JP4196288B2 - Article conveying device - Google Patents

Description

  According to the present invention, a traveling carriage is provided with a lifting platform on which an article can be placed so as to be movable up and down. The traveling carriage causes the traveling carriage to drive and drive the lifting platform. A carriage side control means for controlling the operation of the raising and lowering drive means is provided, and the elevator base is provided between the elevator base side communication means provided in the elevator base and the carriage side communication means provided in the traveling carriage. It is related with the articles | goods conveying apparatus provided with the raising / lowering base side control means which transmits / receives information between the said cart side control means by this communication.

The article conveying apparatus as described above is configured to move the carriage and raise and lower the elevator and convey the article to the transfer target location. Between the elevator platform communication means and the carriage communication means By communicating information from the carriage side control means to the elevator side control means and from the elevator base side control means to the carriage side control means, the elevator side control means and the carriage side control means The operation of the traveling cart and the lifting platform is controlled while exchanging various information between them.
In this article conveying apparatus, the control means for controlling the operation of the traveling carriage and the lifting platform is distributed to the carriage-side control means provided in the traveling carriage and the lifting platform-side control means provided in the lifting platform. Thus, the processing performed by the cart side control means and the lifting platform side control hand is reduced to improve the processing capability.

  As such an article transport device, a lifting device is provided with a transfer device for transferring an article to and from each article storage section in the storage shelf, and the cart side control means sets the travel cart to the travel target stop position. In order to stop and to stop the lifting platform at the lifting target stop position, the operation of the driving means for traveling and the driving mechanism for lifting is controlled, and the lifting platform control means moves based on the information from the cart control means. Some are configured to control the operation of the mounting device (see, for example, Patent Document 1).

  In the above-described article transporting apparatus, conventionally, when an abnormal state occurs in the lifting platform, it is necessary to abnormally stop the operation of the lifting platform. However, when the lifting platform side abnormality detecting means detects the occurrence of an abnormal state, the power supply to the lifting platform communication means and the power supply to the transfer device are cut off, and then the lifting platform side The power supply to the control means is also cut off, and the operation at the elevator platform is abnormally stopped.

In other words, the lifting platform side abnormality detection means is configured to detect the disconnection of the cable-like body that supports the lifting platform as an abnormal state, and the lifting platform side abnormality detection means is in an abnormal state. In order to abnormally stop the elevator-side communication means, the communication power cut-off means for cutting off the power supply to the elevator-side communication means and the elevator-side abnormality detection means generate an abnormal state. In order to abnormally stop the transfer device, a transfer power cut-off means for cutting off the power supply to the transfer device is provided.
And since the communication power cut-off means cuts off the power supply to the lift platform side communication means, communication between the lift platform side communication means and the cart side communication means cannot be performed. It will detect the occurrence of a communication error that prevents communication between the elevator platform side communication means and the cart side communication means, and when the occurrence of the communication error is detected, the power supply to the elevator platform side control means is cut off. The control power cutoff means is configured to operate.

JP 2003-104514 A

In the above-described conventional article transporting apparatus, the cart side control means activates the control power cut-off means when a communication abnormality occurs where communication between the elevator platform side communication means and the cart side communication means cannot be performed. Therefore, the cart side control means recognizes that the operation of the elevator platform is abnormally stopped due to the occurrence of a communication error.
Therefore, for example, even if the operation of the elevator platform is abnormally stopped due to the occurrence of an abnormal condition such as cutting of a cable-like body, the cart side control means abnormally operates the elevator platform due to the occurrence of a communication error. There is a possibility that the user will not be able to accurately recognize what kind of abnormality has caused the abnormal stop of the operation on the platform.

  By the way, when the operation at the elevator platform is abnormally stopped, it is possible to recognize that an abnormal condition has occurred at the elevator platform by performing a work to check the history in the elevator platform control means. It is difficult for the user to recognize the occurrence of the abnormal state in the elevator platform by going to the elevator platform that has been abnormally stopped and confirming the history in the elevator platform control means.

  The present invention has been made paying attention to this point, and its purpose is to easily recognize that the cause of the abnormal state in the elevator platform is the cause when the operation in the elevator platform is abnormally stopped. It is in the point which provides the goods conveyance apparatus which can do.

