JP4203824B2 - Article conveying device - Google Patents

Description

  The present invention provides a plurality of article transporting movable bodies movable over a plurality of article transfer locations, and operates the plurality of moving bodies so as to perform an article transporting operation according to the article transport request information. The present invention relates to an article conveying apparatus provided with operation control means for controlling.

The article transport apparatus as described above can perform an article transport operation by moving each of a plurality of article transporting mobile bodies over a plurality of article transfer locations, while utilizing the plurality of mobile bodies. By carrying it, it is possible to improve the carrying capacity.
The two moving bodies are configured to move on the same trajectory, and the operation control unit moves all or one of the two moving bodies to perform the article conveying operation based on the article conveying request information. There is one that performs article conveyance processing by selecting it as a body (for example, see Patent Document 1).
In the article conveying apparatus of Patent Document 1, the moving body is equipped with equipment such as a sensor and a brake that are consumed by performing an article conveying operation. Since these equipments are consumed by use, they must be replaced before they reach the end of their lives. Therefore, for example, when the use period of the equipment is a set period, the equipment is exchanged on the assumption that the equipment equipment replacement timing has come. When exchanging the equipment, the moving body equipped with the equipment is moved to a retreat location or the like, and the equipment is exchanged so that the moving body does not perform the article transfer operation.

Japanese Patent No. 2857836

In the article transport apparatus of Patent Document 1, the operation control unit simply selects all or one of the two mobile bodies as a mobile body that performs the article transport operation based on the article transport request information, and performs the article transport process. Therefore, the operation results of the two moving bodies may be the same, for example, the same number of times the two moving bodies perform the article conveying operation.
In this case, since the use period of the equipment is the same for each of the two mobile bodies, the replacement timing of the equipment is the same for each of the two mobile bodies. Accordingly, the two mobile units do not carry out the article transfer operation, and the article transfer operation is temporarily performed in a state where the article transfer is temporarily interrupted.
However, depending on the equipment to which the article conveying apparatus is adapted, it is required to always continue article conveyance without interrupting article conveyance, and there is a possibility that such a request cannot be met.

  The present invention has been made paying attention to such a point, and the purpose thereof is to carry an article transport capable of exchanging equipment for a plurality of moving bodies while continuously carrying the article. The point is to provide a device.

In order to achieve this object, the first characteristic configuration of the article transporting apparatus according to the present invention is provided with a plurality of article transporting movable bodies that are movable over a plurality of article transfer locations, and according to the article transport request information. In the article conveying apparatus provided with operation control means for controlling the operation of the plurality of moving bodies so as to perform the article conveying operation,
The operation control means is an article out of the plurality of moving bodies, based on the operation condition for changing the performance so as to change the operation results in order to change the replacement timing of the equipment for each of the plurality of moving bodies. It is configured to select a moving body that performs a conveyance operation and perform the article conveyance process , the article conveyance request information is information indicating the number of articles that are requested to be conveyed, and the operation control unit includes: Depending on the number of articles indicated by the article transport request information, all of the plurality of mobile bodies or a part of the plurality of mobile bodies is selected as a mobile body that performs an article transport operation, and the article transport processing is performed. And when selecting a part of the plurality of moving bodies, a moving body that performs an article conveying operation is selected based on the performance changing operation condition. Been There to that point.

That is, the operation control means selects the moving body that performs the article transporting operation from among the plurality of moving bodies based on the performance changing operation condition, and performs the article transporting process. The operation performance in each differs, and the mobile body with a long use period of an equipment apparatus and a short mobile body can exist.
And, for example, for a mobile unit with a long period of use of the equipment, if the use period becomes the set period, the mobile unit with a short period of use of the equipment will be It is possible to delay the replacement timing of the equipment than a moving object having a long period.
In this way, by changing the operation performance of each of the plurality of moving bodies, it is possible to change the replacement timing of the equipment for each of the plurality of moving bodies. Therefore, even if some of the multiple mobile units have the replacement timing of the equipment, there may be mobile equipment that does not have the replacement timing of the equipment, and the replacement of the equipment will be performed for some of the mobile bodies. While performing, another moving body can perform the article conveying operation.
From the above, it has become possible to provide an article transport apparatus capable of exchanging equipment for a plurality of moving bodies while being able to continue article transport at all times.
In addition, the operation control means does not always perform the article conveyance process by selecting the movable body that performs the article conveyance operation based on the operation condition for changing the results, but performs a plurality of movable bodies based on the article conveyance request information. When all the items are selected, the article carrying process is performed with all the moving bodies that perform the article carrying operation as a plurality of moving bodies. Then, the operation control means selects the mobile body that performs the article transport operation based on the performance changing operation condition when selecting a part of the plurality of mobile bodies based on the article transport request information. To carry out the article conveyance process.
In this way, when it is necessary to operate only a part of the plurality of moving bodies while carrying out the article transporting operation of all of the plurality of moving bodies positively, the operating condition for changing the results is set. The moving body selected based on the article can be operated to carry the article. Therefore, it is possible to change the replacement timing of the equipment for each of the plurality of moving bodies while improving the conveyance capability.

