JP2013234048A - Safe-deposit box system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safe-deposit box system capable of maintaining a function of taking out or housing a deposit box by simple structure even if dimensional distortion is caused between a rack and a carriage.SOLUTION: A safe-deposit box system includes a rack 3, and a carriage 5 attached to a stacker crane to freely ascend and descend, in which the carriage 5 is provided with a hook 8 which is engaged with a pull 2A of the deposit box 2 to take out the deposit box 2. The system includes: a hook retrial means for moving the hook 8 until abutting on the deposit box 2 if a user fails in taking out the deposit box 2 by using the hook 8; a hook end limit information storage means for storing hook end limit information found when the hook 8 abuts thereon related to the housing position information of the deposit box 2 in the case that the deposit box 2 is taken out through the hook retrial means; and a hook moving distance changing means for changing a moving distance of the hook obtained when taking out and housing the deposit box next time and thereafter based on the hook end limit information stored in the hook end limit information storage means.

Description

  The present invention relates to a safe deposit system.

  As an example of a safe deposit box system, a protection box for storing each customer's goods, a rack for storing a plurality of protection boxes, and a stacker crane that travels along the rack can be freely moved up and down and hooked between the racks. And a carriage for taking out and storing the protective box (see, for example, Patent Documents 1 and 2).

  When the rack or stacker crane column tilts or twists due to an earthquake or secular change, the relative distance between the hook of the carriage and the protection box in the rack changes, causing the inconvenience that the protection box cannot be removed from the rack. There is a fear.

  In addition, the thing of patent document 3 is mentioned as a prior art regarding the transfer apparatus of a hook engagement system. This technology stops the motor drive when a limit switch type detector that is moved by a slider comes into contact with a reference detection surface provided on the front surface of the shelf, and the hook is positioned at the engagement position with the handle of the container. It is a structure to let you.

JP 2010-100364 A JP-A 61-277502 JP-A-6-321310

  However, the technique of Patent Document 3 tends to be a mechanism that takes time to perform machine adjustments related to detector mounting accuracy, motor stop timing, and the like. Further, Patent Document 3 does not describe any countermeasures when the container cannot be taken out for some reason. For example, it is not assumed that the storage shelf is twisted due to an earthquake or the like, and if this happens, the reference detection surface provided on the front surface of the shelf will be misaligned with the position of the container. This makes it difficult to stop the hook at an appropriate position.

  The present invention was created to solve such problems, and even when a dimensional error occurs between the rack and the carriage, the protective box can be taken out and stored with a simple structure. The purpose is to provide a safe deposit system that can maintain the functions of the system.

  In order to solve the above problems, the present invention includes a rack that stores a plurality of protective boxes, a stacker crane that travels along the rack, and a transport device that includes a carriage that is attached to the stacker crane so as to be movable up and down. In the safe depository system in which the carriage is provided with a hook that is movable in a take-out / storage direction of the protective box and engages with an engaging portion of the protective box to take out the protective box, the protective box by the hook The hook retrying means for moving the hook until it comes into contact with the protective box when the removal of the protective box fails, and the hook comes into contact when the protective box is taken out via the hook retrying means Hook limit information storage means for storing the hook limit information d1 at the time in association with the storage position information d2 of the protective box, and the hook limit information storage means The stored based on the hook Degen information d1, characterized in that it comprises a hook moving distance changing means for changing the moving distance of the next and subsequent extraction and the hook during storage.

According to this safety deposit box system, even if there is a change in the construction of the rack or stacker crane due to secular change or an earthquake, the function of taking out and storing the protective box is maintained even if there is a dimensional error between the rack and the carriage. This improves the operating rate of the safe deposit system.
Further, since the lateral movement distance of the hook is corrected with respect to the protection box only when the protection box is unsuccessfully taken out, the function of taking out and storing the protection box can be maintained with a simple structure.

  The present invention further includes a hook limit information table in which hook limit information d0, which is information related to the initially set lateral movement distance of the hook, and the storage position information d2 of the protective box are stored in association with each other. The limit information storage means rewrites the hook limit information d0 to the hook limit information d1 when the protective box is taken out via the hook retry means.

