WO2020230463A1 - ストッカシステム - Google Patents
ストッカシステム Download PDFInfo
- Publication number
- WO2020230463A1 WO2020230463A1 PCT/JP2020/013802 JP2020013802W WO2020230463A1 WO 2020230463 A1 WO2020230463 A1 WO 2020230463A1 JP 2020013802 W JP2020013802 W JP 2020013802W WO 2020230463 A1 WO2020230463 A1 WO 2020230463A1
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- WIPO (PCT)
- Prior art keywords
- stacker crane
- stocker
- unit
- stacker
- stockers
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
- B66F9/072—Travelling gear therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/205—Arrangements for transmitting pneumatic, hydraulic or electric power to movable parts or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
Definitions
- One aspect of the present invention relates to a stocker system including a stocker for storing articles.
- a stocker (automated warehouse) equipped with a stacker crane for transporting goods is known.
- a stacker crane moves along a plurality of shelves arranged in the stocker body to transport goods between the warehousing / delivery port and the shelves.
- the stacker crane is automatically controlled by a controller provided so as to be able to communicate by wire or wirelessly.
- an object of one aspect of the present invention is to provide a stocker system that can ensure the safety of workers during maintenance work.
- a plurality of stockers having a shelf for accommodating articles, a stacker crane for transferring articles, and a main body for accommodating a shelf and a stacker crane are arranged in a plurality of directions in the traveling direction of the stacker crane.
- a maintenance room that can enter and accommodate at least one stacker crane, and a specific part that identifies whether the stacker crane housed in the maintenance room is a stacker crane deployed in an adjacent stocker.
- the motion control unit limits the operation of the stacker crane specified by the specific unit.
- the motion control unit may prohibit the operation of the stacker crane specified by the specific unit. As a result, the safety of the operator during maintenance work can be ensured more reliably.
- the stocker system includes a first cable whose base end is provided on the stocker and whose tip is connected to a stacker crane, and a first boundary which is a boundary between one stocker and a maintenance room.
- a door that is arranged at each of the second boundary, which is the boundary between the other stocker and the maintenance room, and that switches between an opening through which the first cable can pass and an opening state in which the opening is opened and a closed state in which the opening is closed.
- a partition plate having a portion, a first detection unit that detects the presence or absence of an opening of the partition plate arranged at the first boundary portion, and a second detection unit that detects the presence or absence of an opening of the partition plate arranged at the second boundary portion
- the specific unit is a stacker crane in which the stacker crane specified by the specific unit is deployed on either of the adjacent stockers based on the detection results of the first detection unit and the second detection unit. You may specify if there is.
- the stacker crane housed in the maintenance room with a simpler configuration is the stacker crane deployed in the adjacent stocker. Can be identified.
- the stocker system may further include a determination unit for determining whether or not a stacker crane exists inside each of the plurality of stockers.
- a determination unit for determining whether or not a stacker crane exists inside each of the plurality of stockers.
- two stacker cranes are provided in the stocker, and the operation control unit is the other stacker crane in the stocker in which the existence of one stacker crane is confirmed by the determination unit.
- the whole area operation may be prohibited. With this configuration, it is possible to prevent two stacker cranes from colliding with each other in the stocker.
- a second cable having a base end portion provided on the stocker and a tip portion connected to a stacker crane, and a second cable provided on each of a plurality of stockers to detect the second cable.
- the three detection units are further provided, and the determination unit may determine whether or not the stacker crane exists inside the stocker based on the detection result in the third detection unit. In this configuration, by using the second cable connected to the stacker crane, it is possible to determine whether or not the stacker crane exists in the stocker with a simpler configuration.
- the safety of workers during maintenance work can be ensured.
- FIG. 1 is a front view of the stocker system of one embodiment.
- FIG. 2 is a side view of the stocker system included in FIG.
- FIG. 3 is a perspective view of the stacker crane included in FIG.