  According to a second characteristic configuration of the article transporting apparatus according to the present invention, the performance changing operation condition is a target ratio for each operation performance of the plurality of moving bodies, and the operation control means is configured to The operation of the plurality of moving bodies is controlled so that the ratio of the operating results of the moving bodies becomes the target ratio.

That is, the operation control means selects the moving body that performs the article conveyance from the plurality of moving bodies and performs the article conveying process so that the ratio of the operation results of the plurality of moving bodies becomes the target ratio. Thus, a difference corresponding to the target ratio can be generated in the operation results of each of the plurality of moving bodies.
If there is an extreme difference in the actual performance of each of the multiple mobile units, only some of the multiple mobile units will repeat the article transport operation, and the multiple units will move. There is a possibility that the body cannot be used effectively and the conveyance capacity is lowered.
Therefore, by generating a difference according to the target ratio in the operation results of each of the plurality of moving bodies, it is possible to prevent the difference generated in the operation results of each of the plurality of moving bodies from becoming an extreme difference, A decrease in ability can be suppressed.

  Further, it is possible to adjust how much the timing of changing the equipment device for each of the plurality of moving bodies varies depending on what ratio is set as the target ratio. Therefore, by adjusting the target ratio, it is possible to adjust, as necessary, how much the replacement timing of the equipment is different for each of the plurality of moving bodies.

A third characteristic configuration of the article transporting apparatus according to the present invention is configured such that the plurality of moving bodies move on the same track, and the operation control unit selects based on the performance changing operation condition. The plurality of movements so that the non-selected moving body that has not been selected is moved out of the moving range for article conveyance where the selected moving body selected based on the performance changing operation condition moves to perform the article conveying operation. It is configured to control the operation of the body.

Since the plurality of moving bodies move on the same track, it is only necessary to provide one track over a plurality of article transfer locations, and the simplification of the configuration and the miniaturization of the apparatus can be achieved.
And when the operation control means selects the moving body that performs the article transport operation based on the actual condition changing operation condition and performs the article transport process, the selected moving body selected based on the actual condition changing operation condition is selected. When the non-selected moving body that is not selected based on the performance changing operation condition is located within the moving range for moving the article so that the selected moving body moves to perform the article conveying operation as well as the article conveying operation. In this case, the non-selected moving body is operated so that the non-selected moving body is moved out of the moving range for article conveyance.
Accordingly, when the selected moving body moves on the track, the article conveying operation can be performed while smoothly moving without being obstructed by the non-selected moving body, and the article can be efficiently conveyed. it can.

An embodiment in which an article transport device according to the present invention is applied to an article storage facility will be described with reference to the drawings.
As shown in FIG. 1, the article storage facility includes an article B between an article storage shelf 2 having a plurality of storage units 1 arranged vertically and horizontally, and the article storage shelf 2 and an article support unit 3 for loading and unloading. And a stacker crane 4 as a moving body for conveying articles.

The article storage shelf 2 is provided with a plurality of pairs of front and rear columns 5 standing in the horizontal direction at intervals, and each of the pair of front and rear columns 5 is provided with a horizontally extending placement support portion 6 spaced in the vertical direction. A plurality are provided apart.
A pair of front and rear columns 5 and a pair of left and right mounting support portions 6 form a single storage unit 1, and a plurality of the storage units 1 are arranged side by side.

Two article storage shelves 2 are installed at an interval so that the article loading / unloading directions are opposed to each other, and the article support section 3 for loading / unloading is provided in the horizontal direction of the article storage shelf 2 such as the side of the article storage shelf 2. Are installed at a distance from each other so as to face each other.
Each of the plurality of storage units 1 and each of the article support units 3 for loading and unloading in the article storage shelf 2 are configured as article transfer locations.

Between the two article storage shelves 2, a running rail 7 as a track extending over the entire horizontal range of the article storage shelves 2 and the article support unit 3 for loading and unloading is installed on the floor surface. A guide rail 8 extending over the entire range of directions and the article support 3 for loading / unloading is installed on the upper side. The stacker crane 4 is provided so as to move horizontally on the traveling rail 7 while being guided by the guide rail 8.
A ground-side controller 9 that manages the operation of the stacker crane 4 is provided at the end of the traveling rail 7 on the side of the article support unit 3 for loading and unloading. Storage information such as which articles are stored in the part 1 is managed.

Two stacker cranes 4 are provided in a state where the same traveling rail 7 is horizontally moved. As shown in FIG. 2, each of the two stacker cranes 4 includes a traveling carriage 10 that travels along the traveling rail 7 and can move horizontally, and a lifting platform 11 that can move up and down relative to the traveling carriage 10. It is comprised from the transfer apparatus 12 (for example, fork type transfer apparatus) with which this lifting platform 11 was equipped.
Then, the stacker crane 4 moves the article B existing in the article support unit 3 for goods storage and storage by the horizontal movement of the traveling carriage 10, the raising / lowering action of the elevator 11 and the transferring action of the transfer device 12. 2 is stored in the storage unit 1, or the article B stored in the storage unit 1 of the article storage shelf 2 is taken out into the article support unit 3 for storage.

  In addition, as shown in FIG. 1, two load receiving bases 13 on which the article B is placed are provided in the state where the stacker crane 4 is aligned in the horizontal movement direction as the article support section 3 for loading and unloading. In this manner, the article support unit 3 for loading and unloading places the two stacker cranes 4 side by side in the horizontal movement direction, and the article support unit 13 with the load receiving table 13 by the transfer device 12 provided respectively. It is comprised so that B can be transferred.

