JP3651364B2 - Shelf equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention has a plurality of load storage means for storing a load, and a load transfer means for transferring the load between the load storage means and a predetermined loading / unloading port, and loads and unloads the load at the loading / unloading port. It relates to shelf equipment.
[0002]
[Prior art]
Conventionally, in the above shelf equipment, the loads stored in the load storage means are mainly those loaded on the pallets, and it is not a problem if the pallets are placed on the load storage means out of the center of the load storage means. Therefore, high accuracy is not required for the “stop accuracy with respect to the load storage means” of the load transfer means (such as a stacker crane) that transfers the pallet and transfers it to the load storage means.
[0003]
[Problems to be solved by the invention]
However, if the load is not a pallet but a container such as a barrel, a special fork that moves the container between the stacker cranes is required. There was a problem that the "stop accuracy for the load storage means" had to be increased. Also, in order to increase the stopping accuracy so that the stopping position does not deviate from the center of the load storage means, it is necessary to slow down the traveling speed of the stacker crane or stop it at an early stage. If a corrective measure is taken, there will be a problem that the cycle time becomes longer and the working efficiency is lowered.
[0004]
Therefore, the present invention aims to provide a shelf facility that can improve work efficiency without requiring high stopping accuracy for the load storage means of the load transport means when the load is a container such as a barrel. is there.
[0005]
[Means for Solving the Problems]
  In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention comprises a plurality of load storage means for storing a load,By crane control deviceIt has a load carrying means for carrying the load between the load storage means and a predetermined carry-in / out port, and is a shelf facility for taking in / out the load at the carry-in / out port,It is possible to move in and out in the direction to load and unload the load storage means.The loadSupport from both sidesProvide a pair of load supports to transfer,The load supports can be opened and closed independently in the horizontal direction, and the crane control device is preset with standby position data of the load support before the load is sandwiched based on the load data. Prior to driving of the conveying means, the crane control device is configured to move the load support to the standby position in advance based on the data of the standby position to wait.It is characterized by this.
[0006]
  With the above configuration, when the load is supported by the load support body of the load transport means, the load support bodies are independently movable in the horizontal direction, so that the stop position of the load transport means with respect to the load storage means or the predetermined loading / unloading port Even if some misalignment occurs, the load can be supported by the load support. When supporting a load with a load support,Since the load support is moved to the standby position by the crane control device based on the data of the standby position before the load conveying means is driven, the time until the load support supports the load is shortened.
[0007]
  According to a second aspect of the present invention, in the first aspect of the present invention, the crane control device is preliminarily set with data of a scooping position of a load supporter that supports the load on the basis of load data. The load supporting members are provided with detecting means for detecting contact with the load, respectively, and when the load supporting member is closed, the closing of the load supporting member is stopped independently by the detection signal of the detecting means. ConfiguredIt is characterized by this.
[0008]
  With the above configuration,When the load support is moved by the crane control device based on the scooping position data, the load support is stopped by detecting the contact between the load support and the load by the detecting means.Therefore, the load is accurately supported by the load support body, and the drop of the load at the time of transfer is prevented.
[0009]
  The invention according to claim 3In the invention according to claim 1 or claim 2, a load receiving means is provided at a loading / unloading port of the shelf facility, and the load receiving means includes a conveying means composed of an endless rotating body for conveying the load, and a direction for changing the direction of the load. It is characterized by comprising conversion means.
  With the above configuration, the load is transported by the transport means including the endless rotating body in the load receiving means, and the direction thereof is changed by the direction changing means.