In order to achieve this object, the first feature configuration of the article transporting apparatus according to the present invention is that a traveling carriage is provided with a lifting platform on which an article can be placed so as to be movable up and down. A traveling drive means for driving the traveling carriage and a carriage-side control means for controlling the operation of the raising / lowering driving means for raising / lowering the elevator platform are provided, and the elevator platform has an elevator platform side provided on the elevator platform In an article conveying apparatus provided with an elevator base side control means for transmitting and receiving information to and from the cart side control means by communication between the communication means and a cart side communication means provided in the traveling cart. ,
When the elevator base side abnormality detecting means, which is provided in the elevator base and detects the occurrence of an abnormal state in the elevator base, detects the occurrence of an abnormal state, the carriage side communication means and the By communicating with the elevator platform side communication means, it is configured to communicate abnormality occurrence information to the cart side control means,
When the elevator base side abnormality detecting means detects the occurrence of an abnormal state, after a set delay time longer than the time required for the elevator base side control means to communicate the abnormality occurrence information, the In order to abnormally stop the elevator base side communication means, a communication power cutoff means for cutting off power supply to the elevator base side communication means is provided,
When the abnormality occurrence information is communicated from the elevator platform control means, the carriage side control means controls to cut off the power supply to the elevator platform control means to abnormally stop the elevator platform control means It is in the point comprised so that the electric power interruption means may be act | operated.

That is, when the lifting platform side abnormality detection means detects the occurrence of an abnormal condition, first, the lifting platform side control means communicates with the carriage side control means by means of communication between the carriage side communication means and the lifting platform side communication means. After that, the communication power cut-off means cuts off the power supply to the elevator platform side communication means, so that the cart side control means receives the error occurrence information from the elevator platform side control means. After receiving, the elevator platform side communication means can be abnormally stopped.
Then, when the carriage side control means receives the abnormality occurrence information from the elevator platform side control means, it activates the control power cut-off means to abnormally stop the elevator platform side control means, and abnormally stops the operation at the elevator platform. Will be able to.

  Therefore, when an abnormal condition occurs in the elevator, the operation on the elevator can be stopped abnormally in a state where the cart side control means receives the abnormality occurrence information indicating that the abnormal condition has occurred in the elevator. Therefore, the user can recognize that an abnormal state has occurred in the elevator by simply checking the abnormality occurrence information in the cart side control means, and when the operation at the elevator is abnormally stopped. Thus, it has become possible to provide an article conveying apparatus that can easily recognize that the cause is the occurrence of an abnormal state in the elevator.

According to a second characteristic configuration of the article transporting apparatus according to the present invention, a traveling carriage is provided with a lifting platform on which an article can be placed so as to be movable up and down, and the traveling carriage causes the traveling carriage to travel. The vehicle side control means for controlling the operation of the drive means and the drive means for raising and lowering that raises and lowers the elevator base is provided, the elevator base is provided with the elevator base side communication means provided on the elevator base and the traveling carriage. In the article conveying apparatus provided with the lifting platform side control means for exchanging information with the cart side control means by communication with the cart side communication means,
In order to abnormally stop the elevator base side communication means as the elevator base side abnormality detection means, which is provided in the elevator base and detects the occurrence of an abnormal state in the elevator base, detects the occurrence of the abnormal state, A power cut-off means for communication that cuts off the power supply to the table-side communication means is provided,
An abnormality in which the elevator base side control means can transmit abnormality occurrence information between the carriage side control means and the elevator base side control means when the elevator base side abnormality detection means detects the occurrence of an abnormal state The occurrence information transmission means is configured to communicate the abnormality occurrence information to the cart side control means,
When the abnormality occurrence information is communicated from the elevator platform control means, the carriage side control means controls to cut off the power supply to the elevator platform control means to abnormally stop the elevator platform control means It is in the point comprised so that the electric power interruption means may be act | operated.

That is, when the lifting platform-side abnormality detection means detects the occurrence of an abnormal state, the communication power cutoff means shuts off the power supply to the lifting platform-side communication means, and the lifting platform-side control means has an abnormality occurrence information. Because the transmission means communicates the abnormality occurrence information to the carriage side control means, the carriage side control means can receive the abnormality occurrence information from the elevation base side control means while stopping the elevator base side communication means abnormally. Become.
Then, when the carriage side control means receives the abnormality occurrence information from the elevator platform side control means, it activates the control power cut-off means to abnormally stop the elevator platform side control means, and abnormally stops the operation at the elevator platform. Will be able to.