In this embodiment, of the two stutter cranes 4, the one located on the article support part 3 side for loading and unloading is the first stacker crane 4 a, and the one located on the article storage shelf 2 side is the second stacker crane 4 b. It is said.
Of the two load receiving bases 13, the one located on the side far from the article storage shelf 2 is referred to as a first load receiving base 13 a, and the one located near the article storage shelf 2 is referred to as a second load receiving base 13 b.
And the 1st stacker crane 4a conveys the goods between the 1st load receiving stand 13a and the goods storage shelf 2, and the 2nd stacker crane 4b is between the 2nd goods receiving stand 13b and the goods storage shelf 2. The goods are transported.

The traveling carriage 10 is provided with a single elevating post 14 that guides and supports the elevating platform 11 so as to be movable up and down. The standing position of the elevating post 14 is the remaining one in the horizontal movement direction of the stacker crane 4. The stand is erected on the opposite side to the side where the stacker crane 4 is located.
The elevating platform 11 is supported by being suspended by an elevating chain 15, and this elevating chain 15 is provided below the guide sprocket 17 and the elevating post 14 provided on the upper frame 16 guided along the guide rail 8. It is wound around a provided guide sprocket 18 and connected to a winding drum 19 provided at one end of the traveling carriage 10.
The take-up drum 19 is driven to rotate in the forward and reverse directions by an inverter-type lifting electric motor 20 so that the lifting platform 11 is moved up and down by a feeding operation or a winding operation of the lifting chain 15. .

The lifting platform 11 is provided with a lifting rotary encoder 22 that detects the lifting position of the lifting platform 11 in the lifting path.
Although the detailed illustration of the lifting rotary encoder 22 is omitted, a sprocket that meshes with a chain laid in the vertical direction of the lifting post 14 is attached to the rotating shaft of the lifting rotary encoder 22, and the lifting platform 11. The sprocket is rotated by moving up and down, and the lifting position of the lifting platform 11 is detected by detecting the lifting distance of the lifting platform 11 from the reference position set at the lower end of the lifting path.

Further, the traveling carriage 10 is provided with two front and rear wheels 24 that can travel on the traveling rail 7, and one of the two wheels 24 on one end side in the horizontal movement direction is an inverter-type traveling electric motor 25. The wheel on the other end side in the horizontal movement direction is configured as a freely rotatable driven wheel 24b.
And it is comprised so that the driving | running | working trolley | bogie 10 may be horizontally moved by rotationally driving the driving wheel 24a forward and backward with the electric motor 25 for driving | running | working.

The traveling carriage 10 is provided with a traveling rotary encoder 23 that detects the traveling position of the traveling carriage 10 on the traveling route.
Although a detailed illustration of the traveling rotary encoder 23 is omitted, a sprocket that meshes with a chain laid along the traveling rail 7 is attached to the rotating shaft of the traveling rotary encoder 23, so that the traveling cart 10 The sprocket is rotated by horizontal movement, and the traveling position of the traveling carriage 10 is detected by detecting the horizontal movement distance of the traveling carriage 10 from the reference position set at one end of the traveling rail 7. .

As shown in FIG. 3, each of the two stacker cranes 4 is provided with a crane control device 26 that controls the operation of the stacker crane 4. In FIG. 3, the crane control device 26 provided in the first stacker crane 4a is a first crane control device 26A, and the crane control device 26 provided in the second stacker crane 4b is a second crane control device 26B.
And it is comprised so that the detection information of the rotary encoder 22 for raising / lowering and the detection information of the rotary encoder 23 for driving | running | working may be input with respect to the crane control apparatus 26. FIG.

The first crane control device 26A and the second crane control device 26B have the same configuration.
Then, the crane control device 26 is moved to the shelf-side article transfer position corresponding to each of the plurality of storage units 1 and the loading / unloading-side article transfer position corresponding to the loading / unloading article support unit 3. The moving device 12 controls the horizontal movement of the traveling carriage 10 and the raising / lowering operation of the lifting platform 11, and the transfer device 12 is installed in the storage unit 1 and the article transfer position on the shelf side and the article transfer position on the loading / unloading side. In order to transfer an article to / from the article support unit 3 for loading and unloading, an article conveying operation for controlling the transfer operation of the transfer device 12 is performed.

When the explanation is added, each of the article transfer position on the shelf side and the article transfer position on the loading / unloading side is a position determined from the lift target stop position and the travel target stop position. The goods transfer position on the loading / unloading side is determined for each of the two load receiving bases 13, and the lifting target stop position and the traveling target stop position are set for each of the two load receiving bases 13. The shelf-side article transfer position is determined for each of the plurality of storage units 1, and the lifting target stop position and the travel target stop position are set for each of the plurality of storage units 1.
Then, the crane control device 26 performs traveling control for controlling the horizontal movement of the traveling carriage 10 in order to cause the traveling carriage 10 to travel to the commanded traveling target stop position based on the detection information of the traveling rotary encoder 23. A control unit 26a, a lift control unit 26b for performing lift control for controlling the lift operation of the lift platform 11 in order to lift the lift platform 11 to the commanded lift target stop position based on the detection information of the lift rotary encoder 22; In order to transfer articles to the storage unit 1 and the cargo receiving stage 13, a transfer control unit 26c that performs transfer control for controlling the transfer operation of the transfer device 12 is configured.