  According to this safe deposit system, the hook limit information storage means can be executed with a simple control program.

  According to the present invention, it is possible to maintain the function of taking out and storing the protective box with a simple structure even when a dimensional deviation occurs between the rack and the carriage.

1 is an external perspective view showing an example of a safe deposit system to which the present invention is applied. It is an external appearance perspective view of a carriage. It is an effect | action figure of the taking-out operation | movement of the protection box at the normal time. It is an effect | action figure of the taking-out operation | movement of the protection box when this invention is implemented. It is explanatory drawing of a hook limit information table. It is a control block diagram of a conveyance apparatus and a conveyance apparatus operation part. It is a flowchart of the taking-out operation of a protection box. It is a flowchart of the taking-out operation of a protection box. It is a flowchart of the taking-out operation of a protection box.

  FIG. 1 is an external perspective view showing an example of a safe deposit system to which the present invention is applied. The safe depository system 1 includes a rack 3 for storing a plurality of protective boxes 2, a stacker crane 4 that travels along the rack 3, and a transport device 6 having a carriage 5 that is attached to the stacker crane 4 so as to be movable up and down. Configured. The rack 3 and the transfer device 6 are both installed in the safe deposit box.

"Protection box 2"
The protective box 2 is a rectangular parallelepiped housing for storing customer articles, and a handle 2A (not shown in FIG. 1, see FIG. 3) is attached to the front surface. The handle 2 </ b> A has an opening formed downward so that a hook 8 described later is raised and engaged. In addition, when it can respond even if the protection box 2 is turned upside down, a similar handle 2 </ b> A is attached to the rear surface of the protection box 2.

"Rack 3"
The rack 3 stores a plurality of protective boxes 2 vertically and horizontally. FIG. 1 shows a case where two rows of racks 3 are provided, and the stacker crane 4 travels between both racks 3. Both racks 3 are arranged so that the front surfaces thereof face each other, and the carriage 5 can take out and store the protective box 2 from either of the racks 3. The rack 3 is divided into a plurality of blocks (referred to as “reams”) in the horizontal direction. The storage position of each protection box 2 is specified by the row number, serial number, and column number of the rack 3.

"Conveyor 6"
The stacker crane 4 includes a vertical column 4A, and the carriage 5 is attached to the column 4A so as to be movable up and down. A controller box 7 is attached to the support 4A.

  The carriage 5 is movable in the direction in which the protective box 2 is taken out and stored (horizontal direction perpendicular to the traveling direction of the stacker crane 4) and engages with the engaging portion (the handle 2A shown in FIG. 3) of the protective box 2. A hook 8 (FIG. 2) for taking out the protective box 2 is provided.

  An example of the structure around the hook 8 will be described with reference to FIG. The carriage 5 is provided so that the transfer substrate 9 can be moved in the take-out / storage direction of the protective box 2 by being guided by the guide bar 10. A part of a drive belt 13 consisting of an endless belt driven by a drive pulley 12 of the output shaft of the hook lateral movement drive motor 11 is attached to the transfer board 9, and the hook lateral movement drive motor 11 rotates forward and backward. Thereby, the transfer substrate 9 moves in the take-out direction and the storage direction of the protection box 2.

  An elevating body 14 is provided above the transfer substrate 9 so as to be movable up and down with respect to the transfer substrate 9. The elevating body 14 includes an elevating board 15 and arm members 16 provided at both ends of the elevating board 15 (both ends in the direction of taking out and storing the protective box 2). At the tip of each arm member 16, a hook 8 made of a rotating roller that is rotatably supported around a horizontal direction orthogonal to the direction in which the protective box 2 is taken out and stored is attached. A compression coil spring (not shown) is accommodated inside the elevating substrate 15 so as to constantly urge both arm members 16 outward, and the transfer substrate 9 moves and the hook 8 is protected as described below. 2, the arm member 16 is retracted into the elevating board 15 by the compression coil spring being contracted so that the hook 8 is not excessively pressed against the protective box 2. It has become. For the raising / lowering mechanism of the raising / lowering body 14, for example, a known raising / lowering mechanism described in Patent Document 2 can be used, and detailed description thereof is omitted because it is out of the gist of the present invention.