Therefore, when an abnormal state occurs in the elevator, the operation on the elevator can be stopped abnormally in a state where the cart side control means receives the abnormality occurrence information indicating that the abnormal state occurs in the elevator. Therefore, the user can recognize that an abnormal state has occurred in the elevator platform simply by checking the abnormality occurrence information in the cart side control means.
In addition, the communication of the abnormality occurrence information from the elevator platform side control means to the carriage side control means can be reliably performed by the dedicated abnormality occurrence information transmission means for transmitting the abnormality occurrence information, so that the operation on the elevator platform can be performed. In the event of an abnormal stop, it is possible to easily recognize that an abnormal condition has occurred in the elevator while being able to reliably communicate abnormality occurrence information indicating that an abnormal condition has occurred in the elevator to the cart side control means. An article conveying device that can be used has been provided.

  According to a third characteristic configuration of the article transporting apparatus according to the present invention, the elevating drive means is configured to move and move the cord-like body supporting the elevating platform in the longitudinal direction to drive the elevating platform up and down. The lifting platform side abnormality detecting means is configured to detect the cutting of the cord-like body as the occurrence of an abnormal state in the lifting platform.

That is, when the lifting platform side abnormality detecting means detects the cutting of the cable-shaped body, the operation on the lifting platform is performed while the carriage-side control means receives the abnormality occurrence information that the cutting of the cable-shaped body is performed. It will be possible to stop abnormally.
Therefore, when the operation on the lifting platform is abnormally stopped, it can be easily recognized that the cord is cut, and the restoration work for the cutting of the cord can be accurately performed.

  According to a fourth characteristic configuration of the article transporting apparatus according to the present invention, the lifting platform includes a transfer device for transferring an article, and the lifting platform control means is based on information from the cart control means. The transfer device is configured to control the operation of the transfer device, and in order to abnormally stop the transfer device as the elevator base side abnormality detection means detects the occurrence of an abnormal state, A transfer power cutoff means for cutting off the power supply is provided.

That is, since the lifting platform control means controls the operation of the transfer device based on the information from the cart control means, the lifting platform control means corresponds to the traveling cart and the lifting platform to the transfer target location. When information indicating that the position has been stopped is received from the cart side control means, the transfer device is operated, and the article can be transferred between the transfer device and the transfer target location.
Then, the transfer power interrupting means shuts off the power supply to the transfer apparatus and abnormally stops the transfer apparatus as the lifting platform side abnormality detection means detects the occurrence of the abnormal state. The transfer apparatus can be stopped abnormally immediately after the occurrence of an abnormal state in the elevator.

An example in which the article conveying apparatus according to the present invention is applied to an article storage facility will be described with reference to the drawings.
[First Embodiment]
As shown in FIG. 1, this article storage facility includes two storage shelves 1 that are installed at an interval so that the direction of putting in and out the articles is opposed to each other, and a traveling path 2 that is formed between the storage shelves 1. A stacker crane 3 that automatically travels is provided, and each storage shelf 1 is configured by arranging a large number of article storage units 4 vertically and horizontally.

  A travel rail 5 is installed in the travel path 2 along the longitudinal direction of the storage shelf 1. On one end side of the travel path 2, a ground-side controller 7 that inputs a loading / unloading command to the stacker crane 3, and a travel rail A pair of loading platforms 8 are provided with 5 interposed therebetween.

As shown in FIG. 2, the stacker crane 3 performs a projecting operation or a retracting operation in a state where a traveling carriage 10 that can travel along the traveling rail 5 and a pallet P on which an article 9 is placed are placed. The lift table 12 includes a fork device 11 as a transfer device capable of transferring an article 9 between the loading table 8 or the article storage unit 4 and itself.
Then, the stacker crane 3 includes the article storage unit together with the pallet P on which the article 9 placed on the loading table 8 is loaded by the traveling of the traveling carriage 10, the raising and lowering of the lifting platform 12, and the withdrawal operation of the fork device 11. 4 and a warehousing operation for transferring the pallet P loaded with the article 9 stored in the article storage unit 4 to the loading table 8.

A pair of front and rear elevating masts 13 for guiding and supporting the elevating platform 12 so as to be movable up and down are provided, and the elevating platform 12 is provided so as to be movable up and down with respect to the traveling carriage 10.
The upper ends of the pair of front and rear lifting masts 13 are connected by an upper frame 15 that is guided along the guide rail 6.

