JP5807618B2 - Goods storage facility - Google Patents

Description

  The present invention provides a plurality of article storage units for storing articles, an article storage / exit unit, an article storage unit including a fire suppression unit for suppressing a fire of an article in which a fire has occurred, the article storage unit, and the article storage / exit An article conveying device that conveys the article taken out from the section in a state of being held at a set holding position, and delivers the held article to the article storage section, the article loading / unloading section, and the fire suppression section; A fire detection device that detects that a fire has occurred in an article stored in the article storage section, and extinguishes the fire to extinguish the article when the fire detection device detects that a fire has occurred in the article. A fire extinguishing device for spraying an agent and an operation control device for controlling the operation of the article conveying device, and when the operation control device does not detect the occurrence of a fire in the fire detection device, the plurality of article storage Part and said article When carrying out the loading / unloading transport process for transporting articles to / from the unloading unit and the occurrence of a fire is detected by the fire detection device, or after the fire extinguishing agent is sprayed by the fire extinguishing device or An article storage facility configured to perform a fire transport process for transporting articles from the plurality of article storage units to the fire suppression unit in order to transport the fired articles to the fire suppression unit during spraying .

  Such an article storage facility can quickly extinguish an article fire by spraying a fire extinguisher with a fire extinguishing device when a fire detection device detects that a fire has occurred in the article. The control device executes fire transfer processing and transports the fired article to the fire extinguishing unit so that the fire of the article can be reliably extinguished (see, for example, Patent Document 1).

  Although not described in Patent Document 1, generally, it is detected whether or not an article held in the article transport device protrudes from a set holding area obtained by adding a margin area to an existing area of an article located at a set holding position. The overrun detection sensor will be provided, and the operation control device will be used for loading and unloading on the condition that the overhang detection sensor does not detect the overhang from the set holding area of the article held in the article transport device. It will be comprised so that a conveyance process and a conveyance process for fire may be performed.

In other words, if an article held in the article transport device protrudes from the setting holding area, the article may collide with a member such as a pillar that forms the article storage unit while the article is being transported by the article transport device. Therefore, the entry / exit transfer process and the fire transfer process are executed on condition that the protrusion detection sensor does not detect the protrusion from the set holding area of the article held in the article transfer device. Become.
The protrusion detection sensor is generally configured using an optical sensor such as a photo interrupter type optical sensor.

JP 2012-25549 A

  Conventional article storage equipment uses an optical sensor to detect whether or not an article held by the article transport device protrudes from the set holding area. A fire extinguisher is sprayed by the fire extinguisher, or a fire extinguisher is sprayed by the fire extinguisher to the area where the fire occurred article exists. As a result, the optical sensor cannot properly detect whether or not the article held by the article conveying device protrudes from the setting holding area, and as a result, there is a possibility that the fire conveying process cannot be performed properly. Improvement was desired.

That is, when the fire extinguisher uses, for example, liquefied carbon dioxide gas stored in a carbon dioxide gas cylinder as a fire extinguisher, the carbon dioxide gas is sprayed (spouted) to extinguish the fired article. As a result, the sprayed part and its surroundings are cooled to a low temperature, and white smoke is generated in the sprayed part and its surroundings.
When white smoke is generated in this way, the detection light of the optical sensor is blocked by the white smoke, so that the article held by the article transport device is not protruding from the setting holding area. Therefore, there is a possibility that the optical sensor may erroneously detect that the article held by the article conveying device is protruding, and as a result, the article is not conveyed out of the set holding area. There is a risk that the processing cannot be performed properly.

  Incidentally, the inconvenience of being unable to carry out the fire handling process properly as described above is that even if the fire extinguisher uses a fine powder fire extinguisher as the extinguisher, the detection of the optical sensor with the sprayed fire extinguisher Since there is a possibility that light may be shielded, there is a possibility that it may occur similarly.

  The present invention has been made in view of the above circumstances, and its purpose is to prevent the article held by the article transporting device from protruding from the set holding area even when the extinguishing agent is sprayed by the fire extinguishing device. Therefore, it is possible to accurately detect whether or not there is an article storage facility capable of appropriately performing a fire transfer process.

The article storage facility of the present invention includes a plurality of article storage units that store articles, an article storage / exit unit, and an article storage unit that includes a quenching unit that suppresses a fire of an article in which a fire has occurred,
The article taken out from the article storage unit and the article storage / removal unit is transported while being held at a set holding position, and the held article is received by the article storage unit, the article storage / extraction unit, and the fire suppression unit. An article conveying device to be passed;
A fire detection device for detecting that a fire has occurred in an article stored in a plurality of the article storage units;
A fire extinguishing device that sprays a fire extinguishing agent to extinguish the fire of the article when the fire detection device detects that a fire has occurred in the article;
An operation control device for controlling the operation of the article conveying device,
When the operation control device does not detect the occurrence of a fire in the fire detection device, it executes a loading / unloading conveyance process for conveying an article between the plurality of article storage units and the article loading / unloading unit, and When the occurrence of a fire is detected by the fire detection device, a plurality of fired articles are transported to the extinguishing unit after the extinguishing agent is sprayed by the fire extinguishing device or during the spraying of the extinguishing agent. It is configured to execute a conveyance process for fire that conveys an article from the article storage unit to the fire suppression unit, and the first characteristic configuration is
An ultrasonic sensor that detects whether or not an article held by the article transporting device protrudes from a setting holding area obtained by adding a margin area to an existing area of the article located at the setting holding position is provided in the article conveying apparatus. Provided,
On the condition that the operation control device does not detect the protrusion of the article held by the article conveyance device from the set holding area by the ultrasonic sensor, the loading / unloading conveyance process and the fire conveyance process It is configured to run,
Articles from the article storage unit and the article loading / unloading unit by the article transfer device in which the article transfer device transfers articles between the article storage unit, the article loading / unloading unit, and the fire suppression unit And the delivery of articles to the article storage unit, the article storage / extraction unit, and the fire suppression unit,
The article transfer device is capable of placing and holding an article at the set holding position and placing and conveying the article in the transfer and conveyance direction, and a loading and conveying action of the loading and conveying unit; and the transfer and conveyance direction; Can be switched between an article locking position for locking the article and an unlocking position for releasing the locking of the article by movement in a direction orthogonal to each other, and the range overlapping the above-described transporting section and the above description An article is transferred by a locking and conveying action by a locking body that is movable along the transfer and conveying direction over a range that projects outward from the placing and conveying unit;
At the end of the transfer and transfer direction of the article, a locked portion that is engaged with the lock body so as to be able to push and pull in the transfer and transfer direction is provided.
The article transfer device is provided with an optical article detection sensor for detecting an article located at the set holding position,
The ultrasonic sensor is provided at each of the locations corresponding to both sides of the setting holding region in the transfer conveyance direction;
The operation control device is
When the article is taken out from the article storage unit and the article loading / unloading unit and transferred to the set holding position in the loading / unloading conveyance process,
When the placement and transport unit is operated so as to transport the article toward the set holding position, and after the article is detected by the article detection sensor, the entry / exit setting stop condition is satisfied, the article is In the form of stopping the above-described placement and transport section as being in a state of being set to the holding position, controlling the operation of the above-described placement and transport section; and
Engage the locking body with the locked portion of the article located in the article storage section and the article loading / unloading section at a position projecting outward from the placement conveyance section in the transfer conveyance direction. So that the article is locked and conveyed toward the set holding position at the same speed as the conveyance speed of the placement and conveyance unit. And the operation of the locking body is controlled in such a manner that the locking body is switched to the unlocking position when the article is placed on the loading and transporting section and transported. And
When the article is taken out from the article storage unit and transferred to the set holding position in the fire transfer process,
The placement conveyance unit is operated so as to convey the article toward the set holding position, and the ultrasonic sensor located on the upper side in the article moving direction of the ultrasonic sensors detects the presence of the article. Then, when the set stop condition for fire is satisfied, or the absence of the article from the state where the ultrasonic sensor located on the upper side of the article moving direction in the ultrasonic sensor detects the presence of the article. When the setting stop condition for fire is satisfied after changing to the detection state, the operation of the placement and transport unit is controlled in a form in which the placement and transport unit is stopped assuming that the article is in the set holding position. And
The article clerk is engaged with the latched part of the article located in the article storage part at a position protruding outward from the placement and conveyance part in the transfer and conveyance direction. Switching to the stop position, moving the locking body switched to the article locking position so that the article is locked and conveyed toward the set holding position at the same speed as the conveyance speed of the placement conveyance unit, and The article is configured to control the operation of the locking body in such a form that the locking body is switched to the locking release position when the article is placed on the mounting and transporting section and is transported . It is characterized by.

That is, it is detected by the ultrasonic sensor whether or not the article held in the article transport device protrudes from the setting holding area.
Then, the operation control device executes the loading / unloading conveyance process and the fire conveyance process on condition that the protrusion from the setting holding area of the article held in the article conveyance device by the ultrasonic sensor is not detected. become.
That is, when the ultrasonic sensor detects the protrusion of the article held in the article conveyance device from the setting holding area, the entry / exit conveyance process and the fire conveyance process are not executed.

  For example, when a fire extinguishing device uses liquefied carbon dioxide gas stored in a carbon dioxide gas cylinder as a fire extinguisher, the sprayed part where the carbon dioxide gas is sprayed (spouted) and its surroundings are cooled to a low temperature, Even if white smoke is generated in and around the location, the fire extinguishing device will be able to detect well when the projected ultrasonic waves for measurement propagate through the air as appropriate. Even in the state of spraying, the ultrasonic wave for measurement propagates appropriately in the air, so that the detection action can be satisfactorily performed.

  Therefore, even when a fire occurs in the article stored in the article storage unit and the extinguishing agent is sprayed by the fire extinguisher, the article held by the article transporting device protrudes from the setting holding region by the ultrasonic sensor. Therefore, when the article held in the article carrying device does not protrude from the setting holding area, the fire carrying process is appropriately executed.

  In short, according to the first characteristic configuration of the present invention, even when the extinguishing agent is sprayed by the fire extinguishing device, it is possible to accurately detect whether or not the article protrudes from the setting holding area, and the fire transfer process Can be provided as appropriate.

In addition , the article transport device is equipped with an article transfer device for transferring an article to and from the article storage unit, the article loading / unloading unit, and the fire suppression unit. The article is taken out from the article loading / unloading section, and the article is delivered to the article storage section, the article loading / unloading section, and the fire suppression section.

  And, the article transfer device is capable of placing and holding the article at the set holding position and placing and conveying the article in the transfer and transfer direction, and the transfer action and the transfer and transfer direction. By switching in the orthogonal direction, it is possible to switch between an article locking position for locking the article and an unlocking position for releasing the locking to the article, and a range overlapping with the loading conveyance section and the loading conveyance section Since the article is transferred by the locking and conveying action by the locking body that is movable along the transfer and conveying direction over a range that protrudes outward, the article storage unit and the article loading / unloading unit The article can be taken out from the container, and the article can be appropriately delivered to the article storage unit, the article storage / extraction unit, and the fire suppression unit.

  That is, when the article is taken out from the article storage unit and the article storage / removal unit, the article positioned in the article storage unit and the article storage / removal unit is obtained by the locking body locking and conveying the article toward the placement conveyance unit. It can be accurately taken out in a state where it is transported by the loading and transporting section, and when the article is delivered to the article storage section, the article loading / unloading section, and the fire extinguishing section, the latching body transfers the article to the article storage section. The articles placed on the loading / conveying section are accurately transferred to the article storage section, the article loading / unloading section, and the fire suppression section by locking and transporting the articles toward the article storage / retrieval section and the fire suppression section. be able to.