  As described above, the hook 8 can be moved laterally in the removal / storage direction of the protective box 2 (horizontal direction orthogonal to the traveling direction of the stacker crane 4) and the lifting body 14 is moved up and down by the transfer substrate 9 moving. It is provided so that it can be moved up and down, and the protective box 2 is taken out by engaging with the handle 2A of the protective box 2 and moving laterally.

  In addition, the carriage 5 is provided with a pair of conveyors 17 for moving the protective box 2 laterally on the carriage 5. The transfer conveyor 17 is composed of, for example, a belt conveyor provided along the direction in which the protective box 2 is taken out and stored.

"Control configuration of transport device 6 and transport device operation unit 19"
FIG. 6 is a control block diagram of the transport device 6 and the transport device operation unit 19. The control system device of the transport device 6 includes a stacker crane control unit 20 and a carriage control unit 21. The transfer device operation unit 19 is a device that supervises control of the entire system including the transfer device 6 and other transfer devices, and is installed, for example, in a safe deposit box.

The transport device operation unit 19 includes a display operation unit 22, a main control unit 23, a storage unit 24, and a communication control unit 25, and is separately installed near the rack 3, for example, as shown in FIG.
The display operation unit 22 has a function (data correction is possible) for managing each information stored in the travel information table 27, the lift information table 28, and the hook limit information table 29 of the storage unit 24, which will be described later, and the transport device 6. It has a function that can be maintained separately from other control systems. A touch panel (not shown) is provided on the casing of the transport device operation unit 19, and device information of the transport device 6 is displayed on the touch panel. By operating the touch panel during maintenance or the like, the carriage 5 can be transported by the carriage 5, the stacker crane 4 can be arbitrarily traveled, and the carriage 5 can be arbitrarily lifted or lowered.
The main control unit 23 includes a transfer device operation instruction unit 26. When the main control unit 23 receives an operation instruction of the transport device 6, the main control unit 23 reads each piece of information stored in the storage unit 24 and performs arithmetic processing. Based on the calculation result, the transport device operation instruction unit 26 sends the stacker crane control unit 20 a travel operation of the stacker crane 4, a lifting operation of the carriage 5, a movement operation of the hook 8, Give driving instructions.

  The storage unit 24 includes a travel information table 27, a lift information table 28, and a hook limit information table 29. The travel information table 27 stores information (travel information) necessary for a predetermined travel operation of the stacker crane 4. The elevation information table 28 stores information (elevation information) necessary for a predetermined elevation operation of the carriage 5. The hook limit information table 29 stores storage position information d2 of the protection box 2 and hook limit information d0 associated with the storage position information d2. The hook limit information d0 is information related to the initially set lateral movement distance of the hook 8, and can be rewritten to new hook limit information d1 by the hook limit information storage means 52 as will be described later.

The stacker crane control unit 20 includes a main control unit 30, a storage unit 31, and a communication control unit 32, and is housed in, for example, the controller box 7 (FIG. 1).
The main control unit 30 includes an operation instruction processing unit 33 and a conveyance drive control unit 34. When the operation instruction processing unit 33 receives an operation instruction from the transport device operation unit 19 via the communication control unit 32, the operation instruction processing unit 33 reads the detection results of the various sensors 35 and the information stored in the storage unit 31 and performs the operation instruction processing. . The transport drive control unit 34 controls a travel drive motor 36 (see FIG. 1) for traveling the stacker crane 4 and a lift drive motor 37 for lifting the carriage 5 based on the operation instruction processing result. In addition, an instruction to take out or store the protection box 2 is transmitted to the carriage control unit 21 via the communication control unit 32.

The various sensors 35 include, for example, a sensor that detects the travel position of the stacker crane 4 (a rotary encoder that detects the number of pulses corresponding to the rotation angle of the travel drive motor 36 and a photoelectric sensor for detecting the origin position), and the lift position of the carriage 5 Sensors to detect (a rotary encoder that detects the number of pulses corresponding to the rotation angle of the lift drive motor 37 and a photoelectric sensor for detecting the origin position).
The storage unit 31 stores the same information as the travel information table 27 and the lift information table 28 of the storage unit 24.