The elevating platform 12 is supported by being suspended by elevating chains 14 as two cords connected to both ends in the longitudinal direction. The elevating chain 14 includes an upper driven pulley 16 and a traveling carriage. It is wound around the side driven pulley 17, the lift table side driven pulley 18, and the drive pulley 19.
The upper side driven pulley 16 is provided at the front end portion and the rear end portion of the upper frame 15, and the traveling carriage side driven driven pulley 17 is provided at one end portion and the central portion of the traveling carriage 10. Reference numeral 18 denotes a central lower surface portion of the lifting platform 12, and a driving pulley 19 is provided to one end portion of the traveling carriage 10.

  Further, an elevating electric motor 20 as an elevating drive means that is an inverter type motor that drives and rotates the drive pulley 19 is provided, and the elevating electric motor 20 drives the drive pulley 19 in the forward and reverse directions. The lifting / lowering base 12 is moved up and down by moving the lifting / lowering chain 14 in the longitudinal direction.

As shown in FIG. 2, the lifting platform 12 is provided with a lifting platform-side rotary encoder 21 that detects the lifting position on the lifting path.
As shown in FIG. 3, the elevator base-side rotary encoder 21 has a sprocket 21 a that is engaged with a chain 13 a laid in the vertical direction of the elevator mast 13 on the rotary shaft of the elevator base-side rotary encoder 21. The sprocket 21a is rotated by raising and lowering the platform 12, and the elevation is detected by detecting the elevation distance of the elevation platform 12 from the reference position for detecting the elevation distance of the elevation platform 12 from the reference position set at the lower end of the elevation path. It is configured to detect the position.

As shown in FIG. 3, the lifting platform 12 is provided with a cutting detection limit switch 33 that detects the breaking of the lifting chain 14 at a location where the lifting chain 14 is connected to the lifting platform 12.
Although not shown, the cutting detection limit switch 33 detects a moving member that moves when the lifting chain 14 is cut, and detects that the moving member has moved. Is configured to detect disconnection.
The cutting detection limit switch 33 functions as a lifting platform side abnormality detection means provided in the lifting platform 12 and is configured to detect the breaking of the lifting chain 14 as an abnormal state occurs in the lifting platform 12. Yes.

  Although not shown in FIGS. 2 and 3, the lifting platform 12 has a protrusion detection limit switch 31 that detects that the fork device 11 has been protruded to the protruding position, and the fork device 11 has been retracted to the retracted position. A retreat detection limit switch 32 for detecting that it has been activated is provided.

  The traveling carriage 10 is provided with two front and rear traveling wheels 23 which can travel on the traveling rail 5, and one of the two traveling wheels 23 on one end side in the vehicle longitudinal direction is an inverter type motor. It is configured as a propulsion driving traveling wheel 23a driven by a traveling electric motor 24 as traveling driving means, and the wheel on the other end side in the longitudinal direction of the vehicle body is configured as a freely driven driven traveling wheel 23b. Yes.

In addition, as shown in FIG. 2, the vehicle body side rotary encoder 22 that detects the traveling position on the traveling route 2 is provided in the traveling carriage 10.
As shown in FIG. 3, the vehicle-body-side rotary encoder 22 has a sprocket 22 a that is engaged with a chain 5 a laid along the traveling rail 5 on the rotating shaft of the vehicle-body-side rotary encoder 22. The sprocket 22a is rotated by traveling, and the traveling position is detected by detecting the traveling distance of the traveling carriage 10 from the reference position set at one end of the traveling path 2.

As shown in FIG. 4, a lower control device 25 as a trolley side control means for receiving a loading / unloading command from the ground side controller 7 and controlling the operation of the stacker crane 3 and an upper control device as a lifting platform side control means. 26 is provided.
As shown in FIG. 3, the traveling carriage 10 is provided with a lower control device 25 and a lower optical transmission device 27 as a carriage-side communication means, and the elevator platform 12 has an upper control device 26 and an elevator platform-side communication. An upper optical transmission device 28 is provided as means.
The upper control device 26 is configured to exchange information with the lower control device 25 by communication between the lower optical transmission device 27 and the upper optical transmission device 28.

  As shown in FIG. 4, a ground-side optical transmission device 29 is provided on the ground-side controller 7 side, a traveling-side optical transmission device 30 is provided on the traveling carriage 10, and the lower control device 25 is a ground-side optical transmission device. 29 is configured to exchange information with the ground-side controller 7 by communication between the mobile station 29 and the mobile-side optical transmission device 30.