In the travel control in the travel control unit 26a, the travel electric motor 25 is started to start the horizontal movement of the travel cart 10, and the travel position of the travel cart 10 detected by the travel rotary encoder 23 is commanded. When the traveling target stop position is reached, the operation of the traveling electric motor 25 is controlled so that the operation of the traveling electric motor 25 is stopped and the traveling carriage 10 is stopped at the traveling target stop position by applying a brake.
In the raising / lowering control in the raising / lowering control part 26b, the raising / lowering operation | movement of the raising / lowering base 11 was started by starting operation | movement of the raising / lowering electric motor 20, and the raising / lowering position of the raising / lowering stage 11 detected by the rotary encoder 22 for raising / lowering was commanded. When the lift target stop position is reached, the operation of the lift electric motor 20 is controlled so that the lift electric motor 20 is stopped and brakes are applied to stop the lift platform 11 at the lift target stop position.
In the transfer control in the transfer control unit 26c, the fork-type transfer device 12 is operated, the fork is protruded to scrape the article B or the article B is taken out, and then the fork is retracted. Control the transfer operation.

Various information can be freely communicated between the crane control device 26 and the ground-side controller 9, and the ground-side controller 9 has two crane control devices 26, a first crane control device 26A and a second crane control device 26B. Various commands are given to.
Then, the crane control device 26 performs travel control by the travel control unit 26a, lift control by the lift control unit 26b, and transfer control by the transfer control unit 26c based on a command from the ground-side controller 9. It is configured to perform an article conveying operation.
In this way, the operation control means H that controls the operation of the plurality of stacker cranes 4 includes the ground-side controller 9 and the two crane control devices 26.
The operation control means H manages the operation results of actually operating the stacker crane 4 for each of the two stacker cranes 4 by accumulating the number of times of operation every time the stacker crane 4 is operated to carry the article. .
Incidentally, the operation results are not limited to the number of times of performing the article conveyance operation, and for example, the operation time of the stacker crane 4 and the horizontal movement distance may be integrated.

The operation control means H selects all of the two stacker cranes 4 or one of the two stacker cranes 4 as the stacker crane 4 for performing the article transport operation based on the article transport request information, and transports the articles. It is configured to perform processing.
Then, when the operation control means H selects one of the two stacker cranes 4 as the stacker crane 4 that performs the article transport operation, the operation control means H determines the replacement timing of the equipment for each of the plurality of stacker cranes 4. Based on the performance change operation conditions for making the operation results different in order to make them different, the product transport operation is selected from the two stacker cranes 4 and the product transport process is performed.
The operation condition for changing the results is a target ratio for the operation results of the two stacker cranes 4. In this embodiment, the target ratio between the first operation result Q1 of the first stacker crane 4a and the second operation result Q2 of the second stacker crane 4b is set to Q1: Q2 = 25: 24.
The operation control means H manages the operation results Q1 and Q2 of the two stacker cranes 4, and the ratio (Q1: Q2) of the operation results of the plurality of stacker cranes 4 is the target ratio (25:24). Thus, the operation of the two stacker cranes 4 is configured to be controlled.

In this way, the operation control means H is based on the article transport request information and the performance changing operation condition, and the simultaneous warehousing process, the first single warehousing process, the second single warehousing process, the simultaneous warehousing process, Either the single issue process or the second single issue process is selected and executed.
The simultaneous warehousing process and the simultaneous warehousing process are article conveyance processes for selecting all of the two stacker cranes 4 as stacker cranes that perform an article conveyance operation.
The first single entry process and the first single delivery process are article transport processes for selecting the first stacker crane 4a of the two stacker cranes 4 as a stacker crane that performs an article transport operation.
The second single entry process and the second single delivery process are article transport processes for selecting the second stacker crane 4b of the two stacker cranes 4 as a stacker crane for performing an article transport operation.

Based on the flow chart of FIG. 4, description will be given of which process among the plurality of processes is performed by the operation control unit H based on the article transport request information and the performance changing operation condition.
The operation control means H selects and executes the simultaneous warehousing process when the article conveyance request information requests warehousing of a plurality of articles B (steps 1 and 2).
The said operation control means H will give the ratio (24/25) corresponding to a target ratio to the 1st operation | movement result Q1 of the 1st stacker crane 4a, if goods conveyance request information requires receipt of one goods B. It is determined whether or not the multiplied first target operation result P1 (= Q1 × 24/25) is smaller than the second operation result Q2 of the second stacker crane 4b (steps 3 and 4). Then, when the first target operation result P1 is smaller than the second operation result Q2, the operation control means H selects and executes the first single warehousing process (step 5), and the first target operation result P1 is the first target operation result P1. If it is equal to or greater than the second operation record Q2, the second single warehousing process is selected and executed (step 6).