- FIG. 4 is an enlarged front view of a part of the stacker crane included in FIG.
- FIG. 5 is a perspective view of the vicinity of the U-shaped portion of the power cable connected to the stacker crane included in FIG.
- FIG. 6 is a perspective view of the vicinity of the tip of the power cable connected to the stacker crane included in FIG.
- FIG. 7A is a side view of the second cover member in the open state
- FIG. 7B is a side view of the second cover member in the closed state.
- FIG. 8 is a functional block diagram of the stocker system of FIG.
- the stocker system 1 of one embodiment is configured to include a plurality of stockers 2.
- stacker cranes 7A and 7B run inside the stocker main body 3, and the article A is conveyed between a plurality of shelves provided inside the stocker main body 3 and an entry / exit port (not shown).
- the article A conveyed by the conveying device is stored.
- Article A includes, for example, a FOUP (Front-Opening Unified Pod) that houses a wafer processed by a semiconductor manufacturing apparatus or a liquid crystal manufacturing apparatus, a reticle pod that accommodates a reticle used in a semiconductor manufacturing apparatus or a liquid crystal manufacturing apparatus, or the like. It is a container of.
- FOUP Front-Opening Unified Pod
- the stocker system 1 two (plurality) stockers 2 (stocker 2A and stocker 2B) are arranged in the traveling direction of the stacker cranes 7A and 7B traveling inside the stocker 2.
- the stocker system 1 is provided with a controller 10 for controlling the traveling of two stacker cranes 7A, 7B and the like deployed inside each stocker 2.
- the two stacker cranes 7A and 7B deployed inside the stocker 2 place the article A on the shelves S of the racks 4A and 4B and take out the articles A from the shelves S under the control of the controller 10. .
- the stocker 2 includes a stocker main body 3, racks 4A and 4B, and stacker cranes 7A and 7B.
- the stocker main body 3 is formed in a housing shape (for example, a hollow rectangular parallelepiped shape) surrounding a predetermined space extending in one direction.
- the stocker main body 3 is composed of a frame 3a and a panel 3b.
- a traveling rail 31 on which the stacker cranes 7A and 7B travel and an auxiliary rail 32 arranged so as to face the traveling rail 31 in the vertical direction are laid on the stocker main body 3.
- the stacker cranes 7A and 7B travel along the traveling rail 31 and the auxiliary rail 32.
- a traveling area A1 on which the stacker cranes 7A and 7B travel is formed in the stocker main body 3.
- Racks 4A and 4B are arranged on the stocker body 3.
- the rack 4A and the rack 4B are arranged along the traveling area A1. Further, the rack 4A and the rack 4B are arranged so as to face each other in the width direction orthogonal to the extending direction and the vertical direction of the traveling region A1 (traveling rail 31).
- Each of the racks 4A and 4B is provided with a plurality of shelves S for accommodating the article A.
- the maintenance rooms 11 are arranged at both ends of the stocker 2 in the extending direction of the traveling area A1.
- the maintenance room 11 has a maintenance room 11A arranged at the left end of the stocker 2A, a maintenance room 11B arranged between the stocker 2A and the stocker 2B, and a maintenance room 11C arranged at the right end of the stocker 2B.
- the maintenance room 11A is configured to accommodate the stacker crane 7A deployed in the stocker 2A.
- the maintenance room 11B is configured to accommodate (enter) both the stacker crane 7B deployed in the stocker 2A and the stacker crane 7A deployed in the stocker 2B.
- the maintenance room 11B does not have a space for accommodating two stacker cranes 7B and stacker crane 7A at the same time, and when one of the stacker crane 7B and the stacker crane 7A is accommodated, the other cannot be accommodated.
- the maintenance room 11C is configured to accommodate the stacker crane 7B deployed in the stocker 2B.
- the first boundary portion 13 which is the boundary portion between the stocker 2A and the maintenance room 11B, will be described.