  The lower control device 25 is configured to receive detection information of the elevator base side rotary encoder 21 and detection information of the vehicle body side rotary encoder 22, and a protrusion detection limit switch for the upper control device 26. The detection information 31, the detection information of the retreat detection limit switch 32, and the detection information of the disconnection detection limit switch 33 are input.

The lower control device 25 detects the elevator table-side rotary encoder 21 when an entry / exit command is issued from the ground-side controller 7 through communication between the ground-side light transmission device 29 and the movement-side light transmission device 30. Based on the information, the lift control unit 25a that performs the lift control for raising and lowering the lift platform 12 to the commanded lift target stop position, and the travel target stop commanded by the traveling carriage 10 based on the detection information of the vehicle body side rotary encoder 22 Transfer information for controlling the operation of the fork device 11 through communication between the lower optical transmission device 27 and the upper optical transmission device 28 is transferred to the upper control device 26. It includes a transfer communication control unit 25c that performs transfer communication control for communication.
Further, when the transfer information is communicated from the lower control device 25 by communication between the lower optical transmission device 27 and the upper optical transmission device 28, the upper control device 26 moves the fork device 11 back and forth to operate the article. 9 is transferred, and when the transfer control is completed, transfer information is communicated to the lower control device 25 by communication between the lower optical transmission device 27 and the upper optical transmission device 28. The transfer control unit 26a and the inverter 26b for controlling the operation of the exit / retraction motor 11a of the fork device 11 are configured.

  The ground-side controller 7 sets one of the loading table 8 or the plurality of article storage units 4 as a transfer target location, and performs a scooping operation or a wholesale operation on the transfer target location as a loading / unloading command. Therefore, it is configured to instruct the lower control device 25 with a scooping command or a wholesale command.

And when the scooping command is instruct | indicated from the ground side controller 7, the lower control apparatus 25 performs the raising / lowering control by the raising / lowering control part 25a, and the traveling control by the traveling control part 25b, and makes the traveling stand 10 the target stop position for driving | running | working When the transfer information is communicated to the upper control device 26 by communication between the lower optical transmission device 27 and the upper optical transmission device 28 after the elevator platform 12 is stopped at the target stop position for elevation. The control device 26 is configured to perform transfer control and perform a scooping operation for scooping the article B from the transfer target portion.
Further, when a wholesale command is instructed from the ground-side controller 7, the lower control device 25 performs the elevation control by the elevation control unit 25a and the traveling control by the traveling control unit 25b, thereby moving the traveling platform 10 to the target stop position for traveling. When the transfer information is communicated to the upper control device 26 by communication between the lower optical transmission device 27 and the upper optical transmission device 28 after the elevator platform 12 is stopped at the target stop position for elevation. The control device 26 is configured to perform transfer control and to perform a wholesale operation of the article B at the transfer target location.

Incidentally, the travel target stop position and the lift target stop position are set in correspondence with the loading table 8 and the article storage unit 4, respectively.
The traveling target stop position and the lifting target stop position in the scooping operation are set slightly below the transfer target location, and the traveling target stop position and lifting target stop position in the wholesale operation are the transfer target. It is set slightly above the location.

When the lift control is described, the lift control unit 25a moves the lift 12 up and down while managing the lift position of the lift 12 based on the detection information of the lift rotary encoder 21 and When the lift position reaches the lift target stop position, the lift base 12 is stopped to stop the lift base 12 at the lift target stop position.
When the travel control is described, the travel control unit 25b manages the travel position of the travel cart 10 based on the detection information of the vehicle body-side rotary encoder 22 and moves the travel cart 10 in the same manner as the elevation control. When the traveling position of the traveling carriage 10 reaches the traveling target stop position, the traveling carriage 10 is stopped to stop the traveling carriage 10 at the traveling target stop position.

Further, when the transfer control is described, when the pallet P is wholesaled on the loading table 8 or the article storage unit 4, the transfer control unit 26a first places the pallet P on which the article 9 is placed. The fork device 11 is configured to project until it is detected by the projection detection limit switch 31.
Thereafter, the transfer control unit 26a transmits transfer information to the lower control device 25 to lower the lifting platform 12 by a set amount for transfer by communication between the lower optical transmission device 27 and the upper optical transmission device 28. By communicating, the lower control device 25 operates the elevating electric motor 20 so as to lower the elevating table 12 by a set amount for transfer, so that the pallet P is wholesaled on the loading table 8 and the article storage unit 4. It is configured.
The transfer control unit 26 a is configured to retreat the fork device 11 until it is detected by the retreat detection limit switch 32 when the pallet P is unloaded on the loading table 8 or the article storage unit 4.