The operation control means H selects and executes a simultaneous delivery process when the article transport request information requests delivery of a plurality of articles B (steps 7 and 8).
The said operation control means H will give the ratio (24/25) corresponding to a target ratio to the 1st operation | movement performance Q1 of the 1st stacker crane 4a, if the goods conveyance request information is what requests | requires delivery of one goods B. It is determined whether or not the multiplied first target operation result P1 (= Q1 × 24/25) is smaller than the second operation result Q2 of the second stacker crane 4b (steps 9 and 10). Then, when the first target operation result P1 is smaller than the second operation result Q2, the operation control means H selects and executes the first single delivery process (step 11), and the first target operation result P1 is the first target operation result P1. If it is equal to or greater than the second operation record Q2, the second single delivery process is selected and executed (step 12).

The equipment of the stacker crane 4 includes various sensors, brakes, and the like, which are consumed by use of an article conveying operation.
The operation control means H selects the article conveying operation among the two stacker cranes 4 based on the actual condition for changing the performance, and performs the article conveying process, whereby the first operation result of the first stacker crane 4a. The ratio between Q1 and the second operation result Q2 of the second stacker crane 4b is Q1: Q2 = 25: 24. Therefore, the second stacker crane 4b can use the equipment device for a shorter period of time than the first stacker crane 4a, and the wear of the equipment device due to the article conveying operation can be suppressed accordingly.
And in this embodiment, about the 1st stacker crane 4a with a long use period of equipment equipment, when the use period of the equipment equipment turns into a setting period, it will be the exchange timing of equipment equipment, for example, the 1st stacker crane 4a The replacement timing of equipment in is set every 24 months.
On the other hand, the second stacker crane 4b in which the use period of the equipment is short can delay the replacement timing of the equipment as compared with the first stacker crane 4a.

  Incidentally, the replacement timing of the equipment is determined for each equipment such as various sensors and brakes, and the replacement timing of the equipment is changed between the first stacker crane 4a and the second for each of the plurality of equipment. The stacker crane 4b can be different.

In this way, when the replacement timing of the equipment in the first stacker crane 4a is different from the replacement timing of the equipment in the second stacker crane 4b, the first stacker crane 4a becomes the replacement timing of the equipment. In the case of the first stacker crane 4a, the second stacker crane 4b can perform the article conveying operation even if the equipment is replaced. On the contrary, when the second stacker crane 4b has reached the replacement timing of the equipment, the first stacker crane 4a can perform the article conveying operation.
When exchanging the equipment, if the article transportation operation is in progress, the article transportation operation is performed, and then the stacker crane 4 is moved to a retreat location or the like to perform the equipment equipment exchange operation. Although illustration is abbreviate | omitted about a evacuation location, it arrange | positions at the both ends location of the traveling rail 7 so that it may become outside the range which the stacker crane 4 moves horizontally for goods conveyance operation | movement.

  Further, if the replacement timing of the equipment in the first stacker crane 4a is every 24 months, Q1: Q2 = 25: 24. Therefore, the replacement timing of the equipment in the second stacker crane 4b is more than that of the first stacker crane 4a. Can be delayed for one month. If the inspection timing of the equipment to be inspected about the equipment is taken every other month, the replacement timing of the equipment in the second stacker crane 4b can be matched with the inspection timing of the equipment, The equipment of the two stacker cranes 4b can be replaced at the same time.

Hereinafter, the operations of the two stacker cranes 4 in the simultaneous warehousing process, the first single warehousing process, the second single warehousing process, the simultaneous merging process, the first singly warehousing process, and the second single warehousing process are shown in FIG. This will be described with reference to FIG.
5 to 10 are side views in which a part of the article storage facility is omitted. The article support unit 3 for loading / unloading is located at the left end, and the article storage unit is located on the right side of the article support unit 3 for loading / unloading. Shelf 2 is located.

First, the operation | movement in a simultaneous warehousing process is demonstrated based on FIG. In this simultaneous warehousing process, all the two stacker cranes 4 of the first stacker crane 4a and the second stacker crane 4b are operated to carry goods and carry in the goods.
Incidentally, when this simultaneous warehousing process is executed, the article B is placed on both the first and second cargo receiving trays 13a and 13b. The article B to be stored on the back side is placed on the second receiving tray 13b.

The ground-side controller 9 issues an entry command to both the first crane control device 26A in the first stacker crane 4a and the second crane control device 26B in the second stacker crane 4b.
The warehousing command for the first crane control device 26A is a command for storing the article B placed on the first cargo receiving table 13a in the storage unit 1, and the goods on the warehousing side corresponding to the first cargo receiving table 13a. The lifting / lowering target stop position and the travel target stop position are commanded for the transfer position and the shelf-side article transfer position corresponding to the storage unit 1 in which the article B is to be stored.
The warehousing command for the second crane control device 26B is a command for storing the article B placed on the second cargo receiving table 13b in the storage unit 1, and the goods on the warehousing side corresponding to the second cargo receiving table 13b. The lifting / lowering target stop position and the travel target stop position are commanded for the transfer position and the shelf-side article transfer position corresponding to the storage unit 1 in which the article B is to be stored.
Further, for the storage unit 1 in which the article B is to be stored, in the horizontal movement direction of the stacker crane 4, the warehousing command for the first crane control device 26A is more for warehousing than the warehousing command for the second crane control device 26B. Commanded to be closer to the article support 3.