The carriage control unit 21 includes a main control unit 40, a storage unit 41, and a communication control unit 42, and is housed in the casing of the carriage 5.
The main control unit 40 includes an operation instruction processing unit 43 and a conveyance drive control unit 44. When receiving an operation instruction from the stacker crane control unit 20 via the communication control unit 42, the operation instruction processing unit 43 reads the detection results of the various sensors 47 and the hook distance sensor 46 and the information stored in the storage unit 41. Perform operation instruction processing. Based on the operation instruction processing result, the transport drive control unit 44 transports a transport conveyor drive motor 48 for driving the transport conveyor 17, a hook lifting drive motor 49 for lifting the hook 8, and a lateral movement of the hook 8. The hook lateral movement drive motor 11 (see FIG. 2) is controlled.

The hook distance sensor 46 is a sensor that detects the lateral movement distance of the hook 8. In this embodiment, the hook lateral movement drive motor 11 is a pulse control motor, and the hook distance sensor 46 is a rotary encoder that detects the number of pulses corresponding to the rotation angle of the hook lateral movement drive motor 11.
The various sensors 47 are, for example, sensors that detect the raising / lowering position of the hook 8, sensors that detect the protection box 2 on the carriage 5 (stock sensors), and sensors that detect whether or not the protection box 2 is in the rack 3. is there.
The storage unit 41 includes a temporary information storage table 45. The information temporary storage table 45 temporarily stores hook limit information d1.

  In the safety deposit box system 1 configured as described above, in FIG. 1, when there is no dimensional deviation between the rack 3 and the transport device 6, for example, at the beginning of installation of the safety deposit box system 1, all of the protection boxes 2 are stored. The hook 8 moves laterally at the same lateral movement distance based on the hook limit information d0 (FIG. 5). Whether the protective box 2 has been taken out or stored can be determined by, for example, a stock sensor that detects the presence or absence of the protective box 2 provided on the carriage 5.

  However, when a dimensional deviation occurs between the rack 3 and the carriage 5 due to an earthquake, secular change, or the like, the hook 8 does not engage with the handle 2A of the protective box 2, and the risk of failure to remove the protective box 2 increases. On the other hand, in the safe depository system 1 according to the present invention, when the removal of the protection box 2 by the hook 8 fails, the hook retry means for moving the hook 8 laterally until it contacts the protection box 2 that has failed to be removed. 51 (FIG. 6) and when the protective box 2 is taken out via the hook retry means 51, the hook limit information d1 when the hook 8 comes into contact with the storage position information d2 of the protective box 2 On the basis of the hook limit information storage means 52 (FIG. 6) stored in association with the hook limit information d1 stored in the hook limit information storage means 52, the lateral movement distance of the hook 8 at the time of next take-out and storage Hook moving distance changing means 53 (FIG. 6).

"Hook retry means 51"
In FIG. 6, the hook retry means 51 is mainly executed by the main control unit 23 of the transport device operation unit 19 and the main control unit 40 of the carriage control unit 21. The failure of taking out the protection box 2 by the hook 8 can be recognized by, for example, the fact that the load sensor has not detected the protection box 2 in the carriage 5 as described above. The contact between the hook 8 and the protection box 2 can be recognized by a rotary encoder that detects a pulse of the hook lateral movement drive motor 11 or by detecting an overload of the hook lateral movement drive motor 11. The amount of movement of the hook 8 from when the hook 8 abuts against the protection box 2 to detect the overload of the hook lateral movement drive motor 11 until the hook lateral movement drive motor 11 stops is as described above. The spring is contracted and the arm member 16 is absorbed by being retracted into the elevating board 15.

"Hook limit information storage means 52"
In FIG. 6, the hook limit information storage means 52 is mainly executed by the main control unit 23 and the storage unit 24 of the transport device operation unit 19. When the hook retry means 51 is performed and the protection box 2 is successfully taken out, the hook limit information storage means 52 associates the hook limit information d1 with the storage position information d2 of the protection box 2 to associate the hook limit information table 29 with the hook limit information d2. To remember. The hook limit information d1 is information that can specify the lateral movement distance (limit position) of the hook 8 at the time when the hook 8 and the protection box 2 come into contact with each other in the hook retry means 51, and is the hook distance sensor 46. Identified by detection of In this embodiment, it is specified by detecting the number of pulses of the hook lateral movement drive motor 11 by a rotary encoder. The hook limit information d1 stored in the hook limit information table 29 may be a value related to the exact lateral movement distance required until the hook 8 comes into contact with the protective box 2, or from the next time, The value may be a value obtained by subtracting a certain distance from the value so as to be stopped slightly before the protective box 2.