- the first boundary portion 13 is composed of an end portion 33 formed by a panel 3b attached to the frame 3a, a shutter 35, a first cover member 41, and a second cover member (partition plate) 50.
- the end portions 33 When viewed from the extending direction of the traveling rail 31, the end portions 33 are arranged so as to sandwich the traveling region A1 and extend from the upper end to the lower end of the stocker main body 3.
- the shutter 35 is arranged at a position overlapping the traveling area A1 when viewed from the extending direction of the traveling rail 31. That is, the shutter 35 is sandwiched between the ends 33 and 33. Further, the shutter 35 is arranged in a portion corresponding above the traveling portion 71 of the stacker crane 7A and the stacker crane 7B in the vertical direction. The shutter 35 shields between the stocker 2A and the maintenance room 11B in an open state where the stacker crane 7A and the stacker crane 7B can move back and forth between the stocker 2A and the maintenance room 11B, and shields the space between the stocker 2A and the maintenance room 11B.
- the state can be opened and closed between the stacked state and the closed state in which the stacker crane 7A and the stacker crane 7B cannot move back and forth.
- the open state and the closed state of the shutter 35 are detected by the first shutter detection unit 35A (see FIG. 8).
- the detection result by the first shutter detection unit 35A is acquired by the controller 10.
- the first cover member 41 is arranged at a position overlapping the traveling region A1 when viewed from the extending direction of the traveling rail 31. That is, the first cover member 41 is sandwiched between the ends 33 and 33. Further, the first cover member 41 is arranged below the shutter 35 and in a portion corresponding to the traveling portion 71 of the stacker crane 7A and the stacker crane 7B in the vertical direction.
- the first cover member 41 is a plate-shaped member that is detachably provided with respect to the frame 3a, and a portion corresponding to the traveling rail 31 is cut out. That is, the first cover member 41 is formed so that the traveling rail 31 can pass through.
- the stacker crane 7A and the stacker crane 7B can be opened to and from the stocker 2A and the maintenance room 11B. Further, the first cover member 41 is attached to the frame 3a to shield between the stocker 2A and the maintenance chamber 11B, and the stacker crane 7A and the stacker crane 7B cannot move back and forth between the stocker 2A and the maintenance chamber 11B. It can be closed.
- the second cover member 50 is arranged at a position overlapping the traveling region A1 when viewed from the extending direction of the traveling rail 31. That is, the second cover member 50 is sandwiched between the ends 33 and 33. Further, the second cover member 50 is arranged below the shutter 35 and to the right of the first cover member 41 in the vertical direction, and is a traveling portion 71 of the stacker crane 7A and the stacker crane 7B (more specifically, the power cable 8). It is located in the part corresponding to.
- the stacker crane 7A and the stacker crane 7B can be opened to and from the stocker 2A and the maintenance room 11B.
- the second cover member 50 is attached to the frame 3a to shield between the stocker 2A and the maintenance chamber 11B, and the stacker crane 7A and the stacker crane 7B cannot move between the stocker 2A and the maintenance chamber 11B in a closed state. Can be.
- the details of the second cover member 50 will be described in detail later.
- the second boundary portion 14 which is the boundary portion between the stocker 2B and the maintenance room 11B, will be described. Similar to the first boundary portion 13, the second boundary portion 14 includes an end portion 33 composed of a panel 3b attached to the frame 3a, a shutter 35, a first cover member 41, and a second cover member (partition plate). ) 50 and. Since the configurations of the end portion 33, the shutter 35, the first cover member 41, the second cover member 50, and the second shutter detection unit 35B (see FIG. 8) are as described above, detailed description thereof will be omitted here.
- each of the stacker crane 7A and the stacker crane 7B travels along the traveling rail 31 and conveys the article A between the shelf S and the warehousing / delivery port, and the article with respect to the shelf S. Transfer (loading and unloading) of A.