[0010]
  The invention according to claim 4A plurality of load storage means for storing the load, and a load transfer means for transferring the load between the load storage means and a predetermined loading / unloading port by a crane control device, and loading / unloading the load at the loading / unloading port. In the shelf equipment, the load is a cylindrical or prismatic container, a member for determining the direction of the container is arranged at the center of the bottom, and traveling means is provided by distributing the member to both sides around the member, The load storage means is provided with a pair of members for positioning the container disposed on both sides of the member for determining the direction of the container and corresponding to the inner side of the traveling means, and the load storage means is provided with the load storage means. A pair of load supports that can be moved in and out in the direction of loading and unloading and that support and transfer the container from both sides, the load supports can be opened and closed independently in the horizontal direction, and the crane To the control unit, The standby position data of the load support body before the load is sandwiched on the basis of the data of the load is set in advance, and before driving the load transport means, the crane control device previously sets the load support body based on the standby position data. Configured to move to standby position and waitIt is characterized by this.
[0011]
  With the above configuration, when the container is supported by the load support body of the load transport means, the load support bodies are independently movable in the horizontal direction, so that the stop position of the load transport means with respect to the load storage means or the predetermined loading / unloading port Even if some deviation occurs, the container can be supported by the load support. The movement of the load support is stopped by detecting the contact of the detection means with the container. Therefore, the container is accurately supported by the load support, and the container is prevented from dropping during transfer. Further, the container can be traveled by travel means. When the container is stored in the load storage means, the container is positioned by a member at the bottom of the container. Further, when the load is supported by the load support, the load support is moved to the standby position by the crane control device based on the data of the standby position before the load conveying means is driven. Time to support is shortened.
[0012]
  According to a fifth aspect of the present invention, in the invention of the fourth aspect, the crane control device is preliminarily set with data of a scooping position of a load support body that supports the load on the basis of load data, Both load supports are provided with detection means for detecting contact with the load, and the closing movement of the load support member is independently stopped by the detection signal of the detection means when the load support is closed. It is characterized by having been comprised.
[0013]
With the above configuration, when the container is supported by the load support body of the load transport means, the load support bodies are independently movable in the horizontal direction, so that the stop position of the load transport means with respect to the load storage means or the predetermined loading / unloading port Even if some deviation occurs, the container can be supported by the load support. The movement of the load support is stopped by detecting the contact of the detection means with the container. Therefore, the container is accurately supported by the load support, and the container is prevented from dropping during transfer.
[0014]
  The invention according to claim 6 is the invention according to claim 4 or 5, wherein a load receiving means is provided at a carry-in / out port of the shelf equipment, and the container is transported by the load receiving means centering on a member at the bottom of the container. It is characterized by comprising conveying means comprising an endless rotating body and direction changing means for changing the direction of the container.
[0016]
With the above configuration, the container is transported around the member at the bottom of the container by the transporting means made of an endless rotating body in the cargo receiving means, and the direction thereof is changed by the direction changing means.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view of a main part of a shelf facility according to an embodiment of the present invention.
[0018]
As shown in FIG. 1, the shelf facility FS includes two storage shelves A installed at an interval so that the loading and unloading directions face each other, and a work path B formed between the storage shelves A. A stacker crane (an example of a load transporting means) C that automatically travels in the vehicle is provided, and each storage shelf A has a number of load storage parts (an example of a load storage means) D that are vertically arranged in multiple stages and left and right (traveling direction of the stacker crane C). ).
[0019]
A traveling rail 1 is installed in the work path B along the longitudinal direction of the storage shelf A, and a loading / unloading instruction (loading / unloading port) E installed on one end side of the work path B is input to a stacker crane C. A controller E1 and a load receiving table (an example of a load receiving means) E2 are provided. The stacker crane C travels along the traveling rail 1 based on the loading / unloading command, and receives the load receiving table E2 and the load storage unit D. It is comprised as a conveyance vehicle for loading / unloading which takes in / out the container F (an example of a load) between them.
[0020]
As shown in FIG. 2, the stacker crane C includes a lifting platform 3 and a pair of front and rear lifting masts 4 that guide and support the lifting platform 3 so as to be movable up and down on a traveling vehicle body 2 that travels along the traveling rail 1. The lift table 3 is provided with a fork device 5 for loading and unloading.