  In FIG. 5, the hook limit information table 29 stores storage position information d2 of the protection box 2 and hook limit information d0 associated with the storage position information d2 in the initial stage. The hook limit information d0 is information relating to the lateral movement distance of the hook 8 that is initially set. In the present embodiment, the hook limit information storage means 52 performs the hook retry means 51 and, when the protection box 2 is successfully taken out, rewrites the hook limit information d0 to the hook limit information d1, thereby relocating the hook. The limit information d1 and the storage position information d2 of the protection box 2 are associated with each other and stored in the hook limit information table 29. In FIG. 5, the storage position information d2 of each protection box 2 in the hook limit information table 29 is composed of a rack row number, a rack serial number, and a rack stage number, and this is combined with the hook limit information d0 or the hook limit information d1. As shown, the hook limit distance (the lateral movement distance of the hook 8) is stored in association with each other. The hook limit information d0 and the hook limit information d1 may be the count number of pulses by a rotary encoder in addition to the hook limit distance.

"Hook travel distance changing means 53"
In FIG. 6, the hook moving distance changing unit 53 is mainly executed by the main control unit 23 and the storage unit 24 of the transport device operation unit 19 and the main control unit 40 of the carriage control unit 21. Even if a deviation in dimensions occurs between the rack 3 and the carriage 5 by automatically changing the lateral movement distance of the hook 8 at the time of taking out and storing based on the hook limit information d1, The protection box 2 can be continuously taken out and stored. The lateral movement distance of the hook 8 to be changed may be the value of the hook extension limit distance (the distance from the predetermined position of the hook 8 to the contact position) in the hook retry means 51 itself. It is preferable that the distance is slightly smaller than the hook extension distance so that it can be engaged with the handle 2A without contact.

"Action"
First, with reference to FIG. 3, the taking-out operation of the protective box 2 at the normal time will be described. FIG. 3A shows a state in which the elevating body 14 is located at the center position (P1 position) in the take-out / storage direction of the protection box 2 of the carriage 5 and at the lowest lowered position (H1 position). . In this state, when an instruction to take out the protection box 2 is given, as shown in FIG. 3B, the elevating body 14 rises to the intermediate height position (H2 position) and moves laterally by a predetermined distance to advance position (P2). Position). In the state of FIG. 3B, the hook 8 is positioned below the handle 2A, and then the elevator 8 is raised to the highest position (H3 position) as shown in FIG. Engage with the handle 2A.

  The elevator 14 is positioned at the highest position (H3 position) and the conveyor 17 in the carriage 5 (not shown in FIG. 3, refer to FIG. 2) is operated. As shown in FIG. Is retracted to the retracted position (P3 position), and the protective box 2 pulled by the hook 8 is transferred to the carriage 5 while being transported by the transport conveyor 17 as well. Here, the conveyor 17 is temporarily stopped, and the elevating body 14 is lowered to the H1 position as shown in FIG. Next, the lifting body 14 returns to the P1 position, the transport conveyor 17 operates again, transports the protection box 2 to the center of the carriage 5 and stops, and the removal operation of the protection box 2 is completed (FIG. 3 (f)). )).

  Next, with reference to FIG. 4, the taking-out operation of the protective box 2 when the present invention is carried out will be described. FIG. 4A shows a state in which the elevating body 14 is located at the P1 position and the H1 position. If there is an instruction to take out the protective box 2 from this state, as shown in FIG. 4B, the elevating body 14 rises to the H2 position and advances to the P2 position. Here, there is a dimensional deviation between the rack 3 and the carriage 5, and the hook 8 does not engage with the handle 2A even when the elevating body 14 is raised to the H3 position as shown in FIG. 4C. If the removal of the protection box 2 fails, as shown in FIG. 4D, it is recognized that only the elevating body 14 is retracted to the P3 position and the protection box 2 on the carriage 5 has not been pulled in. .