The first crane control device 26A and the second crane control device 26B are basically configured to execute the same processing, although the receiving tray 13 that receives the item B and the storage unit 1 that stores the item B are different. Has been.
In the first crane control device 26A, first, as shown by a dotted line in the figure, the first stacker crane 4a receives the article B placed on the first load receiving base 13a, and the traveling control by the traveling control unit 23a is performed. Elevation control by the control unit 23b and transfer control by the transfer control unit 23c are performed. Next, as shown by the solid line in the figure, the first stacker crane 4a stores the received article B in the storage unit 1 to store the travel control by the travel control unit 23a, the lift control by the lift control unit 23b, And the transfer control by the transfer control part 23c is performed.
In the second crane control device 26B, first, as shown by the dotted line in the figure, the second stacker crane 4b receives the article B placed on the second load receiving table 13b, and then, as shown by the solid line in the figure. The second stacker crane 4b stores the received article B in the storage unit 1 to store the travel control by the travel control unit 23a, the lift control by the lift control unit 23b, and the transfer by the transfer control unit 23c. Take control.

  Next, the first single storage process will be described with reference to FIG. This first warehousing process is to carry out warehousing by moving the first stacker crane 4a, which is the stacker crane 4 located on the article support part 3 side for warehousing, out of the two stacker cranes 4. is there.

The ground-side controller 9 issues a storage command to the first crane control device 26A and issues a standby command or a purge command to the second crane control device 26B.
The standby command is a command for causing the second stacker crane 4b to stand by on the spot.
The eviction command is a command for moving the second stacker crane 4b outside the article transport movement range W in which the first stacker crane 4a moves to perform the article transport operation. In this eviction command, the target stop position for travel of the storage unit 1 located at the nearest position outside the article transport movement range W in the horizontal direction away from the first stacker crane 4a is commanded.

  The ground-side controller 9 manages the current position of the first stacker crane 4a and the current position of the second stacker crane 4b through communication with the crane control device 26, and stores the article B commanded by the warehousing command. Based on the position of the storage unit 1 to be set, an article transport movement range W in which the first stacker crane 4a moves to perform an article transport operation is set. Then, as shown by the solid line in the figure, the ground-side controller 9 issues a standby command that the current position of the second stacker crane 4b is outside the article transport movement range W, and the second controller 9 as shown by the dotted line in the figure. If the current position of the stacker crane 4b is within the movement range W for article conveyance, a purge command is issued.

In the first crane control device 26A, first, as shown by the dotted line in the figure, the first stacker crane 4a receives the article B placed on the first load receiving table 13a, and then, as shown by the solid line in the figure. The first stacker crane 4a stores the received article B in the storage unit 1 to store the traveling control by the traveling control unit 23a, the lifting control by the lifting control unit 23b, and the transfer by the transfer control unit 23c. Take control.
In the second crane control device 26B, when a standby command is issued, as shown by the solid line in the figure, the travel control by the travel control unit 23a, the elevation control by the elevation control unit 23b, and the transfer by the transfer control unit 23c. The second stacker crane 4b is made to wait on the spot without performing control.
In addition, in the second crane control device 26B, when an eviction command is issued, as shown by a solid line in the figure from the dotted line in the figure, the traveling target stop position outside the article conveyance movement range W in which the traveling carriage 10 is instructed. In order to be positioned at the position, the travel control by the travel control unit 23a is performed.
In this way, the selected first stacker crane 4a selected by the operation control means H based on the actual condition changing operation condition is selected based on the actual condition changing operation condition. It is moved horizontally outside the movement range W for article conveyance.

  Next, the second single warehousing process will be described based on FIG. In the second single storage process, the second stacker crane 4b, which is the stacker crane 4 located on the article storage shelf 2 side, is moved by the article transport operation to perform the storage.

The ground-side controller 9 issues an HP purge command to the first crane controller 26A, and issues a warehouse command to the second crane controller 26B in the second stacker crane 4b.
In this HP eviction command, the second stacker crane 4b moves to move the first stacker crane 4a out of the article transport movement range W to perform the article transport operation. Command the target stop position for travel for the goods transfer position on the exit side.

In the first crane control device 26A, the traveling control unit 23a performs traveling control so that the traveling carriage 10 is positioned at the traveling target stop position with respect to the article transfer position on the loading / unloading side corresponding to the first load receiving table 13a.
In this way, the selected second stacker crane 4b selected by the operation control means H based on the actual condition changing operation condition is selected based on the actual condition changing operation condition. It is moved horizontally outside the movement range W for article conveyance.
In the second crane control device 26B, first, as shown by the dotted line in the figure, the second stacker crane 4b receives the article B placed on the second load receiving table 13b, and then, as shown by the solid line in the figure. The second stacker crane 4b stores the received article B in the storage unit 1 to store the travel control by the travel control unit 23a, the lift control by the lift control unit 23b, and the transfer by the transfer control unit 23c. Take control.