  Further, the article transfer device is provided with an optical article detection sensor for detecting an article located at the set holding position, and the article is taken out from the article storage unit and the article loading / unloading unit in the loading / unloading conveyance process. When transferring to the set holding position, the operation of the loading / conveying unit in the article transfer device is controlled based on the detection information of the article detection sensor.

In other words, in the loading / unloading conveyance process, when the article is taken out from the article storage unit and the article loading / unloading unit and transferred to the setting holding position, the loading / unloading unit is configured to convey the article toward the setting holding position. And when the article detection sensor detects the article, and when the entry / exit setting stop condition is satisfied, the loading and conveying unit is stopped as if the article is in the set holding position. The operation of the loading / conveying unit is controlled.
And about a latching body, in the position which protruded outward rather than the mounting conveyance part in the transfer conveyance direction, a latching body is to the to-be-latched part of the article located in an article storage part and an article loading / unloading part. Switch to the article locking position to engage, and move the locking body switched to the article locking position so that the article is locked and conveyed toward the set holding position at the same speed as the conveyance speed of the placement conveyance unit. And, when the article is placed on the placement conveyance unit and is conveyed, its operation is controlled in such a manner that the engagement body is switched to the engagement release position.

  By the way, the setting stop condition for loading / unloading is the time required for the article to be conveyed to the set holding position after the article is detected by the article detection sensor, or after the article is detected by the article detection sensor. The condition is set based on the transport distance until the article is transported to the set holding position.

  On the other hand, when an article is taken out from the article storage unit and transferred to the set holding position in the fire transfer process, it is provided at each of the locations corresponding to both sides of the set holding area in the transfer transfer direction. Based on the detection information of the ultrasonic sensor located on the upper side in the article moving direction among the ultrasonic sensors, the operation of the placement conveyance unit in the article transfer device is controlled.

In other words, when the article is taken out from the article storage unit and transferred to the set holding position in the transfer process for fire, the placement conveyance unit is operated so as to convey the article toward the set holding position, and After the ultrasonic sensor located on the upper side of the article movement direction in the ultrasonic sensor detects the presence of the article, the fire set stop condition is satisfied, or on the upper side of the ultrasonic sensor in the article movement direction. It is assumed that the article is positioned at the set holding position when the set stop condition for fire is satisfied after the ultrasonic sensor located is changed from the state detecting the presence of the article to the state detecting the non-existence of the article. The operation of the mounting and transporting unit is controlled in such a manner that the mounting and transporting unit is stopped.
And about a latching body, a latching body is made to engage with the to-be-latched part of the article located in an article storage part in the position which protruded outward rather than the mounting conveyance part in the transfer conveyance direction. Switch to the article locking position, move the locking body switched to the article locking position so that the article is locked and conveyed toward the set holding position at the same speed as the conveyance speed of the placement conveyance unit, and the article is When it is placed on the placement conveyance unit and is conveyed, its operation is controlled in such a manner that the engagement body is switched to the engagement release position.

  By the way, the fire stop condition is that the ultrasonic sensor located on the upper side of the article movement direction detects the presence of the article, or the ultrasonic sensor located on the upper side of the article movement direction indicates that the article exists. This is a condition that is set based on the conveyance time and conveyance distance required for the article to be conveyed to the set holding position after changing from the detecting state to the state in which the absence of the article is detected.

  As described above, when the article is taken out from the article storage unit and the article entry / exit unit and transferred to the set holding position in the loading / unloading conveyance process, the article is based on the detection information of the optical article detection sensor. Although the operation of the loading / conveying unit in the transfer device is controlled, when the article is taken out from the article storage unit and transferred to the set holding position in the fire conveying process, an optical article detection is performed. In view of the possibility that the sensor may not detect properly as a result of the fire extinguisher being sprayed, of the ultrasonic sensors provided at each of the locations corresponding to both sides of the setting holding region in the transfer and transport direction By controlling the operation of the placing and conveying unit in the article transfer device based on the detection information of the ultrasonic sensor located on the upper side in the article moving direction, the carrying process for fire can be appropriately performed.

In short, according to the first characterizing feature of the present invention, the article transfer device provided with a locking member for conveying locking the placement transport unit and an article for placing transporting objects article, the article storage portion and the article inlet It is possible to appropriately take out articles from the unloading section and deliver the articles to the article storing section, the article loading and unloading section, and the fire extinguishing section. Article storage that can properly take out articles from the loading / unloading section and transfer them to the set holding position, or take out articles from the article storage section and transfer them to the setting holding position in the fire transfer process Facilities can be provided.

In addition to the first feature configuration described above, the second feature configuration of the article conveyance facility of the present invention includes:
An optical type that detects that the conveyance position of the article conveyed from the set holding position to the outside by the placement conveyance unit is a reference timing for controlling the operation of the locking body. A timing detection sensor is provided,
The operation control device is
When transferring the article held at the set holding position to the article storage unit and the article entry / exit unit in the loading / unloading conveyance process,
Controlling the operation of the placement and transport section in the form of operating the placement and transport section so as to transport the article from the set holding position toward the article storage section and the article storage / exit section; and
When the setting operation start condition is satisfied after the reference timing is detected by the timing detection sensor, the locking body waiting at the locking release position at the standby position in the transfer conveyance direction, It is moved toward the entry / exit setting protrusion position determined corresponding to the article storage part and the article entry / exit part at the same speed as the transport speed of the placement conveyance part, and toward the article locking position. Controlling the operation of the locking body in a form to be moved and engaged with the locked portion; and
In transferring the article held at the set holding position to the fire suppression unit in the fire transfer process,
In the form of operating the placement transport unit to transport the article from the set holding position toward the fire suppression unit, controlling the operation of the placement transport unit, and
When the ultrasonic sensor located on the lower side of the article moving direction among the ultrasonic sensors detects the presence of an article to be transported to the placement transport section, and the fire suppression setting start condition is satisfied, the transition is performed. A set-up protrusion for extinguishing the fire that is set in correspondence with the fire extinguishing part at the same speed as the transporting speed of the placing and transporting part, the locking body waiting at the unlocking position at the standby position in the loading and transporting direction. The operation of the locking body is controlled in such a manner that it is moved toward the position and moved toward the article locking position to switch to a state in which the outer surface on the rear side in the article moving direction of the article is pushed. It is characterized by being configured to do so.

  That is, an optical timing detection that detects that the transport position of an article transported outward from the set holding position by the placement transport unit to the article transfer device is a reference timing for controlling the operation of the locking body. A sensor is provided, and when the article held at the set holding position is transferred to the article storage unit and the article entry / exit unit in the loading / unloading conveyance process, the detection information of the timing detection sensor is used. Then, the operation of the locking body in the article transfer device is controlled.

That is, when transferring the article held at the set holding position to the article storage unit and the article loading / unloading unit in the loading / unloading conveyance process, the article storage unit and the article loading / unloading unit from the set holding position. The operation of the placing and conveying unit is controlled in such a manner that the placing and conveying unit is actuated so as to convey toward the head.
And about a latching body, when a setting operation start condition is satisfied after it is detected that the conveyance position of the article is the reference timing by the timing detection sensor, the latch release position is set at the standby position in the transfer conveyance direction. And moving the locking body waiting in the direction toward the loading / unloading setting protrusion position determined in correspondence with the article storage unit and the article loading / unloading unit at the same speed as the conveyance speed of the placement conveyance unit, and The operation is controlled in such a manner that it is moved toward the article locking position and engaged with the locked portion of the article.

By the way, the standby position is a position corresponding to the upper side of the article moving direction in the range overlapping with the placement conveyance unit, and the set operation start condition is that the reference timing is detected by the timing detection sensor. To the locked part of the article to be transported is a condition set based on the time until the part to be transported to the position corresponding to the latching body located at the standby position and the transport distance.
Accordingly, the locking body that has started operating moves following the article being conveyed while continuing to be located at a position corresponding to the locked portion of the article. Engage with the locking portion.

  On the other hand, when transferring an article held at the set holding position to the fire extinguishing unit in the transfer process for fire, it is provided at each of the locations corresponding to both sides of the set holding area in the transfer transfer direction. The operation of the locking body in the article transfer device is controlled based on the detection information of the ultrasonic sensor located on the lower side in the article movement direction.

In other words, when transferring an article held at the set holding position to the fire suppression unit in the fire transfer process, the placement transfer unit is operated so as to transfer the article from the setting holding position toward the fire suppression unit. In this manner, the operation of the placement conveyance unit is controlled.
And about the latching body, after the ultrasonic sensor located in the lower side of the article moving direction among the ultrasonic sensors detects the presence of the article conveyed to the placement conveyance section, the fire extinguishing setting start condition is satisfied. And a fire extinguishing set projection position in which the locking body waiting at the unlocking position at the standby position in the transfer transport direction is determined corresponding to the fire suppression section at the same speed as the transport speed of the mounting transport section The operation is controlled in such a manner that the outer surface on the rear side in the article movement direction of the article is switched to a state in which the article is pushed and operated.

  By the way, the standby position is a position corresponding to the upper side of the article movement direction in the range overlapping with the placement conveyance unit, and the fire extinguishing setting start condition is the article movement direction of the ultrasonic sensor. After the ultrasonic sensor located on the lower side detects the presence of the article conveyed to the placement conveyance unit, the outer surface on the rear side in the article movement direction of the article conveyed is waiting at the standby position. This is a condition that is set based on the transport time and the transport distance required to reach a position on the lower side of the article moving direction than the body. The locking body switched to the stop position is switched to a state in which the outer surface on the rear side in the article moving direction of the article is pushed.

  Accordingly, the locking body that is moved toward the set extinguishing position for fire suppression determined corresponding to the fire suppression unit at the same speed as the transport speed of the mounting transport unit is used to place the article transported by the mounting transport unit. When the speed reaches the end of the transport section and decelerates or stops, the article is locked and transported to the fire extinguishing section by pushing the outer surface on the rear side in the article movement direction of the article.

In other words, since the ultrasonic waves for measurement projected from the ultrasonic sensor are in a form that spreads radially, the ultrasonic sensor detects the position of the article in the article movement direction with high accuracy. Therefore, it is difficult to accurately detect that the locked portion of the article is a position corresponding to the locking body at the standby position based on the detection information of the ultrasonic sensor. is there.
In other words, it is difficult to control the locking body to engage with the locked portion of the article based on the detection information of the ultrasonic sensor.

  When the article is taken out from the article storage unit and transferred to the set holding position in the loading / unloading conveyance process, the locking body is engaged with the locked portion of the article stored in the article storage unit. When the article held at the set holding position is transferred to the article storage unit and the article entry / exit unit in the loading / unloading conveyance process, the locking body is attached to the article. It is necessary to position the article with respect to the article storage unit and the article loading / unloading unit with high accuracy by engaging and engaging the locked portion.

  On the other hand, when the article is transferred to the fire extinguisher and the fire extinguisher is taken out by manual work, the position of the article with respect to the fire extinguishing part is reduced. Need not be positioned in a highly accurate state.

According to the second characteristic configuration, in view of these points, when the article held at the set holding position is transferred to the fire extinguishing unit, the ultrasonic sensor is positioned on the lower side in the article moving direction. After the ultrasonic sensor that detects the presence of the article conveyed to the placement conveyance unit, the outer surface on the rear side in the article movement direction of the article to be conveyed is more than the locking body waiting in the standby position. When the state is located on the lower side in the article moving direction, as described above, by starting the operation of the locking body, the locking body does not engage with the locked portion of the article. By pushing the outer surface on the rear side in the article moving direction of the article, the article is locked and conveyed.