[0021]
The lifting platform 3 is suspended and supported by lifting chains 8 connected to the left and right sides thereof. The lifting chain 8 is a guide sprocket 9 provided on the upper frame 7 and a guide sprocket provided on one lifting mast 4. 10 is connected to a take-up drum 11 provided at one end of the traveling vehicle body 2.
[0022]
Then, the take-up drum 11 is driven and rotated in the forward and reverse directions by an elevating electric motor M1, which is a so-called inverter type motor, so that the elevating platform 3 is driven up and down by unwinding and winding operation of the elevating chain 8. It is configured.
[0023]
The lifting position of the lifting / lowering base 3 is not shown in FIG. 2 or the like, but is connected to the rotary shaft of the take-up drum 11 and is connected to the drive-side rotary encoder 18 for detecting the amount of rotation of the lifting / lowering base 3. It is managed based on detection information with the mounted elevator-side rotary encoder 19. As shown in FIG. 3, the elevator base-side rotary encoder 19 has a sprocket 19 a attached to a rotating shaft thereof meshed with a chain 20 laid vertically on one side of the elevator mast 4. As the elevating and lowering of the sprocket 19a, the up and down movement of the elevating platform 3 is detected.
[0024]
The detection information of the drive-side rotary encoder 18 and the lifting platform-side rotary encoder 19 is input to the lifting control unit 70 of the crane control device CC and used as feedback information of the height of the lifting platform 3, as shown in FIG. .
[0025]
As shown in FIG. 3, the traveling vehicle body 2 is engaged with the traveling rail 1 so as to restrict the front and rear wheels 12 that can travel on the traveling rail 1 and the position of the traveling rail 1 in the lateral direction of the vehicle body. A lower position regulating rotor 13 provided in a pair of left and right sides and a traveling drive device 14 provided with a traveling electric motor M2 which is a so-called inverter type motor is provided.
[0026]
Further, as shown in FIG. 2, the upper frame 7 has a pair of left and right upper positions that sandwich the guide rail 6 from the left and right and roll about the vertical axis along the side surface as the stacker crane C travels. The regulating roller 17 is provided at the front and rear end portions in the traveling direction.
[0027]
One of the two wheels 12 on one end side in the longitudinal direction of the vehicle body is configured as a driving wheel 12a for propulsion driven by the traveling drive device 14 (traveling electric motor M2). The wheel on the end side is configured as a freely driven wheel 12b, and the stacker crane C travels by being driven by the travel drive device 14 while being prevented from falling by the upper position regulating roller 17 provided on the upper frame 7. It is configured to be able to run along the rail 1 freely.
[0028]
As shown in FIG. 3, the traveling position of the traveling vehicle body 2 is managed based on detection information of the vehicle body-side rotary encoder 21 attached to the traveling vehicle body 2. In the vehicle-body-side rotary encoder 21, a sprocket 21 a attached to the rotation shaft of the vehicle-body-side rotary encoder 21 meshes with a chain 22 laid along the traveling rail 1, and the sprocket 21 a rotates as the traveling vehicle body 2 travels. The traveling movement of the traveling vehicle body 2 is detected.
[0029]
The detection information of the vehicle body side rotary encoder 21 is input to the traveling control unit 71 of the crane controller CC and used as feedback information of the traveling position of the stacker crane C, as shown in FIG.
[0030]
As shown in FIG. 4, the container F is formed in a cylindrical shape like a barrel and stores various liquids (such as paint), and a member 30 that determines the direction of the container F at the center of the bottom. A pair of fixed wheels (wheels: an example of traveling means) 31 and a pair of free wheels (wheels: an example of traveling means) 32 are provided and distributed around the member 30, and the container F is supported on the outer periphery of the side surface. A housing 33 is attached. The fixed wheel 31 and the free wheel 32 are provided so that when the container F is filled with liquid, the weight increases and the worker cannot carry it. As shown in FIG. 5, the container F has four types of sizes: (small), (medium), (large), and (extra large).