Next, the simultaneous shipping process will be described with reference to FIG. In this simultaneous shipping process, the two stacker cranes 4 of the first stacker crane 4a and the second stacker crane 4b are operated to carry out the goods, and the shipping is performed.
The ground-side controller 9 issues a delivery command to both the first crane control device 26A and the second crane control device 26B.
The delivery command for the first crane control device 26A is a command for taking out the article B stored in the storage unit 1 to the first load receiving table 13a, and the shelf-side article corresponding to the storage unit 1 from which the article B is to be taken out. The lift target stop position and the travel target stop position are commanded for the transfer position and the goods transfer position on the loading / unloading side corresponding to the first load receiving table 13a.
The delivery command for the second crane control device 26B is a command for taking out the article B stored in the storage unit 1 to the second load receiving tray 13b, and the shelf-side article corresponding to the storage unit 1 from which the article B is to be taken out. A lift target stop position and a travel target stop position are instructed for the transfer position and the goods transfer position on the loading / unloading side corresponding to the second receiving platform 13b.
For the storage unit 1 from which the article B is to be taken out, in the horizontal movement direction of the stacker crane 4, the delivery command for the first crane control device 26 </ b> A is better than the delivery command for the second crane control device 26 </ b> B. Commanded to be closer to support 3.

Although the first crane control device 26A and the second crane control device 26B are different in the storage unit 1 from which the article B is to be taken out and the load receiving stage 13 to which the taken out article B is transferred, basically the same processing is executed. Is configured to do.
In the first crane control device 26A, first, as shown by a solid line in the figure, the first stacker crane 4a takes the travel control by the travel control unit 23a and the elevation control unit 23b to take out the article B stored in the storage unit 1. Ascending / descending control by, and transfer control by the transfer control unit 23c are performed. Next, as shown by the dotted line in the figure, the first stacker crane 4a transfers the article B taken out to the first load receiving table 13a, the traveling control by the traveling control unit 23a, the lifting control by the lifting control unit 23b, And the transfer control by the transfer control part 23c is performed.
In the second crane control device 26B, first, as shown by a solid line in the drawing, the second stacker crane 4b takes out the article B stored in the storage unit 1 that is different in the horizontal movement direction of the traveling carriage 7, and next, FIG. As shown by the middle dotted line, the second stacker crane 4b transfers the article B taken out to the second load receiving tray 13b, travel control by the travel control unit 23a, elevation control by the elevation control unit 23b, and transfer. Transfer control is performed by the control unit 23c.

Next, the first single delivery process will be described with reference to FIG. In the first single delivery process, the first stacker crane 4a is operated to carry the article and the delivery is performed.
The ground-side controller 9 issues a delivery command to the first crane control device 26A, and the current position of the second stacker crane 4b is within the article transport movement range W, as in the first independent entry process. Depending on whether or not there is, a standby command or a purge command is issued to the second crane control device 26B.
Incidentally, FIG. 9 illustrates a case where the current position of the second stacker crane 4b is outside the article transport movement range W.

In the first crane control device 26A, first, as shown by the solid line in the figure, the first stacker crane 4a takes out the article B stored in the storage unit 1, and then, as shown by the dotted line in the figure, the first The stacker crane 4a performs traveling control by the traveling control unit 23a, elevation control by the elevation control unit 23b, and transfer control by the transfer control unit 23c so as to transfer the article B taken out to the first load receiving table 13a. .
In the second crane control device 26B, when a standby command is issued, the second stacker does not perform the travel control by the travel control unit 23a, the elevation control by the elevation control unit 23b, and the transfer control by the transfer control unit 23c. The crane 4b is made to stand by on the spot. Further, in the second crane control device 26B, when an expulsion command is commanded, the travel control by the travel control unit 23a is performed so that the travel cart 10 is positioned at the travel target stop position outside the commanded article transport movement range W. I do. In this way, the selected first stacker crane 4a selected by the operation control means H based on the actual condition changing operation condition is selected based on the actual condition changing operation condition. It is moved horizontally outside the movement range W for article conveyance.

Next, the second single delivery process will be described based on FIG. In the second single exiting process, the second stacker crane 4b is operated to convey the article to perform the exiting.
The ground-side controller 9 issues an HP purge command to the first crane control device 26A and issues a delivery command to the second crane control device 26B.
In the first crane control device 26A, the traveling control unit 23a performs traveling control so that the traveling carriage 10 is positioned at the traveling target stop position with respect to the article transfer position on the loading / unloading side corresponding to the first load receiving table 13a. In this way, the selected second stacker crane 4b selected by the operation control means H based on the actual condition changing operation condition is selected based on the actual condition changing operation condition. It is moved horizontally outside the movement range W for article conveyance.
In the second crane control device 26B, the second stacker crane 4b first takes out the article B stored in the storage unit 1, and then the second stacker crane 4b takes the article B taken out to the first load receiving table 13a. In order to transfer, traveling control by the traveling control unit 23a, lifting control by the lifting control unit 23b, and transfer control by the transfer control unit 23c are performed.

[Another embodiment]
(1) In the above embodiment, the two stacker cranes 4 move horizontally on the same traveling rail 7, but, for example, as shown in FIG. Two traveling rails 7 extending in parallel can be arranged in parallel, and two stacker cranes 4 can be provided so as to move different traveling rails 7 horizontally.
In this case, the first stacker crane 4a located on the left side in the figure carries the article between the article support part 3a for first loading / unloading and the first article storage shelf 2a, and the first stacker crane 4a located on the left side in the figure. The two stacker cranes 4b carry the articles between the article support section 3b for second loading / unloading and the second article storage rack 2b. And although illustration is abbreviate | omitted, the loading / unloading conveyor which connects the goods carrying in / out location, the goods support part 3a for 1st loading / unloading, and the goods support part 3b for 2nd loading / unloading is provided. For example, when the first stacker crane 4a is operated to carry the goods, the incoming / outgoing conveyor conveys the incoming goods from the loading / unloading location to the first loading / unloading article support 3a.