  In setting the fire suppression setting start condition, the outer surface on the rear side in the article movement direction of the article to be conveyed is in a state in which a sufficiently large accommodation interval is separated from the locking body at the standby position. It is desirable to determine the transport time and transport distance described above.

In short, according to the second characteristic configuration of the present invention, in addition to the function and effect of the first characteristic configuration, in the loading / unloading conveyance process, the article held at the set holding position is stored in the article storage unit and the article loading / unloading. When transferring to the section, the position of the article relative to the article storage section and the article storage / retrieval section can be positioned with high accuracy, and is held at the set holding position in the fire transfer process. An article storage facility that can transfer articles with a simple configuration using an ultrasonic sensor provided to detect whether or not the articles protrude from the set holding area when the articles are transferred to the fire extinguishing section. Can provide.

In addition to the first or second feature configuration described above, the third feature configuration of the article transporting facility of the present invention includes:
When the operation control device takes out the article from the article storage unit and transfers it to the set holding position in the fire transfer process, the operation control apparatus is positioned on the upper side of the article moving direction in the ultrasonic sensor. When the ultrasonic sensor is in a state of detecting the presence of an article, an abnormality occurs when the ultrasonic sensor located on the lower side of the article moving direction in the ultrasonic sensor detects the presence of the article. It is characterized by being configured to determine that it is in a state.

  That is, when the article is taken out from the article storage unit and transferred to the set holding position in the fire transfer process, the ultrasonic sensor located on the upper side of the article moving direction among the ultrasonic sensors confirms the presence of the article. In the state of detection, when the ultrasonic sensor located on the lower side of the article moving direction among the ultrasonic sensors detects the presence of the article, it is determined that the operation control device is in an abnormal state. .

  In other words, the ultrasonic sensor located on the upper side of the article moving direction and the ultrasonic sensor located on the lower side of the article moving direction are provided at locations corresponding to both sides of the setting holding area in the transfer conveyance direction. Therefore, if one or both of the ultrasonic sensors fail to detect the presence of the article even though the article is not present, the ultrasonic wave is not detected at the same time. When the ultrasonic sensor located on the upper side of the article moving direction in the sensor is in a state of detecting the presence of the article, the ultrasonic sensor located on the lower side of the article moving direction of the ultrasonic sensor is In such a case, it is determined that the operation control device is in an abnormal state, and for example, the operation of the article conveying device is stopped or an alarm device is activated. By performing the countermeasure processing etc., it is possible to improve safety.

In short, according to the third characteristic configuration of the present invention, it is possible to provide an article storage facility that can improve safety in addition to the operational effects of the first or second characteristic configuration.

In addition to the first or second feature configuration described above, the fourth feature configuration of the article transporting facility of the present invention includes:
The operation control device is positioned on the upper side of the ultrasonic sensor in the article movement direction when taking out the article from the article storage unit and transferring it to the set holding position in the fire transfer process. When the ultrasonic sensor changes from a state where the presence of an article is detected to a state where the absence of an article is detected and then a fire setting stop condition is satisfied, the article is in a state where the article is positioned at the set holding position. It is configured to control the operation of the previous placement and transport unit in a form of stopping the previous placement and transport unit, and
When the ultrasonic sensor located on the upper side of the article movement direction in the ultrasonic sensor is in a state of detecting the presence of an article, the ultrasonic sensor is located on the lower side of the article movement direction. When the ultrasonic sensor detects the presence of an article, the ultrasonic wave located on the lower side of the article movement direction is operated by changing the conveyance direction to the reverse direction and operating the placement conveyance section. When the ultrasonic sensor that is reversely conveyed to the side away from the sensor and the ultrasonic sensor located on the upper side in the direction in which the article moves due to the reverse conveyance is in a state where it does not detect the presence of the article, the article is returned by the reverse conveyance. When the ultrasonic sensor located on the lower side in the moving direction detects the presence of an article, the ultrasonic sensor is configured to determine that an abnormality has occurred.

  That is, when the article is taken out from the article storage unit and transferred to the set holding position in the fire transfer process, the ultrasonic sensor located on the upper side of the article moving direction among the ultrasonic sensors confirms the presence of the article. When the setting stop condition for fire is satisfied after changing from the detecting state to the state detecting the non-existence of the article, in the form of stopping the placement transport unit as the article is in the state of being set at the holding position, The operation of the placing and conveying unit is controlled.

  When the article is taken out from the article storage unit and transferred to the set holding position in the fire transfer process, the ultrasonic sensor located on the upper side of the article moving direction among the ultrasonic sensors confirms the presence of the article. When the ultrasonic sensor located on the lower side of the article moving direction among the ultrasonic sensors detects the presence of the article when it is in the state of detection, the carrying direction is changed to the reverse direction by changing the carrying direction. Is operated to reversely convey the article to the side away from the ultrasonic sensor located on the lower side in the article moving direction.

  When the ultrasonic sensor located on the upper side in the movement direction of the article by this reverse conveyance is in a state where it does not detect the presence of the article, the superposition located on the lower side in the movement direction of the article by the reverse conveyance. When the ultrasonic sensor detects the presence of the article and regardless of the reverse conveyance, the ultrasonic sensor located on the upper side in the moving direction of the article by the reverse conveyance continues to detect the presence of the article. In this case, it is determined that the operation control device is in an abnormal state.

In other words, the ultrasonic sensor located on the upper side of the article moving direction and the ultrasonic sensor located on the lower side of the article moving direction are provided at locations corresponding to both sides of the setting holding area in the transfer conveyance direction. The presence of the article is not detected at the same time, but the ultrasonic sensor located on the upper side of the article moving direction is the presence of the article even though the article is not present. If the ultrasonic sensor does not change to a state in which the object is detected, the ultrasonic sensor does not change to a state in which the absence of the article is detected. In addition to the ultrasonic sensor, the ultrasonic sensor located on the lower side in the article moving direction also changes to a state where the article exists.
Note that the cause of failure of the ultrasonic sensor may be that foreign matter is scattered and attached to the ultrasonic sensor.

  When the ultrasonic sensor located on the upper side of the article moving direction in the ultrasonic sensor is in a state of detecting the presence of the article, the ultrasonic wave located on the lower side of the article moving direction in the ultrasonic sensor. When the sensor enters the state of detecting the presence of an article, it is not immediately determined that an abnormality has occurred, but the article is reversely transported away from the ultrasonic sensor located on the lower side in the article moving direction. In addition, when the ultrasonic sensor located on the upper side in the moving direction of the article by the reverse conveyance is in a state where it does not detect the presence of the article, the ultrasonic sensor located on the lower side in the moving direction of the article by the reverse conveyance. When the presence of an article is detected, it is determined that an abnormality has occurred.

  In addition, if the cause of the failure of the ultrasonic sensor is due to the attachment of a foreign object, when the foreign object is removed, the ultrasonic sensor will return to a normal state. The adhered foreign matter may be easily removed due to vibration or the like.

  Therefore, when the ultrasonic sensor located on the upper side of the article movement direction in the ultrasonic sensor is in a state of detecting the presence of the article, the ultrasonic wave located on the lower side of the article movement direction in the ultrasonic sensor. When the sensor is in a state of detecting the presence of an article, the article transfer section is vibrated by changing the conveyance direction to the reverse direction to operate the loading and conveying section, and the ultrasonic sensor is also vibrated. If the cause of the failure is the attachment of foreign matter, the removal of the foreign matter is urged.

  Then, by conveying the article back to the side away from the ultrasonic sensor located on the lower side of the article moving direction, the ultrasonic sensor located on the lower side of the article moving direction, that is, the upper side of the article moving direction by the reverse conveyance. When the ultrasonic sensor on the side does not detect the presence of the article, the ultrasonic sensor located on the upper side in the article moving direction, that is, the lower ultrasonic sensor in the article moving direction by reverse conveyance is When the presence of an article is detected, it is determined that an abnormality has occurred.

Therefore, according to the fourth feature configuration, when the ultrasonic sensor is out of order, the safety is improved by taking countermeasures such as stopping the operation of the article conveying device or activating the alarm device. In addition, when the ultrasonic sensor breaks down due to adhesion of foreign matter, the foreign matter causing the failure is removed and the ultrasonic sensor is returned to the normal state, so that the transportation process for fire Can be executed as much as possible.

In short, according to the fourth feature configuration of the present invention, in addition to the operational effects of the first or second feature configuration, safety can be improved, and the ultrasonic sensor has failed due to adhesion of foreign matter. In such a case, it is possible to provide an article storage facility capable of executing a fire transfer process as much as possible by removing foreign matters that cause a failure and returning the ultrasonic sensor to a normal state.

Schematic plan view of goods storage facility Perspective view showing a part of the article storage shelf Side view of stacker crane Front view of home position stacker crane Partially cutaway plan view of mounting part of elevator Plan view of the article transfer device Side view of the device Block diagram showing control configuration Explanatory diagram of removal / transfer processing Operation explanatory diagram of delivery transfer processing Operation explanatory diagram of delivery transfer processing to the fire extinguishing part Flow chart showing control operation of ground controller Flow chart showing control operation of crane controller

An embodiment of an article storage facility of the present invention will be described with reference to the drawings.
[Overall configuration of goods storage facilities]
As shown in FIG. 1, in the article storage facility, a plurality of article storage units S for storing the item B, a loading / unloading conveyor 1 as an article loading / unloading unit, and a fire of the item B in which a fire has occurred are extinguished. The article storage part H provided with the fire suppression part T, and the stacker crane K as an article conveyance apparatus are provided.
The stacker crane K is configured to travel along a linear traveling rail 2 laid on the floor and a guide rail 2A (see FIG. 3) disposed on the ceiling.

A pair of article storage shelves 3 are provided on both sides of the traveling rail 2 on which the stacker crane K travels, that is, on both sides of the traveling path on which the stacker crane K travels, with the article loading and unloading directions facing each other. The article storage section S is formed vertically and horizontally on the article storage shelf 3.
The loading / unloading conveyor 1 is disposed beside the article storage shelf 3 on one side of the pair of article storage shelves 3, and the fire suppression section T is disposed beside the article storage shelf 3 on the other side. It is installed.

  In the present embodiment, the article B stored in the article storage unit H is a charged secondary battery, and the article B carried into the loading / unloading conveyor 1 from the outside is stored in the article storage unit by the stacker crane K. It is transported to and stored in S and stored in the article storage unit S for a certain period for aging. Then, the article B for which the engine finishes is conveyed from the article storage unit S to the loading / unloading conveyor 1 by the stacker crane K, and is carried out from the loading / unloading conveyor 1 to the outside.

  In addition, the article storage facility is provided with a fire detection device D and a fire extinguishing device E, as will be described later, in preparation for the case where the article B being heated generates heat and a fire occurs in the article B. The article B having generated is transported to the fire extinguishing unit T by the stacker crane K.

That is, the stacker crane K transports and stores the article B carried into the loading / unloading conveyor 1 to the article storage section S, and stores the article B stored in the article storage section S into the loading / unloading conveyor 1. If the article B stored in the article storage part S is fired, the delivery work to be transported is performed, and the work to transport the article B to the fire extinguishing part T is performed.
Incidentally, the stacker crane K holds the article B at the set holding position W (see FIG. 7) as will be described later when the article B is transported.

In the following description, the end portion on the side where the loading / unloading conveyor 1 and the fire extinguishing part T are located in the traveling path where the stacker crane K travels is referred to as the home position HP, and is opposite to the home position HP in the traveling path. The end on the side is called an opposite position OP.
The case where the stacker crane K travels from the home position HP toward the opposite position OP is defined as forward travel, the case where the stacker crane K travels in the reverse direction is defined as reverse travel, and the forward / backward direction of the stacker crane K is defined based on forward travel. Shall be defined.