  After the failure of taking out the protective box 2, as shown in FIG. 4 (e), the elevating body 14 is once lowered to the H2 position and once returned to the P1 position. Then, as shown in FIG. 4 (f), the elevating body 14 moves until the hook 8 contacts the front surface of the protection box 2. Then, as shown in FIG. 5, the hook limit information table 29 stores the hook limit information d1 and the storage position information d2 of the protection box 2 in association with each other.

  The subsequent operation until the removal of the protective box 2 is the same as that in FIG. That is, as shown in FIG. 4G, the hook 8 is engaged with the handle 2A by raising the elevating body 14 to the H3 position. When the lifting body 14 is located at the H3 position, the transfer conveyor 17 (FIG. 2) in the carriage 5 is operated, and the lifting body 14 is pulled back to the P3 position as shown in FIG. The protective box 2 is also transferred to the carriage 5 while being transported by the transport conveyor 17. Then, once the conveyor 17 is stopped, the lifting body 14 is lowered to the H1 position as shown in FIG. 4 (i). Next, the lifting body 14 returns to the P1 position, the transport conveyor 17 operates again, transports the protective box 2 to the center of the carriage 5, stops, and the operation of taking out the protective box 2 is completed (FIG. 4 (j )).

  Then, when the protection box 2 that has failed to be taken out once is taken out next time, the hook 8 comes into contact with the protection box 2 based on the hook extension limit information d1 stored in the hook extension limit information table 29 or By moving the elevating body 14 laterally slightly before the contact, the protective box 2 can be continuously taken out. Of course, the lateral movement distance of the elevating body 14 when the protection box 2 is stored in the rack 3 from the carriage 5 is the same as the lateral movement distance at the time of removal, and the protection box 2 can be stored continuously.

  The operation flow of the safe deposit system 1 will be described with reference to FIGS. Please refer to other figures as appropriate for the reference numerals in the description. In FIG. 7, the transfer device operation unit 19 determines whether or not an instruction to take out the protective box 2 has been received (S <b> 1). If it has not been received, the process returns to S <b> 1. The travel information and the lift information are read from the information table 27 and the lift information table 28 (S2), and a movement command for the stacker crane 4 is transmitted to the stacker crane control unit 20 (S3).

  The stacker crane control unit 20 receives a movement command for the stacker crane 4 from the transfer device operation unit 19 (S4), and moves the stacker crane 4 to travel (S5). The stacker crane control unit 20 determines whether or not the travel movement of the stacker crane 4 is completed (S6). If it is not determined to be completed, it is processed as an error (S7), and if it is determined to be completed, the fact is conveyed. It transmits to the apparatus operation part 19 (S8).

  When receiving the fact that the traveling movement of the stacker crane 4 has been completed (S9), the transfer device operation unit 19 reads the hook limit information d0 from the hook limit information table 29 (S10), and issues a command to take out the protective box 2 as a stacker. It transmits to the crane control part 20 (S11). The stacker crane control unit 20 receives an instruction to remove the protective box 2 (S12), and transmits the instruction to remove the protective box 2 to the carriage control unit 21 (S13).

  The carriage control unit 21 receives an instruction to remove the protective box 2 (S14), and starts the operation of taking out the protective box 2 described with reference to FIG. 3 (S15). Next, the carriage control unit 21 determines whether or not the removal of the protection box 2 is completed (S16). If it is determined that the process is completed, the process proceeds to S17, and if it is not determined, the process proceeds to S18. In S18, the carriage control unit 21 determines whether or not there is an abnormality in the limit position of the hook 8. If it is determined that there is an abnormality, it is determined whether or not the amount of movement of the hook 8 is insufficient (S19). If it is determined that the amount is insufficient, the process proceeds to S20, and if it is determined that there is no shortage. Is processed as an error (S21). When it is determined that there is no abnormality in S18, the carriage control unit 21 determines whether or not there is an abnormality in the hook 8 (S22). When it is determined that there is an abnormality, the process proceeds to S20, and when it is determined that there is no abnormality. Is processed as an error (S23).