[0031]
The load storage portion D is set to a size that can accommodate a (extra-large) container F, and a container 30 is provided at the center of the container support portion by a member 30 at the bottom of the container F as shown in FIG. A pair of first members 36 for positioning F and supporting the container F are provided, and on both sides of the container support portion of the load storage portion D, the first member 36 has the same height as the first member 36 (large) ( A pair of second members 37 that support the extra-large container F are provided.
[0032]
Further, as shown in FIG. 1, the load receiving platform E2 transfers the stacker crane C and the container F, changes the direction of the container F, and turns the turntable 41 (an example of direction changing means for changing the direction of the load). It is comprised from the chain conveyor apparatus (conveying means which consists of an endless rotating body which conveys load) 42 which conveys the container F centering on the member 30 of a container bottom part between the table 41 and a floor surface. The turntable 41 is provided with a chain conveyor capable of transporting (transferring) the containers F continuously with the chain conveyor device 42. With this configuration, the container F is carried in while the floor surface is pushed by an operator using the wheels 31 and 32, and when the container F is pushed up to the chain conveyor device 42 around the bottom member 30, the turntable 41 is turned from the chain conveyor device 42. The turntable 41 is rotated so that the bottom member 30 faces the stacker crane C and is transferred to the stacker crane C. Conversely, when the container F is transferred from the stacker crane C to the turntable 41, the turntable 41 is rotated so that the bottom member 30 faces the chain conveyor device 42, and then is carried out to the chain conveyor device 42. Then, it is conveyed (wholesale) from the chain conveyor device 42 to the floor surface, and is then carried out by an operator.
[0033]
Further, as shown in FIG. 3, the fork device 5 is movable in a horizontal and left-right direction (traveling direction of the stacker crane C), and a pair of load supports 51, 52 that are movable in and out of the storage rack A. , Two gripping motors 53 and 54 for independently moving the load supports 51 and 52 in the left-right direction, and one guide motor for moving the load supports 51 and 52 in and out of both storage shelves A The pair of load supports 51 and 52 are independently movable in the left-right direction. Further, rotary encoders 56 and 57 are connected to the rotating shafts of the two gripping motors 53 and 54, and the arm portions 51a and 52a for supporting the containers F of the load supporting bodies 51 and 52 are respectively connected to the containers F and Detection sensors (an example of detection means) 58 and 59 for detecting the contact are provided. The detection sensors 58 and 59 are configured by limit switches, proximity sensors, and the like. In addition, a rotary encoder 60 is connected to the rotating shaft of the guide motor 55.
[0034]
As shown in FIG. 6, the crane control device CC receives a transport command from the controller E <b> 1, and moves up and down the designated lifting position to the designated lifting position 3, and the traveling vehicle body at the designated traveling position. 2 and a transfer control unit 72 that drives the fork device 5 to transfer the container F, and is controlled by the crane control device CC to transfer the container F and load storage units D. Etc., transfer of the container F to and from is performed.
[0035]
The transfer controller 72 will be described in detail.
As shown in FIG. 6, the transfer control unit 72 includes a gripping motor 53 and a detection sensor 58 and an encoder 56 for the left load support 51 of the fork device 5, and a gripping motor 54 and a detection for the right load support 52. A sensor 59 and an encoder 57, and a guide motor 55 and its encoder 60 are connected.
[0036]
A control block diagram of the transfer control unit 72 is shown in FIG.
A pulse position input from the rotary encoder 56 of the left gripping motor and a pulse position input from the rotary encoder 57 of the right gripping motor and a moving position detector 81 that counts the pulse signal input from the rotary encoder 56 of the left gripping motor. The movement position detector 82 that counts the signal and measures the movement position of the right load support 52 and the pulse signal input from the rotary encoder 60 of the guide motor are counted and the exit / retreat positions of the load supports 51 and 52 are counted. The control unit 85 includes a control unit 85 for the left gripping motor 53, a control unit 86 for the right gripping motor 54, and a control unit 87 for the guiding motor 55. ing.