[Goods storage shelf]
As shown in FIG. 1 and FIG. 2, the article storage shelf 3 is provided with a plurality of sets of columns 4 arranged in the longitudinal direction of the shelf along the width direction of the shelf, and between the groups of columns 4 adjacent in the width direction of the shelf, By arranging a plurality of placing plates 5 for placing and supporting the article B in parallel in the up and down direction, the article storage portions S are formed in a state of being arranged vertically and horizontally.

  In addition, the fireproof panel 6 made of a flame retardant material such as rock wool covers the article storage shelf 3 so as to cover the lateral side surface, the upper surface, the lower surface, and the rear surface of the article storage unit S and is adjacent to the upper, lower, left, and right sides It is installed in a state in which the article storage units S to be separated from each other, and is configured to prevent the adjacent article storage unit S from spreading when a fire occurs in the article B.

[Stacker crane]
As shown in FIGS. 2 and 3, the stacker crane K is provided along a traveling carriage 7 that can travel along the traveling rail 2, a pair of front and rear elevating masts 8 erected on the traveling carriage 7, and the elevating mast 8. An elevator 9 that can be moved up and down is provided. The elevator 9 is equipped with an article transfer device F.
The stacker crane K moves the article transfer device F to the loading / unloading conveyor 1, the article storage part S, and the fire suppression part T by the traveling operation of the traveling carriage 7 and the lifting operation of the lifting platform 9. The article B is transported in such a form that the article B is moved by the article transfer device F located at the article transfer location after being moved to the placement location.

That is, the stacker crane K is configured to place and hold the article B at the set holding position W by the article transfer device F, as will be described later.
Then, the stacker crane K conveys the article B taken out from the article storage unit S and the loading / unloading conveyor 1 in the state where it is held at the set holding position W, and holds the held article B for the article storage unit S, loading / unloading. It is comprised so that it may deliver to the conveyor 1 and the fire extinguishing part T.

As shown in FIG. 3, the traveling carriage 7 is equipped with a pair of front and rear traveling wheels 10, and the traveling wheels 10 on the front side of the traveling wheels 10 are driven by the traveling electric servomotor M1. It is configured as follows.
Note that the rear traveling wheel 10 is provided in an idle form.

As shown in FIG. 3, the lifting platform 9 is a pair of hanging suspension wires 13 that are drawn out from the winding drum 11 and are wound and guided by a plurality of guide wheels 12 so as to move along a set path. Is supported by suspension.
And the raising / lowering electric servomotor M2 is comprised so that the raising / lowering stand 9 may be raised / lowered by rotationally driving the winding drum 11 forward / reversely.
Incidentally, the details of the article transfer device F mounted on the lifting platform 9 will be described later.

[Control configuration of stacker crane]
As shown in FIG. 1, near the home position HP, a ground controller GM for managing the operation of the entire facility is installed on the floor surface. As shown in FIG. A crane controller GK is provided at the lower end of the lifting mast 8 on the front side.

As shown in FIGS. 1, 3, and 8, the ground-side controller GM and the crane controller GK are controlled by an optical communication device 15 that transmits and receives communication light along the longitudinal direction of the travel path of the stacker crane K. Information is connected wirelessly.
The optical communication device 15 includes a ground-side transmission / reception unit 15a installed in the vicinity of the home position HP and a crane-side transmission / reception unit 15b disposed on the traveling carriage 7 of the stacker crane K.

The ground-side controller GM is configured to instruct a transport command to the crane controller GK via the optical communication device 15.
As will be described later, the transport command instructs the transport source and the transport destination, and commands the transfer operation at the transport source and the transport destination. The crane controller GK controls the transport commanded by the ground-side controller GM. Based on the command, the travel operation of the stacker crane K, the lifting operation of the lifting platform 9, and the transfer operation of the article transfer device F are controlled.

  That is, in the present embodiment, the ground side controller GM and the crane controller GK function as the operation control device G for the stacker crane K to control the operation of the stacker crane K.

Then, when the fire detection device D does not detect the occurrence of a fire, the operation control device G executes a loading / unloading conveyance process for conveying the item B between the plurality of article storage units S and the loading / unloading conveyor 1. And when the occurrence of a fire is detected by the fire detection device D, after spraying a fire extinguishing agent by the primary fire extinguishing process of the fire extinguishing device E, in order to transport the fired article B to the extinguishing part T, A fire conveyance process for conveying the article B from the plurality of article storage units S to the fire suppression unit T is performed.
In the present embodiment, the fire extinguishing agent is sprayed on the article B being transported by the secondary fire extinguishing process of the fire extinguisher E, as will be described later, during the execution of the fire transport process. Yes.

As shown in FIGS. 6 and 7, the article B held on the stacker crane K protrudes from the set holding area PA obtained by adding the margin area P2 to the existence area P1 of the article B located at the setting holding position W. An ultrasonic sensor Q for detecting whether or not there is provided is supported in a state supported by the lifting platform 9.
That is, the article transfer device F conveys the article B along the transfer conveyance direction along the lateral width direction of the stacker crane K. As shown in FIG. A setting holding area PA obtained by adding a margin area P2 to the existence area P1 of the article B located in the position B is set, and ultrasonic sensors Q are provided at locations corresponding to both sides of the setting holding area PA.

Then, on the condition that the operation control device G does not detect the protrusion of the article B held on the stacker crane K by the ultrasonic sensor Q from the set holding area PA, the loading / unloading conveyance process and the fire conveyance process are performed. Is configured to run.
As shown in FIG. 6, the lifting platform 9 is equipped with a pair of front and rear guide bodies J for guiding the article B in the transfer and transfer direction, and the front and rear direction of the article B located at the set holding position W. The movement is regulated.

  Incidentally, the ultrasonic sensor Q projects an ultrasonic wave upward every set time (for example, 500 ms), and receives an ultrasonic wave with a set intensity within the set time after the projection (for example, 300 ms). In this case, it is detected that the article B exists, that is, the article B is in a state of protruding from the setting holding area PA. However, since the specific configuration of the ultrasonic sensor Q is well known, this embodiment Detailed description will be omitted.

[Ground controller]
When the fire of the article B is not detected by the fire detection device D, the ground-side controller GM executes the above-described loading / unloading conveyance process based on a work command from a higher-level management device (not shown). When the fire detection device D detects a fire of the article B, the transport command for executing the above-described fire transport process is issued to the crane controller GK. The controller GK is commanded.

  The transfer command in the loading / unloading transfer process includes an empty transfer command to the transfer source, an unloading transfer command for taking out the item B at the transfer source, an actual transfer command to the transfer destination, and the item B at the transfer destination. This is a transfer instruction for delivery.

  Then, in the loading / unloading transfer process, the ground-side controller GM first issues an empty transfer command, and when completion information about the empty transfer command is transmitted from the crane controller GK, next, an unloading transfer command is issued. When a loading command is issued and completion information about the removal transfer command is transmitted from the crane controller GK, an actual conveyance command is subsequently issued, and completion information about the actual conveyance command is transmitted from the crane controller GK. Then, finally, a transfer command is instructed in a form in which a transfer instruction for delivery is instructed.

  Incidentally, the transfer source is the entry / exit conveyor 1 in the case of warehousing work, the article storage section S in the case of warehousing work, and the article storage section S in the case of warehousing work. In the case of a warehousing operation, it is a warehousing conveyor 1.

The transport command in the fire transport process is an empty transport command to the transport source and a fire article transport command.
Then, in the fire transfer process, the ground side controller GM first issues an empty transfer command and then transmits completion information on the empty transfer command from the crane controller GK. It is configured to instruct a transport command in a form of instructing a transport command.

[Crane controller]
As shown in FIG. 8, the crane controller GK is equipped with the stacker crane K and detection information of the traveling encoder 14A for detecting the traveling position of the stacker crane K, and the stacker crane K is equipped with a lifting platform. Detection information of the lift encoder 14B for detecting the lift position 9 is input.
Although not described in detail, the traveling encoder 14A engages and rotates with a long body (for example, a chain) with an engaging portion installed along the traveling path of the stacker crane K to correspond to the traveling position. The elevating encoder 14B is engaged with a long member with an engaging portion (for example, a chain) installed along the elevating mast 8 and rotates to move the elevating position. It is comprised so that the information corresponding to may be detected.

When the crane controller GK is instructed by the ground controller GM,
While confirming the travel position of the stacker crane K and the lift position of the lift base 9 based on the detection information of the travel encoder 14A and the lift encoder 14B, the travel operation of the stacker crane K and the lift base 9 are lifted as described above. The operation and the transfer operation of the article transfer device F are controlled.

  Specifically, when an empty conveyance command to the conveyance source is instructed, the travel operation of the stacker crane K and the lifting and lowering of the lifting platform 9 are performed in order to position the article transfer device F at the article transfer position with respect to the conveyance source. When the operation for the command is completed, the completion information is transmitted to the ground side controller GM.

  Further, when a transfer instruction for taking out at the transport source is instructed, the transfer operation of the article transfer device F is controlled to take out the article B at the transport source, and when the operation for the command is completed. The completion information is transmitted to the ground side controller GM.

  Further, when an actual conveyance command to the conveyance destination is instructed, the traveling operation of the stacker crane K and the elevation operation of the lifting platform 9 are controlled so that the article transfer device F is positioned at the article transfer position with respect to the conveyance destination. When the operation for the command is completed, the completion information is transmitted to the ground side controller GM.

  Furthermore, when a transfer instruction for delivery at the transport destination is instructed, the transfer operation of the article transfer device F is controlled to deliver the article B to the transport destination, and the operation for the command is completed. Then, completion information is transmitted to the ground side controller GM.

  Further, when a fire command for a fire article is instructed, the crane controller GK controls the transfer operation of the article transfer device F so as to take out the article B of the transfer source, and the article at the transfer position for the fire suppression unit T. In order to position the transfer device F, the running operation of the stacker crane K and the lifting operation of the lifting platform 9 are controlled, and the transfer operation of the article transfer device F is performed to deliver the article B to the fire extinguishing unit T. The control is performed automatically and sequentially.

  That is, when a fire occurs in the article B stored in the article storage unit S, the extinguishing agent is sprayed by the fire extinguisher E as described later, so that the communication of the optical communication device 15 cannot be performed properly. Since there is a possibility, the crane controller GK is configured to transfer the article B, which is the transport source, in other words, the article B in which the fire has occurred, to the fire extinguishing unit T when the fire article transport command is instructed. It is configured to perform automatically without communication with the GM.

[Fire detection device]
As shown in FIG. 2, in the upper part of each article storage section S, when a fire occurs in the article B stored in the article storage section S, the article B is detected by detecting heat or smoke due to the fire. A fire sensor 16a for detecting that a fire has occurred is provided.

As shown in FIG. 8, output lines extending from each of the plurality of fire sensors 16a are connected in parallel to the fire determination device 16b.
The fire determination device 16b is configured to determine the occurrence of a fire based on output information from an output line of the fire sensor 16a when any of the plurality of fire sensors 16a detects the occurrence of a fire. .

The fire determination device 16b manages the identification information of the article storage unit S in which each of the plurality of fire sensors 16a is installed, and determines the occurrence of a fire based on the output information from the output line of the fire sensor 16a. In such a case, the identification information about the article storage unit S where the fire has occurred is output to the ground controller GM.
Incidentally, in the present embodiment, the fire detection device D is configured with a plurality of fire sensors 16a provided in the plurality of article storage units S and a fire determination device 16b as main parts.

