired by the removal transfer control. An article storage facility configured to perform storage transfer control for controlling the operation of the transfer device so as to store the article in the storage unit to be stored by protruding and moving from a position to the protruding position.   The positional deviation amount detection means includes an article passage detection sensor that detects that an article has passed through a passage detection position set between the protruding position and the retraction position, and the passage detection is performed by the article passage detection sensor. 2. A positional deviation amount from an appropriate position is detected for an existing position of an article based on an elapsed time from the detection of the passage of the article at a position until the moving-out / moving body reaches the retracted position. The article storage equipment described in 1. An article protrusion sensor is provided for detecting that the article protrudes outward from the transfer device;
The control means, after carrying out the removal transfer control, stops the storage movement control and the storage transfer control and detects the protrusion of the article when the article protrusion sensor detects the protrusion of the article. The article storage facility according to claim 1, wherein the storage movement control and the storage transfer control are performed when no protrusion of the article is detected by a sensor.   The article storage facility according to claim 3, wherein the article protrusion sensor also serves as the article passage detection sensor. The control unit is configured to move the transfer device to a target stop position with respect to the storage unit to be position-adjusted when an article is once taken out from the storage unit and stored again in the same storage unit. Adjustment storage movement control for controlling the movement of
The retracting / moving body is moved back and forth between the retracted position and the protruding position to take out an article from the storage unit to be adjusted, and based on the detection information of the misalignment detecting means. Transfer control for adjustment take-out to acquire the amount of positional deviation from the appropriate position for the position of the article in the exit / retreat direction of the retracting body;
In the state of adjusting the protruding movement amount for protruding and moving the retracting / moving body from the retracted position to the projecting position according to the displacement amount acquired by the adjustment / extraction transfer control, the retracting / moving body is Claims are configured to perform adjustment storage transfer control for controlling the operation of the transfer device so as to store the article in the storage portion to be stored by protruding from the retraction position to the protrusion position. Item storage equipment given in any 1 paragraph of 1-4.

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