[0037]
Note that the left-right movement position x of the left load support 51 measured by the movement position detector 81 is plus (+) in the right direction (closed direction) sandwiching the container F by the load support 51 as shown in FIG. And the open limit position is (0). Further, as shown in FIG. 8, the left-right movement position y of the left load support 51 measured by the movement position detector 82 is positive (+) when the left direction (closing direction) sandwiching the container F by the load support 52 is set. The open limit position is (0).
[0038]
The left grip motor control unit 85 receives the left / right movement position x of the left load support 51 from the movement position detection unit 81, the container detection signal of the left detection sensor 58, and the overall control unit 84. Based on the opening / closing and movement command position data, the left gripping motor 53 is driven forward and reverse to move the left load support 51 to the left and right. When the container detection signal of the left detection sensor 58 is input during the closing operation, the movement is stopped. When the movement to the movement command position is completed, or when the container detection signal of the left detection sensor 58 is input during the closing operation, a movement completion signal is output to the overall control unit 84.
[0039]
Also, the right grip motor control unit 86 receives the right and left movement position y of the right load support 52 from the movement position detection unit 82, the container detection signal of the right detection sensor 59, and the overall control unit 84. On the basis of the opening / closing and movement command position data, the right gripping motor 54 is driven forward and reverse to move the right load support 52 to the left and right. When the container detection signal of the right detection sensor 59 is input during the closing operation, the movement is stopped. When the movement to the movement command position is completed or when a container detection signal of the right detection sensor 59 is input during the closing operation, a movement completion signal is output to the overall control unit 84.
[0040]
The guidance motor control unit 87 receives the exit / retreat positions of the load supports 51 and 52 from the exit / retreat position detection unit 83, and the storage shelf A selection signal and the exit / exit command position input from the overall control unit 84. Based on the data, the guide motor 55 is driven forward and reverse to cause the load supports 51 and 52 to protrude toward or away from the selected storage shelf A side. When the exit / exit to the exit / exit command position ends, a movement end signal is output to the overall control unit 84.
[0041]
The operation of the overall control unit 84 will be described along with the overall operation of the stacker crane C according to the flowchart of FIG. The overall control unit 84 is instructed by the controller E1 of the work content (work data indicating whether the container F is loaded or unloaded and “size of container” to be loaded / unloaded), and the lifting control unit 70 also lifts the platform. 3 is input to the lifting / lowering end signal informing that the vehicle 3 has arrived at the loading / unloading position, and the traveling control unit 71 inputs a traveling end signal informing that the traveling vehicle body 2 has arrived at the loading / unloading position. Further, as shown in FIG. 8, the overall control unit 84 moves the load supports 51 and 52 when the container F is sandwiched according to the size (extra large) (large) (large) (medium) (small) of the container F. It is assumed that the position (crawl position; L1, L2, L3, L4) and the movement position (standby position; K1, K2, K3, K4) of the load supporting bodies 51, 52 before sandwiching the container F are set in advance. . The scooping position L is a distance obtained by subtracting the size (width) of the container F from the distance between the two load supports 51 and 52 when the load supports 51 and 52 are in the open limit position. And position. Further, the standby position K is a position obtained by subtracting a margin value α (> 0) at which the load supporting members 51 and 52 do not contact the container F even when the container F is displaced from the scooping position L, that is, the container. The position does not contact F. In the initial state, it is assumed that both load supports 51 and 52 are in the open limit position.
[0042]
First, when the work content is input from the controller E1 (step-1), it is confirmed whether or not the delivery work is performed based on the work data (step-2).