[Fire suppression section]
As shown in FIG. 4, the fire extinguishing section T is movable up and down to a water tank 18 for submerging and extinguishing the fired article B, and an upper position of the water tank 18 and a lower position located inside the water tank 18. There are provided an article support frame 19, an elevating cylinder 20 that elevates and lowers the article support frame 19 to an upper position and a lower position, and a fire extinguishing unit control device 21 that controls the operation of the elevating cylinder 20.

Then, the fire extinguishing unit control device 21 moves the lifting cylinder to switch the article support frame 19 to the lower position when the fired article B is delivered from the stacker crane K to the upper article support frame 19. 20 is configured to operate.
Although not shown in the drawings, the fire extinguishing unit control device 21 is equipped with a receiving device for receiving article transfer completion information communicated from the stacker crane K. When the article transfer completion information is communicated from K, the article support frame 19 is switched to the lower position on the assumption that the fired article B has been delivered to the upper article support frame 19. Thus, the lifting cylinder 20 is operated.

[Fire extinguishing equipment]
As shown in FIGS. 3 to 5, the stacker crane K is provided with a fire extinguisher E that sprays carbon dioxide (gaseous carbon dioxide) as a fire extinguishing agent.
The fire extinguisher E includes two carbon dioxide gas cylinders 22 filled with liquefied carbon dioxide gas, a pressure-resistant hose 23 connected to each of the carbon dioxide gas cylinders 22, and three jet nozzles connected to the tips of the pressure-resistant hoses 23. 24.

The two carbon dioxide gas cylinders 22 are provided in a state of being accommodated in a cylinder case 25 equipped on the lifting mast 8 on the front side.
As shown in FIGS. 3 and 5, the three ejection nozzles 24 are provided for the hood 26 mounted on the lifting platform 9 so as to cover the front, rear, and upper portions of the space located above the lifting platform 9. Equipped inside.
As shown in FIG. 3, the pressure hose 23 is supported by a flexible cable guide 27 installed along the front lifting mast 8 so that the lifting operation of the lifting platform 9 is not hindered. It has become.

  As shown in FIG. 5, the hood 26 provided on the lifting platform 9 has a plate-like panel material 26 </ b> B on a hood frame 26 </ b> A whose side view shape is formed by framing a plurality of steel frame members. The three ejection nozzles 24 are attached to the ceiling portion of the hood frame 26A in a state of being aligned in the lateral width direction of the stacker crane K.

  Of the three ejection nozzles 24, the left ejection nozzle 24 is arranged on the left side so as to eject a fire extinguishing agent toward the article B stored in the article storage section S located on the left side of the stacker crane K. It is installed in a state where a fire extinguishing agent is ejected toward the article B, and the right ejection nozzle 24 of the three ejection nozzles 24 is directed toward the article B stored in the article storage section S located on the right side of the stacker crane K. In order to spout out the fire extinguisher, the fire extinguisher is jetted to the right side.

  That is, among the three ejection nozzles 24, the left and right ejection nozzles 24 are articles for the article storage unit S in which the article transfer device F equipped on the lifting platform 9 stores the article B in which a fire has occurred. It is equipped to perform a primary fire extinguishing process in which a fire extinguishing agent is ejected before operating the article transfer device F in a state where it is located at the transfer location.

Further, in order to eject the fire extinguishing agent toward the article B taken out from the article storage section S and held at the set holding position W, the central ejection nozzle 24 of the three ejection nozzles 24 is arranged in the hood 26. It is installed in a state where a fire extinguishing agent is ejected toward the inside.
That is, among the three ejection nozzles 24, the central ejection nozzle 24 is located at the article transfer location for the article storage portion S in which the article transfer device F equipped on the lifting platform 9 stores the article B where the fire has occurred. Equipment for performing a secondary fire extinguishing process in which a fire extinguishing agent is ejected after the transfer operation is executed to take out the fired article B from the article storage unit S and hold it in the set holding position W in the state where it is located. Has been.

  Incidentally, the article B held at the set holding position W is held in a state surrounded by the hood 26, and as described above, the central ejection nozzle is compared with the article B surrounded by the hood 26. The fire extinguishing agent is ejected from 24.

  One of the two carbon dioxide cylinders 22 is connected to the left and right ejection nozzles 24 of the three ejection nozzles 24 in order to perform the primary fire extinguishing process. The other of the three is connected to the central ejection nozzle 24 among the three ejection nozzles 24 in order to perform the secondary fire extinguishing process.

Therefore, as shown in FIG. 4, the primary fire-fighting cylinder opening / closing valve for intermittently supplying the extinguishing agent to the carbon dioxide gas cylinder 22 connected to the left or right ejection nozzle 24 of the two carbon dioxide gas cylinders 22. 28, the carbon dioxide gas cylinder 22 connected to the central ejection nozzle 24 out of the two carbon dioxide gas cylinders 22 is equipped with a secondary fire fighting cylinder opening / closing valve 29 for intermittently supplying the fire extinguishing agent.
Further, between the left and right ejection nozzles 24 and the primary fire-fighting cylinder opening / closing valve 28, the state in which the extinguishing agent is ejected from the left ejection nozzle 24 and the extinguishing agent is ejected from the right ejection nozzle 24. A primary fire extinguishing target switching valve 30 (see FIG. 8) that switches between the states to be operated is provided.

  By the way, each of the two carbon dioxide cylinders 22 is filled with a fire extinguishing agent in an amount to eject the fire extinguishing agent for a set time (for example, about 10 seconds), and the fire extinguishing agent is set for the primary fire extinguishing treatment and the secondary fire extinguishing treatment. It will be executed in the form of time spout.

  And in this embodiment, when the crane controller GK functions as a fire extinguishing control part of the fire extinguishing device E and executes the transfer process for fire, the primary fire-fighting cylinder opening / closing valve 28 and the secondary fire-fighting cylinder opening / closing valve 29, and the operation of the primary fire extinguishing target switching valve 30 is controlled to execute the above-described primary fire extinguishing process and secondary fire extinguishing process.

  That is, when the above-mentioned fire article conveyance command is issued, the crane controller GK executes the primary fire extinguishing process before controlling the transfer operation of the article transfer device F so as to take out the article B as the transfer source. Accordingly, the primary fire-extinguishing cylinder opening / closing valve 28 is opened and the primary fire-extinguishing target switching valve 30 is operated to wait for a set time, and thereafter the article B as a transfer source, in other words, the article B with the fire is taken out. Therefore, the transfer operation of the article transfer device F is controlled.

When the crane controller GK completes the removal of the fired article B, the crane controller GK then moves the stacker crane K and moves the lifting platform 9 to position the article transfer device F at the article transfer location with respect to the fire extinguishing part T. Although the raising / lowering operation is controlled, at the same time, the secondary fire fighting cylinder opening / closing valve 29 is opened to perform the secondary fire fighting process.
When the crane controller GK positions the article transfer device F at the article transfer location with respect to the fire suppression section T, the transfer operation of the article transfer apparatus F is performed so as to deliver the fired article B to the fire suppression section T. Will be controlled.

[Configuration of article transfer device]
The article transfer device F transfers the article B between the article storage unit S, the loading / unloading conveyor 1 and the fire suppression unit T, and specifically, the article storage unit S and the loading / unloading unit. The article B is taken out from the conveyor 1 and delivered to the article storage unit S, the loading / unloading conveyor 1 and the fire suppression unit T.

  As shown in FIGS. 6 and 7, the article transfer device F can place and hold the article B at the set holding position W and can place and convey the article B in the transfer and transfer direction. And can be switched between an article locking position for locking the article B and an unlocking position for releasing the locking to the article B by movement in a direction orthogonal to the transfer conveying direction, and mounting and conveying. Equipped with a locking and conveying unit FK provided with a locking body 31 that is movable along the transfer and conveying direction over a range that overlaps the part FS and a range that protrudes outward from the mounting and conveying unit FS, The article is transferred by the placing and conveying action of the placing and conveying section FS and the locking and conveying action by the locking body 31 of the locking and conveying section FK.

  In this embodiment, since the article B is transferred to the left and right sides of the stacker crane K, the locking body 31 is formed in an inverted U shape, and both ends of the article B in the transfer conveyance direction. Is provided with a locked portion U that is opened downward and engages with the locking body 31 so as to be able to be pushed and pulled in the transfer conveyance direction.

The placement conveyance unit FS is composed of a pair of left and right conveyance belts 32, and these conveyance belts 32 are driven in the forward and reverse directions by an electric servomotor M3 for conveyance belts.
A locking body 31 of the locking and conveying unit FK is disposed between the pair of left and right conveying belts 32.

  The locking and conveying unit FK includes an elevating base 33 that can move up and down with respect to the elevating platform 9, and a slide frame 34 that is slidable in the transfer and conveying direction with respect to the elevating base 33. Further, the locking body 31 is supported so as to be slidable in the transfer conveyance direction.

The elevating base 33 is supported so as to be movable up and down along a guide shaft 35 fixed to the elevating base 9 and is operated up and down by pressing by an eccentric cam 36 that is rotationally driven by a locking body elevating electric servo motor M4. It is comprised so that.
Then, by the raising and lowering of the lifting base 33, the locking body 31 and the locking position where the article locking position protrudes above the mounting surface of the transport belt 32 and the lower position than the mounting surface of the transport belt 32 retreats. It is configured to be switched to the release position.

A wire guide pulley 37 is provided at each of the left and right ends of the slide frame 34, and a pair of left and right locking body moving wires 38 having the same length are fixed at one end to the center of the lifting base 33. It is provided in the state.
The left side wire 38 of the pair of locking body moving wires 38 is guided by the wire guide pulley 37 provided at the left side end portion of the slide frame 34, and directed toward the locking body 31. The other end of the wire 38 is connected to the locking body 31.

  Similarly, the right side wire 38 of the pair of locking body moving wires 38 is guided by a wire guide pulley 37 provided at the right side end of the slide frame 34, and the locking body. The other end portion of the wire 38 is connected to the locking body 31.

  A pinion 40 that engages with a rack 39 formed on the slide frame 34 is provided in an electric servomotor M5 for moving the locking body provided on the elevating base 33, and the pinion 40 is moved by the electric servomotor M5 for moving the locking body. The slide frame 34 is configured to slide in the left-right direction as it is rotated forward and backward.

When the slide frame 34 is slid in the left-right direction, the locking body 31 is pulled by the pair of locking body moving wires 38 and slides relative to the slide frame 34. Has been.
That is, the locking body 31 is positioned at the center position of the slide frame 34 when the slide frame 34 is positioned at the center position of the slide range, and when the slide frame 34 slides to the left side, the left side of the slide frame 34 is moved. When the slide frame 34 is slid to the right side and the slide frame 34 is slid to the right side, the slide frame 34 is slid to the right side.

As shown in FIGS. 6 and 7, the article transfer device F includes a pair of left and right optical article detection sensors R <b> 1 of the photo interrupter type that detects the article B located at the setting holding position W, and a placement conveyance unit. A pair of photointerrupter-type left and right optical timing detection sensors for detecting that the transport position of the article B transported outward from the set holding position W by the FS is the reference timing for controlling the operation of the locking body 31. Equipped with R2.
Further, as described above, the ultrasonic sensors Q are provided at locations corresponding to both sides of the setting holding region P3 in the transfer conveyance direction of the article transfer device F.