In addition, when a case where the pallet P is received from the loading table 8 or the article storage unit 4 is also described, the transfer control unit 26a first detects the protrusion detection limit switch 31 in a state where the pallet P is not mounted. It is comprised so that the fork device 11 may be operated in a projecting manner.
After that, the transfer control unit 26a sends transfer information to the lower control device 25 to raise the lifting platform 12 by a set amount for transfer by communication between the lower optical transmission device 27 and the upper optical transmission device 28. By communicating, the lower control device 25 is configured to operate the elevating electric motor 20 so as to raise the elevating platform 12 by the set amount for transfer and to place the pallet P on the fork device 11. Yes.
When the pallet P is placed on the fork device 11, the transfer control unit 26 a is configured to retract the fork device 11 until it is detected by the retreat detection limit switch 32.

Hereinafter, a configuration in which the operation of the lifting platform 12 is abnormally stopped when the cutting detection limit switch 33 detects the breaking of the lifting chain 14 will be described with reference to FIG.
Incidentally, although not shown, the power supply to the traveling carriage 10 is configured to be performed via a current collector provided in the traveling carriage 10 by a power supply rail laid along the traveling rail 5.

A mast trolley 34 is provided along the elevating mast 13 to supply power to the elevating platform 12. In the mast trolley 34, the upper optical transmission device 28 and the transfer control unit 26a are connected via the AC / DC 35. The controller is configured to supply power to each limit switch such as the protrusion detection limit switch 31 and the cutting detection limit switch 33.
The mast trolley 34 is configured to supply power to the inverter 26b and the exit / retreat motor 11a through a system different from the system via the AC / DC 35.

  When the disconnection detection limit switch 33 detects the disconnection of the elevating chain 14, the communication cut-off switch 36 serving as a communication power cut-off means for cutting off the power supply to the upper optical transmission device 28, and the exit / retreat motor 11a A transfer cut-off switch 37 as a transfer power cut-off means for cutting off the power supply of the mast trolley, a mast trolley cut-off switch 38 as a control power cut-off means for cutting off the power supply to the elevator 12 by the mast trolley Is provided.

The communication cut-off switch 36 has a set delay time (for example, longer than the time required for the upper control device 26 to communicate abnormality occurrence information when the break detection limit switch 33 detects the break of the lifting chain 14. 1 second), the power supply to the upper optical transmission device 28 is cut off in order to abnormally stop the upper optical transmission device 28.
In other words, the communication cut-off switch 36 includes a relay timer T, and operates the relay timer T as the disconnection detection limit switch 33 detects the disconnection of the lifting / lowering chain 14. When the measurement time due to T reaches a set delay time (for example, 1 second), the power supply to the upper optical transmission device 28 is cut off.

  The transfer cut-off switch 37 cuts off the power supply to the exit / retreat motor 11a so as to abnormally stop the exit / retreat motor 11a as the cut detection limit switch 33 detects the break of the lifting chain 14. It is configured.

The controller as the transfer control unit 26a is configured to communicate with the lower optical transmission device 28 and the lower optical transmission device 27 by the communication between the upper optical transmission device 28 and the lower optical transmission device 27 when the cut detection limit switch 33 detects the cutting of the lifting / lowering chain 14. It is configured to communicate abnormality occurrence information to the control device 25.
Further, when the abnormality occurrence information is communicated from the upper control device 26, the lower control device 25 operates the mast trolley cutoff switch 38 to cause the upper control device 26 to stop abnormally, and the upper control device by the mast trolley 34 is operated. It is comprised so that the electric power supply to 26 may be interrupted | blocked.

The operation when the cutting detection limit switch 33 detects the cutting of the elevating chain 14 will be described as time passes.
When the cut detection limit switch 33 detects the break of the lifting chain 14, the upper control device 26 is abnormal with respect to the lower control device 25 due to communication between the upper optical transmission device 28 and the lower optical transmission device 27. The generation information is communicated and the transfer cutoff switch 37 cuts off the power supply to the exit / retreat motor 11a.
Thereafter, when the set delay time elapses after the disconnection detection limit switch 33 detects the disconnection of the lifting / lowering chain 14, the communication cutoff switch 36 cuts off the power supply to the upper optical transmission device 28.
The lower control device 25 communicates abnormality occurrence information from the upper control device 26 to operate the mast trolley shut-off switch 38 to cut off the power supply to the upper control device 26.