[Outgoing work]
If it is confirmed that the operation is a delivery operation, the standby position K and the scooping position L are obtained based on the “container size” of the operation content (step-3). Subsequently, the close command and the data of the standby position K (command value) are output to the left and right gripping motor controllers 85 and 86 (step -4). Thereby, the left and right load supports 51 and 52 are moved to a standby position in accordance with the size of the container F and wait. When the movement is completed, a movement end signal is output from the left and right gripping motor controllers 85 and 86. During the unloading operation, the stacker crane C (traveling vehicle body 2) is traveled to the load storage part D position to be unloaded by the control of the travel control unit 71, and the lifting platform 3 is moved to the load storage part D position by the control of the lift control unit 70. The elevator is raised and lowered, and upon arrival, the raising and lowering completion signal and the traveling completion signal are output.
[0043]
When the movement end signal output from the gripping motor control units 85 and 86 is input (step-5), it is confirmed whether the lift end signal and the travel end signal are input (step-6). The projecting command position (exit / withdrawal command position) in the direction of the load storage unit D to be delivered to the motor control unit 87 is output (step -7). As a result, as shown in FIG. 5, the arm portions of the left and right load supports 51 and 52 are moved to the protruding position while waiting in accordance with the size of the container F, and wait. When the projection ends, a movement end signal is output from the guide motor control unit 87.
[0044]
When the movement end signal output from the guide motor control unit 87 is input (step -8), the closing command and scooping position L (command value) data are output to the left and right gripping motor control units 85, 86 ( Step-9). As a result, the left and right load supports 51 and 52 are moved to the scooping position and grip the container F. At this time, the movement operation of the load support 51 or 52 is stopped by the container detection signal of the detection sensor 58 or 59, so that the container F is securely held without being tilted even if the position of the container F is slightly shifted. be able to. When the movement is completed, a movement end signal is output from the left and right gripping motor controllers 85 and 86.
[0045]
When the movement end signal output from the gripping motor control units 85 and 86 is input (step -10), a protrusion / gripping end signal (transfer end signal) is output to the elevation control unit 70 (step-11). Thereby, the raising / lowering control part 70 raises the raising / lowering stand 3, and the container F is held by the left and right load support bodies 51 and 52. Then, a lift end signal is output from the lift control unit 70.
[0046]
When this lifting / lowering end signal is input (step -12), an exit command position (exit / withdrawal command position) in the direction of the lifting platform 3 is output to the guide motor control unit 87 (step -13). As a result, the left and right load supports 51 and 52 are moved to the position of the lifting platform 3 while holding the container F, and the container F is transferred from the load storage portion D to the stacker crane C. Further, a movement end signal is output from the guide motor control unit 87.
[0047]
When the movement end signal output from the guide motor control unit 87 is input (step-14), the transfer end signal is output to the elevation control unit 70 and the travel control unit 71 (step-15). As a result, the stacker crane C travels to the position of the load receiving table E2 under the control of the travel control unit 71, and the lift table 3 is moved up and down to the wholesale position of the load receiving table E2 under the control of the lifting control unit 70. Then, a lift end signal is output from the lift control unit 70, and a travel end signal is output from the travel control unit 71.
[0048]
When the lifting / lowering end signal and the travel end signal are input (step -16), a projection command position (exit / withdrawal command position) in the direction of the load receiving platform E2 to be delivered to the guide motor control unit 87 is output (step -17). As a result, the left and right load supports 51 and 52 are moved to a projecting position while waiting for the container F and wait. Further, a movement end signal is output from the guide motor control unit 87.
[0049]
When the movement end signal output from the guide motor control unit 87 is input (step -18), a protrusion end signal (transfer end signal) is output to the elevation control unit 70 (step -19). Thereby, the raising / lowering control part 70 lowers the raising / lowering stand 3, and the container F is mounted on the load receiving stand E2. Also, a lift end signal is output from the lift control unit 70.
[0050]
When this lifting / lowering end signal is input (step -20), the opening command and the open limit position (command value) data are output to the left and right gripping motor controllers 85 and 86 (step -21). As a result, the left and right load supports 51 and 52 are moved to the open limit position and separated from the container F, and the container F is completely supported by the load receiving base E2 (turn table 41). Also, movement end signals are output from the left and right gripping motor controllers 85 and 86.