Of the pair of left and right optical article detection sensors R1, the left article detection sensor R1 is taken out of the article storage unit S on the right side by the article transfer device F and is conveyed toward the left side. It is provided to detect the lower end of the moving direction and detect the timing to stop the transport of the placement transport unit FS.
Similarly, the right-side article detection sensor R1 of the pair of left and right optical article detection sensors R1 is moved by the article transfer device F to the left-side article storage unit S or the left-side entry / exit conveyor. 1 is provided in order to detect the lower end of the moving direction of the article B taken out from 1 and conveyed toward the right side, and to detect the timing at which the conveyance of the placement conveyance unit FS is stopped.

Of the pair of left and right optical timing detection sensors R2, the left timing detection sensor R2 moves the article B conveyed from the set holding position W toward the right article storage unit S by the article transfer device F. It is provided to detect the reference timing for detecting the upper end of the direction and controlling the operation of the locking body 31.
Similarly, the right timing detection sensor R2 of the pair of left and right optical timing detection sensors R2 is an article conveyed from the set holding position W toward the left article storage unit S by the article transfer device F. It is provided for detecting a reference timing for detecting the upper end of the moving direction of B and controlling the operation of the locking body 31.

[Control operation of article transfer device]
As shown in FIG. 8, the crane controller GK includes detection information from the pair of left and right optical article detection sensors R1, detection information from the pair of left and right optical timing detection sensors R2, and a pair of left and right ultrasonic sensors Q. Detection information, and the operation information (operation amount) of the electric servomotor M3 for the transport belt, the operation information (operation amount) of the electric servomotor M4 for raising / lowering the engaging body, and the electric servo for moving the engaging body. Operation information (operation amount) of the motor M5 is input.

  Then, the crane controller GK transfers the article B from the article storage unit S and the loading / unloading conveyor 1 and transfers the article B to the article storage unit S, the loading / unloading conveyor 1 and the fire suppression unit T. In order to perform transfer processing for delivery of articles to be delivered, it is configured to control the operation of the electric servomotor M3 for the conveyor belt, the electric servomotor M4 for lifting / lowering the locking body, and the electric servomotor M5 for moving the locking body. ing.

  In other words, the crane controller GK takes out the article B from the article storage unit S and the entry / exit conveyor 1 and transfers it to the set holding position W in the entry / exit transfer process, that is, the entry / exit transfer. When the article removal transfer process is executed in the process, the placement conveyance unit FS and the engagement conveyance unit FK are operated as described below.

  That is, first, as shown in FIG. 9 (a), the loading and conveying unit FS is operated so as to convey the article B toward the set holding position W, and as shown in FIG. After the article B is detected by the detection sensor R1, the loading / unloading setting stop condition is satisfied, and the loading / unloading unit FS is stopped in a state where the article B is in the state of being set at the setting holding position W. The operation of the transport unit FS will be controlled.

  Further, as shown in FIGS. 9B and 9C, the locking body 31 is inserted into the article storage unit S and the entrance at the set engagement position that protrudes outward from the placement conveyance unit FS in the transfer conveyance direction. Switching to the article locking position so as to be engaged with the locked part U of the article B located on the unloading conveyor 1, and the locking body 31 switched to the article locking position is the same as the transport speed of the placement transport unit FS. The article B is moved at a speed so as to be locked and conveyed toward the set holding position W, and as shown in FIGS. 9D and 9E, the article B is placed on the placement conveyance unit FS and conveyed. In this state, the operation of the locking body 31 is controlled by switching the locking body 31 to the locking release position.

By the way, which detection information of the detection information of the pair of left and right optical article detection sensors R1 is used is determined based on the moving direction of the article B as described above.
And in the present embodiment, the setting stop condition for entry / exit is based on the operation information (operation amount) of the electric servomotor M3 for the conveyor belt after the lower end of the moving direction of the article B is detected. When it is determined that the article B has been transported by a set distance (for example, 15 mm), the condition is set such that the placement transport unit FS is stopped.

Further, the position information when the locking body 31 is positioned at the set engagement position protruding outward from the mounting and transporting unit FS in the transfer transport direction is the operation information of the locking body moving electric servo motor M5 ( It is determined from the operation information (operation amount) of the electric servomotor M5 for moving the latching body that the article B is placed on the placement transport unit FS and is in a state of being transported. Is configured to do.
Further, the article locking position and the locking release position of the locking body 31 are configured to be determined based on operation information (operation amount) of the locking body lifting / lowering electric servomotor M4.

  In addition, the crane controller GK transfers the article B held at the set holding position W to the article storage unit S and the loading / unloading conveyor 1 in the loading / unloading conveyance process, that is, loading / unloading. When the article delivery transfer process is executed in the transfer process, the placement transfer unit FS and the locking transfer unit FK are operated as described below.

That is, as shown in FIG. 10 (a), the loading and unloading section FS is operated so as to transfer the article B from the set holding position W toward the article storage section S and the loading / unloading conveyor 1. The operation of the transport unit FS will be controlled.
As shown in FIG. 10D, when the locking body 31 is positioned at a position protruding outward from the placement transport unit FS as described later, the operation of the placement transport unit FS is stopped. Will be.

As shown in FIGS. 10B and 10C, when the reference timing is detected by the timing detection sensor R2 and the set operation start condition is satisfied, the lock release position is set at the standby position in the transfer conveyance direction. Is moved toward the set protruding position for entry / exit determined corresponding to the article storage unit S and the entry / exit conveyor 1 at the same speed as the conveyance speed of the placement conveyance unit FS. In addition, the operation of the locking body 31 is controlled in such a manner that it is moved toward the article locking position and engaged with the locked portion U.
Note that the standby position is a position corresponding to the upper side in the moving direction of the article B within the range overlapping the placement conveyance unit F.

Then, as shown in FIGS. 10D, 10E, and 10F, when the locking body 31 is positioned at the loading / unloading setting protruding position, the locking body 31 is switched to the locking release position. Therefore, it is moved to a range overlapping with the loading / conveying unit FS.
In addition, the setting protrusion position for loading / unloading is set to a position slightly outward from the above-described setting engagement position.

Incidentally, which detection information of the detection information of the pair of left and right optical timing detection sensors R2 is used is determined based on the moving direction of the article B as described above.
In this embodiment, the setting start condition is that, after the upper end of the moving direction of the article B is detected, the locked portion U of the article B is positioned above the locking body 31 at the standby position. When the set time required until the elapse of time, the condition for starting the operation of the locking body 31 is set.

  Further, the position information when the locking body 31 is positioned at the standby position or the set-out position for loading / unloading in the transfer conveyance direction is determined from the operation information (operation amount) of the locking body moving electric servo motor M5, Further, the article locking position and the locking release position of the locking body 31 are configured to be discriminated based on the operation information (operation amount) of the locking body lifting / lowering electric servomotor M4.

In addition, the crane controller GK executes the transfer process for removing the article B from the article storage unit S in the fire transfer process and transferring it to the set holding position W, that is, the article take-out transfer process in the fire transfer process. In doing so, as described below, the placement conveyance unit FS and the engagement conveyance unit FK are operated.
The relationship between the locking body 31 and the article B in the case of executing the article removal transfer process in the fire transfer process is the same as that in the case of executing the article removal transfer process in the entry / exit transfer process. Since the relationship between the body 31 and the article B is the same as that shown in the drawing, the placement conveyance unit FS and the engagement when executing the article removal transfer process in the fire conveyance process based on FIG. The operation of the stop conveyance unit FK will be described.

  That is, as shown in FIG. 9 (a), the placement transport unit FS is operated so as to transport the article B toward the set holding position W, and as shown in FIGS. 9 (e) and 9 (f), The setting stop condition for fire after the ultrasonic sensor Q located on the upper side of the article moving direction in the ultrasonic sensor Q changes from the state in which the presence of the article B is detected to the state in which the absence of the article B is detected If the condition is satisfied, the operation of the placement transport unit FS is controlled in such a manner that the placement transport unit FS is stopped assuming that the article B is in the set holding position W.

  Further, as shown in FIGS. 9B and 9C, the locking body 31 is positioned in the article storage unit S at the set engagement position that protrudes outward from the mounting transport unit FS in the transfer transport direction. The article B is switched to the article locking position so as to be engaged with the locked part U of the article B to be engaged, and the locking body 31 switched to the article locking position is set at the same speed as the conveying speed of the placement conveying unit FS. When the article B is moved so as to be latched and conveyed toward the holding position W, and the article B is placed on the placement conveyance unit FS and conveyed as shown in FIGS. 9D and 9E, It is configured to control the operation of the locking body 31 in the form of switching to the locking body 31 unlocking position.

Incidentally, which detection information of the pair of ultrasonic sensors Q is used is determined based on the moving direction of the article B.
In the present embodiment, the fire setting stop condition is changed from a state in which the ultrasonic sensor Q located on the upper side in the article moving direction detects the presence of the article B to a state in which the absence of the article B is detected. After the change, when it is determined that the article B has been conveyed by a set distance based on the operation information (operation amount) of the electric servomotor M3 for the conveyor belt, the condition is set to stop the placement conveyance unit FS.

Then, similarly to the case where the article take-out transfer process is executed in the loading / unloading transfer process, the locking body 31 is moved to the set engagement position protruding outward from the placement transfer unit FS in the transfer transfer direction. The position information at the time of positioning is determined from the operation information (operation amount) of the electric servomotor M5 for moving the locking body, and the article B is placed on the placement transport unit FS and transported. This is configured to be discriminated from the operation information (operation amount) of the electric servomotor M5 for moving the locking body.
Further, the article locking position and the locking release position of the locking body 31 are configured to be determined based on operation information (operation amount) of the locking body lifting / lowering electric servomotor M4.

  Further, when the article B held at the set holding position W is transferred to the fire extinguishing unit T in the fire transfer process, that is, when the article delivery transfer process is executed in the fire transfer process. As will be described below, the placement conveyance unit FS and the locking conveyance unit FK are operated.

That is, as shown in FIG. 11A, the operation of the placement transport unit FS is controlled in such a manner that the placement transport unit FS is operated so as to transport the article B from the set holding position W toward the fire suppression unit T. Will do.
Then, as shown in FIG. 11D, when the locking body 31 is located at a position protruding outward from the placement transport unit FS as described later, the operation of the placement transport unit FS is stopped. Will be.

  In addition, as shown in FIGS. 11B and 11C, the presence of the article B in which the ultrasonic sensor Q located on the lower side of the article moving direction in the ultrasonic sensor Q is conveyed by the placement conveyance unit FS. When the fire extinguishing setting start condition is satisfied, the locking body 31 waiting at the lock release position at the standby position in the transfer transfer direction is set to the same speed as the transfer speed of the placement transfer unit FS. And moving toward the set extinguishing projection position for extinguishing determined corresponding to the extinguishing part T and moving toward the article locking position, and pressing the outer surface of the article B in the article moving direction. It is comprised so that the action | operation of the latching body 31 may be controlled by the form switched to.

And as shown to FIG.11 (d) (e) (f), when the latching body 31 will be in the state located in the setting extinguishing position for fire suppression, after switching the latching body 31 to the latch release position, It will move to the range which overlaps the mounting conveyance part FS.
In addition, in this embodiment, the setting protrusion position for fire suppression is set to the same position as the setting protrusion position for loading / unloading described above.

Incidentally, in the present embodiment, the setting start condition for extinguishing the fire is conveyed after the ultrasonic sensor Q located on the lower side in the article moving direction detects the presence of the article B conveyed by the placement conveyance unit FS. When the transport time required until the outer surface on the upper side in the article movement direction of the article B to be positioned on the lower side in the article movement direction is longer than the locking body 31 waiting in the standby position, The condition for starting the operation of the locking body 31 is set.
Note that the standby position is a position corresponding to the upper side in the moving direction of the article B in a range overlapping with the placement conveyance unit F.