[Second Embodiment]
This 2nd Embodiment is another embodiment about the structure which abnormally stops the operation | movement in the lifting platform 12 when the cutting | disconnection detection limit switch 33 detects the cutting | disconnection of the raising / lowering chain 14 in the said 1st Embodiment. This point will be mainly described based on the drawings.
Incidentally, since other configurations are the same as those in the first embodiment, detailed description thereof will be omitted by using the same reference numerals.

As shown in FIG. 6, the upper control device 26 can transmit abnormality occurrence information between the lower control device 25 and the upper control device 26 when the cut detection limit switch 33 detects the cutting of the elevating chain 14. The abnormality occurrence information transmission means 39 is configured to communicate abnormality occurrence information to the lower control device 25.
The abnormality occurrence information transmission means 39 includes a lower abnormality occurrence information transmission device 39a and an upper abnormality occurrence information transmission device 39b. Between the lower abnormality occurrence information transmission device 39 and the upper abnormality occurrence information transmission device 40, For example, the abnormality occurrence information is transmitted one-to-one between the lower control device 25 and the upper control device 26 by serial communication, setting bit (for example, 4 bits) optical transmission, or the like.

  In the first embodiment, as shown in FIG. 5, when the communication cutoff switch 36 includes the relay timer T and the disconnection detection limit switch 33 detects the disconnection of the lifting / lowering chain 14, the set delay is set. After the elapse of time (for example, 1 second), the power supply to the upper optical transmission device 28 is cut off. In the second embodiment, as shown in FIG. The switch 36a does not include the relay timer T, and the power to the upper optical transmission device 28 is abnormally stopped so that the disconnection detection limit switch 33 detects the disconnection of the lifting / lowering chain 14. It is configured to shut off the supply.

The operation when the cutting detection limit switch 33 detects the cutting of the elevating chain 14 will be described as time passes.
When the cut detection limit switch 33 detects the break of the lifting chain 14, the upper control device 26 generates an abnormality with respect to the lower control device 25 by the upper abnormality occurrence information transmission device 39b and the lower abnormality occurrence information transmission device 39a. While communicating information, the communication cut-off switch 36a cuts off the power supply to the upper optical transmission device 28, and the transfer cut-off switch 37 cuts off the power supply to the exit / retreat motor 11a.
The lower control device 25 communicates abnormality occurrence information from the upper control device 26 to operate the mast trolley shut-off switch 38 to cut off the power supply to the upper control device 26.

[Another embodiment]
(1) In the first and second embodiments, the example in which the lifting platform 12 includes the fork device 11 as the transfer device has been described. The table 12 can be configured and implemented so that the article 9 can be simply placed without the transfer device.

(2) In the first and second embodiments, the lifting platform side abnormality detecting means is configured by the cutting detection limit switch 33, and the breaking of the lifting chain 14 is detected as the occurrence of an abnormal state in the lifting platform 12. However, the lifting platform side abnormality detection means may be configured and implemented to detect the occurrence of an abnormal condition other than the breaking of the lifting chain 14 as the occurrence of an abnormal condition in the lifting platform 12. Is possible.

(3) In the first and second embodiments, the lifting chain 14 is moved in the longitudinal direction by operating the lifting electric motor 20 to drive the drive pulley 19 forward and backward. For example, the elevating chain 14 is wound around a plurality of guide sprockets and connected to a take-up drum installed at one end of the traveling carriage 10, and the take-up drum is driven to rotate forward and backward by the elevating motor 20. Thus, it is possible to configure and implement the lifting chain 14 so as to move in the longitudinal direction.

(4) In the first and second embodiments, the lifting position of the lifting platform 12 is detected by the lifting platform side rotary encoder 21, and the traveling position of the traveling carriage 10 is detected by the vehicle body side rotary encoder 22. However, it is also possible to configure and perform the detection so as to detect the lift position of the lift platform 12 and the travel position of the traveling carriage 10 using another distance meter or the like.

For example, the traveling carriage 10 is provided with a horizontal laser rangefinder that projects a beam beam for distance measurement in the horizontal movement direction, and is installed at a reference position in the movement path 2 by the horizontal laser rangefinder. The traveling position of the traveling carriage 10 can also be detected by projecting toward the reflecting plate and detecting the distance between the reference position and the traveling carriage 10.
Although not described in detail, it is also possible to detect the ascending / descending position of the ascending / descending platform 12 using a laser range finder that projects light beams for ranging.