[0051]
When the movement end signal output from the gripping motor control units 85 and 86 is input (step -22), an exit command position (exit / exit command position) in the direction of the elevator 3 is output to the guide motor control unit 87. (Step-23). As a result, the left and right load supports 51 and 52 are moved to the position of the lifting platform 3 and the transfer of the container F is completed. Further, a movement end signal is output from the guide motor control unit 87.
[0052]
When the movement end signal output from the guide motor controller 87 is input (step -24), the operation end is output to the controller E1 (step -25), and the process ends. Thereby, the controller E1 confirms that the leaving work by the stacker crane C has been completed, and issues a command for the next work. Further, the direction of the container F delivered to the load receiving platform E2 is changed by the turntable 41, is carried out to the chain conveyor device 42, is transported to the floor surface by the chain conveyor device 42, and is wholesaled.
[0053]
If it is confirmed in the step-2 that it is not a warehousing operation, the warehousing operation is executed. At this time, the operation of the transfer control unit 72 is the same as that of the unloading operation, and thus the description thereof is omitted. At this time, the container F carried to the turntable 41 of the load receiving stand E2 is loaded into the load storage unit D by the stacker crane C.
[0054]
In this way, the left and right load supports 51 and 52 can be independently moved to the left and right (traveling direction of the stacker crane C), and each load support 51 and 52 includes the detection sensors 58 and 59 of the container F, respectively. When the movement of the load supports 51 and 52 is stopped by the operation of the detection sensors 58 and 59, the position of the container F on the load storage portion D or the load receiving platform E2 (turn table 41) is shifted from the center. Alternatively, even when the traveling vehicle body 2 (elevating platform 3) of the stacker crane C is in a state where it is stopped from being shifted from the center of the load storage portion D or the load receiving platform E2 (turn table 41), the container F is supported by the load supports 51 and 52. It can be securely gripped without falling down. Therefore, high accuracy is required for the “stopping accuracy with respect to the load storage portion D and the load receiving base E2 (turntable 41)” of the stacker crane C (traveling vehicle body 2) in a shelf facility for loading and unloading containers F such as barrels. As a result, it is possible to increase the traveling speed of the traveling vehicle body 2 and to shorten the deceleration time, to shorten the cycle time, and to improve the work efficiency. Can be improved.
[0055]
Further, when the container F is held by the load supports 51 and 52 (before gripping), the load supports 51 and 52 are moved in advance to the standby position according to the size of the container F as shown in FIG. Thus, the time until the container F is poured can be shortened, the cycle time can be shortened, and the working efficiency can be improved.
[0056]
In the present embodiment, the container F has a cylindrical shape like a barrel, but is not limited to a cylindrical shape, and may have a prismatic shape.
In the present embodiment, the so-called inverter type motors M1 and M2 are exemplified as the travel drive means and the lift drive means of the stacker crane C. However, the travel drive means and the lift drive means itself have means for detecting the speed. It is also possible to provide a circuit that performs feedback control so that the speed commanded from the travel control means and the lifting / lowering drive means matches the detected travel speed.
[0057]
In the present embodiment, the rotary encoders 56 and 57 are provided as means for detecting the movement position of the load supports 51 and 52, and the output pulses are counted to detect the movement position. What is necessary is just to be able to detect the positional relationship or distance to the supports 51 and 52. For example, the photoelectric switches may be arranged at equal intervals to detect the positions of the load supports 51 and 52.
[0058]
【The invention's effect】
As described above, according to the present invention, in a shelf facility for loading and unloading a barrel-like load, a pair of load supports even when the load transporting means is stopped from being shifted from the center of the load storing means. The body can be securely gripped without overturning the load.
[Brief description of the drawings]
FIG. 1 is a perspective view of essential parts of a shelf facility according to an embodiment of the present invention.