(2) In the above embodiment, the operation condition for changing results is a target ratio for the operation results of the two stacker cranes 4, and the operation control means H is a ratio of the operation results of the two stacker cranes 4. The stacker crane 4 that performs the article transfer operation is selected from the two stacker cranes 4 so as to perform the article transfer process so that the target ratio is, for example, After the first stacker crane 4a has been conveyed for the first set number of times, the number of times of performing the article conveyance operation for repeating the second stacker crane 4b to be conveyed for the second set number of times different from the first set number of times is determined. Various conditions such as conditions can be applied.

(3) In the above embodiment, the target ratio between the first operation result Q1 of the first stacker crane 4a and the second operation result Q2 of the second stacker crane 4b is Q1: Q2 = 25: 24. The value can be changed as appropriate.

(4) In the above embodiment, when the use period of the equipment of the first stacker crane 4a reaches the set period, it is assumed that it is the replacement timing of the equipment. For example, the equipment of the first stacker crane 4a When the number of uses reaches the set number of times, it is possible to change the timing of replacing the equipment when the equipment is in use, such as when it is time to replace the equipment. It is.

( 5 ) In the above embodiment, a single lifting post 14 is provided on the traveling carriage 10 so as to guide and support the lifting platform 11 so as to be movable up and down. However, the number of the lifting posts 14 standing on the traveling carriage 10 is as follows. For example, the elevating post 14 can be erected at each of both end portions of the traveling carriage 10 in the horizontal movement direction.

( 6 ) In the above embodiment, the traveling rotary encoder 23 and the lifting rotary encoder 22 are provided for detecting the traveling position of the traveling carriage 10 on the traveling path and the lifting position of the lifting platform 11 on the lifting path. However, it is also possible to detect the travel position of the traveling carriage 10 on the traveling path and the ascending / descending position of the lifting platform 11 on the lifting path using a laser range finder, and various sensors can be applied. it can.

( 7 ) Although the example which provided the two stacker cranes 4 was shown in the said embodiment, it is also possible to provide and implement three or more stacker cranes 4. FIG.

( 8 ) In the above-described embodiment, an example in which the article transporting apparatus according to the present invention is applied to an article storage facility including a plurality of stacker cranes 4 has been described. An article that is installed on a track and can be applied to an article transport facility provided with a plurality of article transport vehicles as a moving body for transporting articles on the track, and is movable across a plurality of article transfer locations. The present invention can be applied to various facilities provided with a plurality of transfer moving bodies.

Perspective view of goods storage equipment Side view of stacker crane Block diagram of goods storage equipment Flow chart showing control operation of operation control means The figure which shows operation of the stacker crane in simultaneous warehousing processing The figure which shows the operation of the stacker crane in the first single warehousing process The figure which shows operation | movement of the stacker crane in the 2nd single warehousing process Diagram showing the operation of the stacker crane in the simultaneous shipping process The figure which shows operation | movement of the stacker crane in the 1st single leaving process The figure which shows operation | movement of the stacker crane in the 2nd single leaving process Schematic plan view of the article storage facility in another embodiment

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,3 Article transfer location 4 Mobile body for goods conveyance 7 Orbit H Operation control means W Movement range for goods conveyance

Claims (3)

Operation control for controlling the operation of the plurality of mobile bodies so that a plurality of mobile bodies for transporting articles are provided over a plurality of article transfer locations, and the article transport processing according to the article transport request information is performed. An article conveying apparatus provided with means,
The operation control means is an article out of the plurality of moving bodies, based on the operation condition for changing the performance so as to change the operation results in order to change the replacement timing of the equipment for each of the plurality of moving bodies. It is configured to select the moving body that performs the transport operation and perform the article transport processing ,
The article transport request information is information indicating the number of articles requested to be transported,
The operation control means selects all of the plurality of moving bodies or a part of the plurality of moving bodies as a moving body for performing the article transporting operation according to the number of articles indicated by the article transport request information. The article is configured to perform the article conveyance process, and when selecting a part of the plurality of movable bodies, the movable body performs an article conveyance operation based on the performance changing operation condition. An article conveying device configured to select . The operation condition for changing the results is a target ratio for the operation results of each of the plurality of moving bodies,
The article conveyance according to claim 1, wherein the operation control unit is configured to control the operation of the plurality of moving bodies so that a ratio of operation results of the plurality of moving bodies becomes the target ratio. apparatus. The plurality of moving bodies are configured to move on the same track,
The selected moving body selected based on the performance changing operation condition moves the non-selected moving body not selected based on the performance changing operating condition by the operation control means to perform the article transport operation. The article conveying apparatus according to claim 1 or 2, wherein the article conveying apparatus is configured to control the operation of the plurality of moving bodies so as to be moved out of an article conveying movement range .

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