(5) In the first and second embodiments, the lifting platform 12 is configured to be suspended and supported by the lifting chain 14. However, for example, the lifting platform 12 is suspended and supported by a belt. The cord-like body that suspends and supports the lifting platform 12 is not limited to the chain.

Schematic diagram of goods storage facility Side view of stacker crane An enlarged side view of the main part of a stacker crane Control block diagram of article storage facility in the first embodiment The figure which shows the electric power feeding structure in the lifting platform in 1st Embodiment. Control block diagram of article storage facility in the second embodiment The figure which shows the electric power feeding structure in the lifting platform in 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 9 Article 10 Traveling carriage 11 Transfer device 14 Cable body 12 Lifting table 22 Lifting drive means 24 Traveling drive means 25 Truck side control means 26 Lifting platform side control means 27 Lifting platform side communication means 28 Truck side communication means 33 Lifting Stand side abnormality detection means 36 Communication power cut-off means 37 Transfer power cut-off means 38 Control power cut-off means 39 Abnormality occurrence information transmission means

Claims (4)

An elevating platform on which an article can be placed is provided on a traveling carriage that is freely movable.
The traveling carriage is provided with traveling drive means for driving the traveling carriage and carriage-side control means for controlling the operation of the raising / lowering driving means for raising and lowering the lifting platform,
Information is exchanged between the elevator side control means and the carriage side control means by communication between the elevator side communication means provided on the elevator base and the carriage side communication means provided on the traveling carriage. An article conveying apparatus provided with a lifting platform side control means for performing,
When the elevator base side abnormality detecting means, which is provided in the elevator base and detects the occurrence of an abnormal state in the elevator base, detects the occurrence of an abnormal state, the carriage side communication means and the By communicating with the elevator platform side communication means, it is configured to communicate abnormality occurrence information to the cart side control means,
When the elevator base side abnormality detecting means detects the occurrence of an abnormal state, after a set delay time longer than the time required for the elevator base side control means to communicate the abnormality occurrence information, the In order to abnormally stop the elevator base side communication means, a communication power cutoff means for cutting off power supply to the elevator base side communication means is provided,
When the abnormality occurrence information is communicated from the elevator platform control means, the carriage side control means controls to cut off the power supply to the elevator platform control means to abnormally stop the elevator platform control means An article conveying device configured to actuate an electric power interruption means. An elevating platform on which an article can be placed is provided on a traveling carriage that is freely movable.
The traveling carriage is provided with traveling drive means for driving the traveling carriage and carriage-side control means for controlling the operation of the raising / lowering driving means for raising and lowering the lifting platform,
Information is exchanged between the elevator side control means and the carriage side control means by communication between the elevator side communication means provided on the elevator base and the carriage side communication means provided on the traveling carriage. An article conveying apparatus provided with a lifting platform side control means for performing,
In order to abnormally stop the elevator base side communication means as the elevator base side abnormality detection means, which is provided in the elevator base and detects the occurrence of an abnormal state in the elevator base, detects the occurrence of the abnormal state, A power cut-off means for communication that cuts off the power supply to the table-side communication means is provided,
An abnormality in which the elevator base side control means can transmit abnormality occurrence information between the carriage side control means and the elevator base side control means when the elevator base side abnormality detection means detects the occurrence of an abnormal state The occurrence information transmission means is configured to communicate the abnormality occurrence information to the cart side control means,
When the abnormality occurrence information is communicated from the elevator platform control means, the carriage side control means controls to cut off the power supply to the elevator platform control means to abnormally stop the elevator platform control means An article conveying device configured to actuate an electric power interruption means. The elevating drive means is configured to move and move the cord-like body that supports the hoisting table in the longitudinal direction to drive the hoisting table up and down.
3. The article conveying device according to claim 1, wherein the lifting platform-side abnormality detection unit is configured to detect the cutting of the cord-like body as the occurrence of an abnormal state in the lifting platform. The lifting platform is provided with a transfer device for transferring articles,
The lifting platform control means is configured to control the operation of the transfer device based on information from the cart control means,
A transfer power shut-off means for shutting off the power supply to the transfer device is provided in order to cause the transfer device to stop abnormally as the elevator base side abnormality detection means detects the occurrence of an abnormal state. The article conveyance device according to any one of claims 1 to 3.

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