FIG. 2 is a schematic configuration diagram of a stacker crane of the same shelf facility.
FIG. 3 is an enlarged view of a main part of a stacker crane of the same shelf equipment.
FIG. 4 is a perspective view of a container stored in the same shelf facility.
FIG. 5 is an explanatory diagram of a load storage unit and a container of a shelf of the same shelf facility.
FIG. 6 is a control configuration diagram of the shelf equipment.
FIG. 7 is a block diagram of a transfer control unit of the crane control device of the same shelf facility.
FIG. 8 is an explanatory diagram of the operation of the load support body of the shelf equipment.
FIG. 9 is a flowchart for explaining the operation of the overall control unit of the transfer control unit of the same shelf facility.
[Explanation of symbols]
FS shelf equipment
C Stacker crane
A Storage shelf
CC crane control device
D Load storage
E Loading / unloading section
E1 controller
E2 receiving platform
F container
1 Traveling rail
2 Driving body
3 Lifting platform
5 Fork device
41 turntable
42 Chain conveyor equipment
51,52 Load support
53, 54 Gripping motor
55 Guide motor
56, 57 Motor rotary encoder for gripping
58, 59 detection sensor
60 Motor rotary encoder for guidance
72 Transfer control unit

Claims (6)

A plurality of load storage means for storing the load, and a load transfer means for transferring the load between the load storage means and a predetermined loading / unloading port by a crane control device , and loading / unloading the load at the loading / unloading port. Shelf equipment,
A pair of load supports for transferring and supporting the load from both sides so as to freely move in and out of the load storage means in the load storage means ;
Both load supports can be opened and closed in the horizontal direction independently,
In the crane control device, data on the standby position of the load support body before the load is sandwiched based on the load data is preset,
A shelf facility configured to move the load support to a standby position in advance based on data of the standby position by a crane control device before driving the load conveying means . Based on the load data, the crane control device is preliminarily set with data of the scooping position of the load supporter that supports the load by sandwiching the load,
Detection means for detecting contact with the load is provided on both load supports, respectively.
The shelf equipment according to claim 1, wherein the load supporting member is independently closed by a detection signal of a detection means during the closing operation of the load supporting body . A receiving means is provided at the entrance / exit of the shelf facility,
The load receiving means is composed of a conveying means composed of an endless rotating body for conveying the load, and a direction changing means for changing the direction of the load.
The shelf equipment according to claim 1 or 2, characterized by. A plurality of load storage means for storing the load, and a load transfer means for transferring the load between the load storage means and a predetermined loading / unloading port by a crane control device, and loading / unloading the load at the loading / unloading port. Shelf equipment,
The load is a cylindrical or prismatic container, a member for determining the direction of the container is arranged at the center of the bottom, and traveling means is provided by distributing the two sides around the member,
The load storage means is provided with a pair of members for positioning the container disposed on both sides of the member for determining the direction of the container and corresponding to the inside of the traveling means,
A pair of load supports for transferring and supporting the container from both sides in a direction in which the load is loaded and unloaded in the load storage means;
Both load supports can be opened and closed independently in the horizontal direction,
  The crane control device is preset with the data of the standby position of the load support body before the load is sandwiched based on the load data,
Before driving the load conveying means, the crane control device is configured to move the load support to the standby position in advance based on the data of the standby position, and to wait.
Shelf facility characterized by that. In the crane control device, the data of the scooping position of the load support that supports the load by sandwiching the load based on the load data is preset,
Detection means for detecting contact with the load is provided on both load supports,
The closing operation of the load supporting member is independently stopped by the detection signal of the detecting means during the closing operation of the load supporting body.
The shelf equipment according to claim 4 characterized by things. A receiving means is provided at the entrance / exit of the shelf facility,
The cargo receiving means is composed of a conveying means composed of an endless rotating body that conveys the container around a container bottom member, and a direction changing means for changing the direction of the container
The shelf equipment according to claim 4 or 5, characterized by things.

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