  In S <b> 20, the carriage control unit 21 moves the hook 8 sideways to the center position of the carriage 5. Next, it is determined whether or not the lateral movement to the center position has been completed (S24). If it is determined that the movement has been completed, the horizontal movement of the hook 8 toward the protective box 2 is started (S25), and it is not determined that the movement is complete. If so, it is processed as an error (S26). After S25, the carriage control unit 21 determines whether or not the information change of the hook distance sensor 46 (the rotary encoder that detects the pulse of the hook lateral movement drive motor 11) is stopped (S27). If this is the case, the process returns to S27. If it is determined that the hook 8 is in contact with the protection box 2, the lateral movement of the hook is stopped (S28).

  Next, the carriage control unit 21 stores the hook limit information d1 in the information temporary storage table 45 (S29), and starts the operation of taking out the protective box 2 (S30). Next, the carriage control unit 21 determines whether or not the removal of the protection box 2 is completed (S31). If it is determined that the protection box 2 is completed, the carriage control unit 21 proceeds to S17. In S <b> 17, the carriage control unit 21 transmits to the stacker crane control unit 20 that the removal of the protection box 2 has been completed.

  In FIG. 9, the stacker crane control unit 20 receives from the carriage control unit 21 that the removal of the protection box 2 has been completed (S33), and transmits that the removal of the protection box 2 has been completed to the transport device operation unit 19. (S34). The transfer device operation unit 19 receives from the stacker crane control unit 20 that the removal of the protective box 2 has been completed (S35), determines whether or not to perform hook extension limit automatic learning (S36), and does not execute it. If it is determined, the operation is terminated. If it is determined to be executed, the hook limit information d1 stored in the information temporary storage table 45 is read, and the hook limit information d0 is hooked in the hook limit information table 29. The limit information d1 is rewritten (S37), and the operation ends.

As described above, according to the safe deposit system 1 of the present invention including the hook retry means 51, the hook limit information storage means 52, and the hook movement distance changing means 53, the rack 3 and the stacker crane are caused by secular changes, earthquakes, and the like. The function of taking out and storing the protective box 2 can be maintained even if the built-in dimensions of 4 are out of order, and the operating rate of the safety deposit box system 1 is improved.
Further, since the lateral movement distance of the hook is corrected with respect to the protection box 2 only when the removal of the protection box 2 fails, the function of taking out and storing the protection box 2 can be maintained with a simple structure. .
In addition, even when the stacker crane 4 is newly replaced with respect to the rack 3 in which tilting or twisting has occurred, the replacement work can be completed in a short time without any modification of the construction of the rack 3.

  The preferred embodiment of the safe deposit system 1 of the present invention has been described above, but the present invention is not limited to this, and various design changes can be made without departing from the spirit of the present invention.

1 Safe deposit box system 2 Protective box 2A Handle (engagement part)
3 rack 4 stacker crane 5 carriage 8 hook 51 hook retry means 52 hook limit information storage means 53 hook moving distance changing means

Claims (2)

A rack for storing a plurality of protective boxes;
A stacker crane that travels along the rack, and a transport device having a carriage that is attached to the stacker crane so as to be movable up and down;
A safety deposit box system provided with a hook that is movable in the take-out / storage direction of the protective box and is engaged with the engaging portion of the protective box to take out the protective box.
Hook retry means for moving the hook until it comes into contact with the protective box when the removal of the protective box by the hook fails;
When the protective box is taken out via the hook retry means, hook limit information storage means for storing the hook limit information d1 when the hook comes into contact with the storage position information d2 of the protective box is stored. When,
Hook movement distance changing means for changing the movement distance of the hook at the time of subsequent take-out and storage based on the hook limit information d1 stored in the hook limit information storage means;
A safe deposit box system comprising: A hook limit information table in which hook limit information d0, which is information related to the lateral movement distance of the hook that is initially set, and storage position information d2 of the protective box are stored in association with each other;
The hook limit information storage means rewrites the hook limit information d0 to the hook limit information d1 when a protective box is taken out via the hook retry means. The safety deposit box system according to 1.

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