  Then, as in the case of executing the article removal transfer process in the loading / unloading conveyance process, the position information when the locking body 31 is positioned at the standby position or the fire extinguishing set projection position in the transfer conveyance direction, It is determined from the operation information (operation amount) of the latching body moving electric servomotor M5, and the article locking position and the locking release position of the locking body 31 are the operation information of the latching body lifting / lowering electric servomotor M4. It is configured to discriminate by (operation amount).

  In addition, the crane controller GK executes the transfer process for removing the article B from the article storage unit S in the fire transfer process and transferring it to the set holding position W, that is, the article take-out transfer process in the fire transfer process. When changing the state, as described above, the ultrasonic sensor Q located on the upper side of the article moving direction in the ultrasonic sensor Q changes from the state in which the presence of the article is detected to the state in which the absence of the article B is detected. After that, when the fire setting stop condition is satisfied, the operation of the placement transport unit is controlled in a form in which the placement transport unit FS is stopped assuming that the article B is in the set holding position W. During the execution of the article take-out transfer process, an abnormality occurrence determination process for determining an abnormality occurrence state is executed.

  That is, when the ultrasonic sensor Q located on the upper side of the article movement direction in the ultrasonic sensor Q is in a state of detecting the presence of the article B, the ultrasonic sensor Q is on the lower side of the article movement direction. When the ultrasonic sensor Q positioned detects the presence of the article B, that is, when the ultrasonic sensor Q located on the upper side of the ultrasonic wave sensor Q in the article moving direction is detecting the presence of the article. In addition, the ultrasonic sensor Q located on the lower side in the article moving direction does not satisfy the fire set stop condition because the ultrasonic sensor Q changes to a state in which the absence of the article B is detected. Is detected, the placing and conveying unit FS is operated in a state where the conveying direction is changed to the reverse direction.

  In this way, the conveyance direction is changed to the reverse direction and the placement conveyance unit FS is operated to reversely convey the article B to the side away from the ultrasonic sensor Q located on the lower side in the article movement direction, and this When the ultrasonic sensor Q positioned on the upper side in the direction in which the article B moves due to reverse conveyance is not in the state of detecting the presence of the article B, the ultrasonic sensor Q positioned on the lower side in the direction in which the article B moves due to reverse conveyance. When the sonic sensor Q detects the presence of the article B, it is configured to determine that an abnormality has occurred.

  That is, when the ultrasonic sensor Q is in a state of detecting the presence of the article B due to a foreign substance adhering to the ultrasonic sensor Q located on the upper side of the article moving direction in the ultrasonic sensor Q, When the ultrasonic sensor Q located on the lower side of the article moving direction in the sonic sensor Q detects the presence of the article B, the placement / conveyance unit FS is operated with the conveyance direction changed to the reverse direction. When the ultrasonic sensor Q positioned on the upper side in the direction in which the article B moves due to the reverse conveyance is in a state where it does not detect the presence of the article B, the lower direction in which the article B moves due to the reverse conveyance. When the ultrasonic sensor Q located on the side detects the presence of the article B, the ultrasonic sensor Q cannot properly detect whether or not the article B protrudes from the setting holding area PA. Abnormal It is configured to determine that the state.

  In addition, as described above, after the placement transport unit FS is operated in the state where the transport direction is changed to the reverse direction, the upper side in the direction in which the article B moves by the reverse transport even if the set waiting time has elapsed. Even when the ultrasonic sensor Q located in the position does not change to a state where the presence of the article B is not detected, it is not possible to properly detect whether the article B protrudes from the setting holding area PA by the ultrasonic sensor Q. It is configured to determine that an abnormality has occurred.

[Control operation of ground controller]
Next, the control operation of the ground side controller GM constituting the operation control device G will be described based on the flowchart of FIG.
First, it is determined whether or not a fire has occurred based on the detection information of the fire detection device D (# 1). If no fire has occurred, the stacker crane K is transporting the article B. Is determined (# 2).

  If it is determined in the process of # 2 that the transfer work is not in progress, then it is determined whether there is a transfer work based on a work command from a higher-level management device (not shown) (# 3) If there is a transfer operation, the normal transfer command process is executed (# 4), and if it is determined that there is no transfer operation, the process proceeds to # 1.

  The normal transport command process of # 4 is a process of instructing a transport command in the loading / unloading transport process. First, an empty transport command for moving to the transport source is instructed, and completion information on the empty transport command is displayed. When it is transmitted from the crane controller GK, next, a transfer instruction for taking out the article B at the transport source is instructed, and completion information about the transfer instruction for taking out is sent from the crane controller GK. Then, when an actual conveyance command for moving to the conveyance source is instructed, and completion information about the actual conveyance command is transmitted from the crane controller GK, finally, for delivering the article B at the conveyance destination. This is a process of instructing a transfer command in a form of instructing a transfer instruction for delivery.

By the way, even if it is determined in the process of # 2 that the transfer work is in progress, the process shifts to the normal transfer command process of # 4 and continues the process of instructing the transfer instruction in the transfer process for warehousing / exiting. Become.
Then, after executing the normal conveyance command process of # 4, the process proceeds to the process of # 1.

  If it is determined in step # 1 that a fire has occurred, it is subsequently determined whether or not the stacker crane K is transporting the article B (# 5). If it is determined that the operation is completed, a work end command process is executed (# 6).

The work completion command process of # 6 is a process with different contents to be commanded according to the progress status of the normal transport command process of # 4.
That is, a work interruption command for stopping the operation according to the idle conveyance command is issued before the completion of the idle conveyance command is transmitted from the crane controller GK. Is commanded.
Incidentally, when the crane controller GK stops the conveyance work based on the work interruption command, the crane controller GK transmits a stop completion command to the ground-side controller GM.

Further, in the stage before the transfer instruction for taking out the article B is instructed at the transport source and completion information about the take-out transfer command is transmitted from the crane controller GK, Command a work interruption command to stop operation.
Incidentally, when the crane controller GK stops the conveyance work based on the work interruption command, the crane controller GK transmits a stop completion command to the ground-side controller GM.

  In addition, when the crane controller GK has already started taking out the article B from the article storage unit S or the loading / unloading conveyor 1 by the article transfer device F when the work interruption command is instructed, for example, When the locking body 31 starts to lock and move the article B, the article transfer device F is operated so as to execute the article delivery transfer process, An article return process for returning the article B to the article storage unit S or the loading / unloading conveyor 1 is performed, and a stop completion command is transmitted to the ground-side controller GM when the article return process is completed.

  Further, at the stage after commanding the actual transport command for moving to the transport source, similar to the normal transport command processing of # 4, when completion information on the actual transport command is transmitted from the crane controller GK, The delivery transfer command for delivering the article B is instructed first.

Then, when the above-described stop completion command is transmitted from the crane controller GK or when the completion information about the transfer transfer command is transmitted, the ground-side controller GM receives the work end command # 6. It is determined that the process has been completed (# 7), and then an empty conveyance command to the article storage unit S where the fire has occurred is commanded (# 8).
Incidentally, if it is determined in the process of # 5 that the carrying work is not in progress, the process immediately proceeds to the process of # 8.

  The ground controller GM determines that the movement of the stacker crane K is completed when the completion information about the actual conveyance command is transmitted from the crane controller GK after executing the process of # 8 (# 9). Subsequently, the above-mentioned fire article conveyance command is commanded to the crane controller GK (# 10), and thereafter, it waits until a reset command is commanded (# 11).

[Control operation of crane controller]
Next, the control operation of the crane controller GK constituting the operation control device G will be described. Among the control operations of the crane controller GK, the control operation corresponding to the normal conveyance command processing in the ground side controller GM, the command processing for work completion And the control operation corresponding to the empty conveyance command to the article storage unit S where the fire has occurred are obvious from the description of the control operation of the ground side controller GM. The control operation (fire generation operation process) corresponding to the transport instruction for use will be described based on the flowchart of FIG.

  That is, first, the primary fire fighting opening / closing valve 28 is opened and the primary fire extinguishing target switching valve 30 is switched to perform the primary fire fighting process waiting for the set time (# 21), and then a fire has occurred. In order to take out the article B, an article removal transfer process for controlling the transfer operation of the article transfer device F is executed (# 21).

  When executing the article removal transfer process of # 22, as described above, the abnormality occurrence determination process for determining the abnormality occurrence state is executed. When the abnormality occurrence state is determined, the subsequent operations are performed. Will be interrupted.

  When the crane controller GK completes the removal of the fired article B, the crane controller GK then opens the secondary fire cylinder open / close valve 29 to execute the secondary fire extinguishing process (# 23), and the secondary fire extinguishing process is performed. Simultaneously with the fire extinguishing process, the fire extinguishing part moving process for controlling the traveling operation of the stacker crane K and the lifting operation of the lifting platform 9 is executed in order to position the article transfer device F at the article transfer position with respect to the fire suppression part T. (# 24).

When the fire extinguishing part moving process is completed, an article delivery transfer process for delivering the fired article B to the fire extinguishing part T is subsequently executed (# 25), and the article delivery transfer process is completed. Then, transfer completion notification processing for transmitting transfer completion information is executed (# 26).
This transfer completion notification process is to transmit transfer completion information in the optical communication device 15, and due to the influence of the sprayed fire extinguishing agent, there is a possibility that communication with the ground side controller GM cannot be performed properly. Since the fire suppression unit T is installed near the home position HP, there is a high possibility that communication with the ground-side controller GM can be properly performed.

  After executing the transfer completion notification process of # 26, the crane controller GK waits until a reset command is issued (# 27).

  And although omitted in the description in the above flowchart, the crane controller GK generates a fire when the article B is transported to the transport destination based on the actual transport command from the ground-side controller GM or due to the fire extinguishing unit moving process. When the article B is transported to the fire extinguishing unit T, when the protrusion of the article B is detected by the ultrasonic sensor Q, an emergency stop is performed and the subsequent operation is interrupted.

  As described above, according to the present embodiment, since the ultrasonic sensor detects whether or not the article B held on the stacker crane K protrudes from the set holding area PA, the primary fire extinguishing process of the fire extinguishing apparatus E is performed. Even if the fire extinguishing agent is present in the space around the article B held on the stacker crane K by the secondary fire extinguishing process, it can be accurately detected whether or not the article B protrudes from the set holding area PA. The article B in which the fire has occurred can be transported to the fire extinguishing unit T satisfactorily.

[Another embodiment]
Next, other embodiments of the present invention will be listed.

(1) In the above embodiment, the stacker crane K is exemplified as the article conveying apparatus. However, as the article conveying apparatus, for example, an elevating rail type conveying apparatus provided with a carriage that can freely move along an elevating guide rail. In addition, various forms such as a hoist type overhead transport vehicle that can run along a guide rail provided on the ceiling side can be applied.

(2) In the above embodiment, when the article B is taken out from the article storage unit S and transferred to the set holding position W in the fire transfer process, the ultrasonic sensor Q is moved to the upper side in the article moving direction. If the set stop condition for fire is satisfied after the ultrasonic sensor Q is changed from the state in which the presence of the item B is detected to the state in which the absence of the item B is detected, the item B is positioned at the set holding position W. The case where the operation of the mounting / conveying unit FS is controlled in a form in which the mounting / conveying unit FS is stopped as being in a state to be performed, but instead of this, on the upper side of the article moving direction in the ultrasonic sensor. After the ultrasonic sensor Q positioned detects the presence of the article, when the fire setting stop condition is satisfied, the placement conveyance unit FS is stopped in a state where the article B is in the set holding position W. I will control the operation of the transfer section FS It may be.

  Incidentally, when the ultrasonic sensor Q located on the upper side of the article moving direction among the ultrasonic sensors detects the presence of the article and the fire setting stop condition is satisfied, the article B is located at the set holding position W. The fire setting stop condition is that the article B is positioned at the set holding position W after the ultrasonic sensor Q located on the upper side of the article moving direction of the ultrasonic sensors detects the presence of the article. It is determined on the basis of the transport distance and transport time until it is done.

(3) When carrying out the present invention, when the operation control device G takes out the article B from the article storage portion S and transfers it to the set holding position W in the fire transfer process, the ultrasonic sensor Q When the ultrasonic sensor Q located on the upper side of the article moving direction is in a state of detecting the presence of the article, the ultrasonic sensor Q located on the lower side of the article moving direction of the ultrasonic sensor Q is When the presence is detected, it may be configured to immediately determine that an abnormality has occurred.

(4) In the above embodiment, the case where the optical communication device 15 is used to connect the ground-side controller GM and the crane controller GK so as to be wirelessly communicable is exemplified, but instead of this, for example, the stacker crane K You may use the feeder radio | wireless apparatus using the feeder line installed along a driving | running | working path | route, and a general near field communication apparatus.

(5) In the said embodiment, although the case where the fire extinguishing apparatus E was provided in the stacker crane K was illustrated, it replaced with or in addition, for example, providing the fire extinguishing apparatus E in the article | item storage shelf 3 or a floor surface, etc. You may implement with the form which provides the fire extinguishing apparatus E in the ground side.

(6) In the above embodiment, the fire extinguishing control unit that controls the operation of the fire extinguishing device E is exemplified by the crane controller GK. However, as a fire extinguishing control unit, a dedicated controller is provided. Also good.

(7) In the said embodiment, although the case where the fire extinguisher E sprays a carbon dioxide gas as a fire extinguisher was illustrated, as a fire extinguisher of the fire extinguisher E, a powder fire extinguisher, a foaming fire extinguisher, etc. may be sufficient.

(8) In the above embodiment, the fire extinguishing apparatus E that performs the primary fire extinguishing process and the secondary fire extinguishing process is illustrated, but as the fire extinguishing apparatus E, for example, only one of the primary fire extinguishing process and the secondary fire extinguishing process is performed. May be executed, or both may be executed and further fire extinguishing processing may be executed.

( 9 ) In the above-described embodiment, the portion U to be engaged with the engagement body 31 of the engagement conveyance unit FK of the article transfer device F corresponds to the front portion and the rear portion in the moving direction of the article B. However, the locked portion U may be provided at a location corresponding to the lateral side surface portion of the article B.
In this case, when the article B held at the set holding position W is transferred to the fire extinguishing part T in the transfer process for fire, the outer surface of the locked portion U provided on the lateral side surface part of the article B is As an outer surface on the rear side in the article moving direction in B, it is carried out in a form of being pushed by the locking body 31.

( 10 ) In the said embodiment, although the case where the fire suppression part T was equipped with the water tank 18 in which the goods B are immersed was illustrated, as the fire suppression part T, for example, it is equipped with the storage space which accommodates the goods B in an oxygen-free state. Various things can be applied.

DESCRIPTION OF SYMBOLS 1 Article entry / exit part 31 Locking body B Article D Fire detection apparatus E Fire extinguishing apparatus F Article transfer apparatus FS Placement conveyance part G Operation control apparatus K Article conveyance apparatus S Article storage part P1 Existence area P2 Margin area P3 Setting holding area Q Ultrasonic sensor R1 Article detection sensor R2 Timing detection sensor T Fire extinguishing part U Locked part W Setting holding position

Claims (4)

An article storage unit comprising a plurality of article storage units for storing articles, an article entry / exit unit, and a fire extinguishing unit for extinguishing a fire of an article in which a fire has occurred;
The article taken out from the article storage unit and the article storage / removal unit is transported while being held at a set holding position, and the held article is received by the article storage unit, the article storage / extraction unit, and the fire suppression unit. An article conveying device to be passed;
A fire detection device for detecting that a fire has occurred in an article stored in a plurality of the article storage units;
A fire extinguishing device that sprays a fire extinguishing agent to extinguish the fire of the article when the fire detection device detects that a fire has occurred in the article;
An operation control device for controlling the operation of the article conveying device,
When the operation control device does not detect the occurrence of a fire in the fire detection device, it executes a loading / unloading conveyance process for conveying an article between the plurality of article storage units and the article loading / unloading unit, and When the occurrence of a fire is detected by the fire detection device, a plurality of fired articles are transported to the extinguishing unit after the extinguishing agent is sprayed by the fire extinguishing device or during the spraying of the extinguishing agent. An article storage facility configured to perform a fire transfer process for transferring an article from the article storage unit to the fire suppression unit,
An ultrasonic sensor that detects whether or not an article held by the article transporting device protrudes from a setting holding area obtained by adding a margin area to an existing area of the article located at the setting holding position is provided in the article conveying apparatus. Provided,
On the condition that the operation control device does not detect the protrusion of the article held by the article conveyance device from the set holding area by the ultrasonic sensor, the loading / unloading conveyance process and the fire conveyance process It is configured to run,
Articles from the article storage unit and the article loading / unloading unit by the article transfer device in which the article transfer device transfers articles between the article storage unit, the article loading / unloading unit, and the fire suppression unit And the delivery of articles to the article storage unit, the article storage / extraction unit, and the fire suppression unit,
The article transfer device is capable of placing and holding an article at the set holding position and placing and conveying the article in the transfer and conveyance direction, and a loading and conveying action of the loading and conveying unit; and the transfer and conveyance direction; Can be switched between an article locking position for locking the article and an unlocking position for releasing the locking of the article by movement in a direction orthogonal to each other, and the range overlapping the above-described transporting section and the above description An article is transferred by a locking and conveying action by a locking body that is movable along the transfer and conveying direction over a range that projects outward from the placing and conveying unit;
At the end of the transfer and transfer direction of the article, a locked portion that is engaged with the lock body so as to be able to push and pull in the transfer and transfer direction is provided.
The article transfer device is provided with an optical article detection sensor for detecting an article located at the set holding position,
The ultrasonic sensor is provided at each of the locations corresponding to both sides of the setting holding region in the transfer conveyance direction;
The operation control device is
When the article is taken out from the article storage unit and the article loading / unloading unit and transferred to the set holding position in the loading / unloading conveyance process,
When the placement and transport unit is operated so as to transport the article toward the set holding position, and after the article is detected by the article detection sensor, the entry / exit setting stop condition is satisfied, the article is In the form of stopping the above-described placement and transport section as being in a state of being set to the holding position, controlling the operation of the above-described placement and transport section; and
Engage the locking body with the locked portion of the article located in the article storage section and the article loading / unloading section at a position projecting outward from the placement conveyance section in the transfer conveyance direction. So that the article is locked and conveyed toward the set holding position at the same speed as the conveyance speed of the placement and conveyance unit. And the operation of the locking body is controlled in such a manner that the locking body is switched to the unlocking position when the article is placed on the loading and transporting section and transported. And
When the article is taken out from the article storage unit and transferred to the set holding position in the fire transfer process,
The placement conveyance unit is operated so as to convey the article toward the set holding position, and the ultrasonic sensor located on the upper side in the article moving direction of the ultrasonic sensors detects the presence of the article. Then, when the set stop condition for fire is satisfied, or the absence of the article from the state where the ultrasonic sensor located on the upper side of the article moving direction in the ultrasonic sensor detects the presence of the article. When the setting stop condition for fire is satisfied after changing to the detection state, the operation of the placement and transport unit is controlled in a form in which the placement and transport unit is stopped assuming that the article is in the set holding position. And
The article clerk is engaged with the latched part of the article located in the article storage part at a position protruding outward from the placement and conveyance part in the transfer and conveyance direction. Switching to the stop position, moving the locking body switched to the article locking position so that the article is locked and conveyed toward the set holding position at the same speed as the conveyance speed of the placement conveyance unit, and An article configured to control the operation of the locking body in a form in which the locking body is switched to the locking release position when the article is placed on the loading / conveying section and transferred . Storage facilities. An optical type that detects that the conveyance position of the article conveyed from the set holding position to the outside by the placement conveyance unit is a reference timing for controlling the operation of the locking body. A timing detection sensor is provided,
The operation control device is
When transferring the article held at the set holding position to the article storage unit and the article entry / exit unit in the loading / unloading conveyance process,
Controlling the operation of the placement and transport section in the form of operating the placement and transport section so as to transport the article from the set holding position toward the article storage section and the article storage / exit section; and
When the setting operation start condition is satisfied after the reference timing is detected by the timing detection sensor, the locking body waiting at the locking release position at the standby position in the transfer conveyance direction, It is moved toward the entry / exit setting protrusion position determined corresponding to the article storage part and the article entry / exit part at the same speed as the transport speed of the placement conveyance part, and toward the article locking position. Controlling the operation of the locking body in a form to be moved and engaged with the locked portion; and
In transferring the article held at the set holding position to the fire suppression unit in the fire transfer process,
In the form of operating the placement transport unit to transport the article from the set holding position toward the fire suppression unit, controlling the operation of the placement transport unit, and
When the ultrasonic sensor located on the lower side of the article moving direction among the ultrasonic sensors detects the presence of an article to be transported to the placement transport section, and the fire suppression setting start condition is satisfied, the transition is performed. A set-up protrusion for extinguishing the fire that is set in correspondence with the fire extinguishing part at the same speed as the transporting speed of the placing and transporting part, the locking body waiting at the unlocking position at the standby position in the loading and transporting direction. The operation of the locking body is controlled in such a manner that it is moved toward the position and moved toward the article locking position to switch to a state in which the outer surface on the rear side in the article moving direction of the article is pushed. The article storage facility according to claim 1, which is configured to do so . When the operation control device takes out the article from the article storage unit and transfers it to the set holding position in the fire transfer process, the operation control device moves to the upper side in the article moving direction of the ultrasonic sensor.
When the ultrasonic sensor located is in a state of detecting the presence of an article, an abnormality occurs when the ultrasonic sensor located on the lower side of the article moving direction in the ultrasonic sensor detects the presence of an article. The article storage facility according to claim 1 , wherein the article storage facility is configured to determine that it is in a generated state . The operation control device is positioned on the upper side of the ultrasonic sensor in the article movement direction when taking out the article from the article storage unit and transferring it to the set holding position in the fire transfer process. When the ultrasonic sensor changes from a state where the presence of an article is detected to a state where the absence of an article is detected and then a fire setting stop condition is satisfied, the article is in a state where the article is positioned at the set holding position. It is configured to control the operation of the previous placement and transport unit in a form of stopping the previous placement and transport unit, and
When the ultrasonic sensor located on the upper side of the article movement direction in the ultrasonic sensor is in a state of detecting the presence of an article, the ultrasonic sensor is located on the lower side of the article movement direction. When the ultrasonic sensor detects the presence of an article, the ultrasonic wave located on the lower side of the article movement direction is operated by changing the conveyance direction to the reverse direction and operating the placement conveyance section. When the ultrasonic sensor that is reversely conveyed to the side away from the sensor and the ultrasonic sensor located on the upper side in the direction in which the article moves due to the reverse conveyance enters a state in which the presence of the article is not detected, the article is The article storage facility according to claim 1 or 2, wherein when the ultrasonic sensor located on the lower side in the moving direction detects the presence of an article, it is determined that an abnormality has occurred. .

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