- the stacker crane 7B is arranged on the right side of the stacker crane 7A in the extending direction of the traveling rail 31 and the auxiliary rail 32 in FIG. 1 (when viewed from the front).
- the stacker crane 7A includes a traveling unit 71, a mast 72, a transfer unit 75, and an auxiliary traveling unit 90.
- the traveling unit 71 has a traveling motor 78, an elevating motor 82, and a housing 85.
- the traveling unit 71 travels along the traveling rail 31.
- the traveling unit 71 includes driving wheels that roll along the upper surface of the traveling rail 31.
- the traveling motor 78 is a drive source for the traveling drive wheels 76.
- the elevating motor 82 is a drive source for the elevating table 73.
- the housing 85 houses the traveling motor 78 and the elevating motor 82. Note that FIG. 3 shows a state in which the housing is removed.
- the mast 72 is erected in the vertical direction above the traveling portion 71, which will be described in detail later.
- the transfer unit 75 transfers the article A to and from the shelf S, and also transfers the article A to and from the warehousing / delivery port.
- the auxiliary traveling unit 90 travels along the auxiliary rail 32.
- the auxiliary traveling unit 90 includes a pair of drive wheels that roll while sandwiching the auxiliary rail 32.
- the tip portion 8a of the flexible power cable 8 is connected to the traveling portion 71 of the stacker crane 7A.
- the base end portion 8b of the power cable 8 is arranged at a substantially central portion of the stocker main body 3.
- the power cable 8 connects the power supply unit (not shown) installed in the stocker 2A (or stocker 2B) to the stacker crane 7A. That is, the stacker crane 7A is supplied with power from the power supply unit (not shown) via the power cable 8.
- the power cable 8 has a U-shaped portion 8c that is folded back in a U-shape between the tip end portion 8a and the base end portion 8b.
- one is fixed to the stocker main body 3 (base end 8b), and the other is fixed to the stacker crane 7A (tip 8a).
- the power cable 8 is attached to the cable support guide member. Indicates that the cable is stored, but the cable support guide member may not be provided.
- the second cable detection unit (third detection unit) 38B detects the power cable 8.
- the second cable detection unit 38B arranged in the stocker 2B is arranged at a position where the power cable 8 is not detected when the stacker crane 7A moves to the left and is housed in the maintenance room 11B.
- An example of the second cable detection unit 38B is a switch that switches ON / OFF depending on the presence or absence of contact of the power cable 8.
- the power cable 8 of the stacker crane 7A is provided on one side in the left-right direction of the traveling portion 71 when viewed from the extending direction of the traveling rail 31, and the power cable 8 of the stacker crane 7B extends the traveling rail 31. It is provided on the other side of the traveling portion 71 in the left-right direction when viewed from the current direction. With such a configuration, the power cable 8 of the stacker crane 7A and the power cable 8 of the stacker crane 7B do not interfere with each other.
- the stacker crane 7B is symmetrical with the configuration of the stacker crane 7A, there is no difference in function, so a detailed description of the stacker crane 7B will be omitted below.
- the first cable detection unit (third detection unit) 38A which is arranged in the stocker 2A and detects the power cable 8 connected to the stacker crane 7B, is accommodated in the maintenance room 11B by moving the stacker crane 7B to the right. It is arranged at a position where the power cable 8 is not detected when the power cable 8 is used.
- the second cover member 50 of the first boundary portion 13 includes a main body portion 51, a slide portion (door portion) 52, and a detected portion 55A.
- the main body 51 is detachably attached to the frame 3a by an appropriate method.
- the slide portion 52 is provided so as to be slidable in the vertical direction with respect to the main body portion 51.
- the slide portion 52 is provided with an engaging portion (not shown) that engages with the slide groove 51a provided in the main body portion 51.
- the first cover member 41 and the second cover member 50 are attached to the frame 3a, and the slide portion 52 of the second cover member 50 is slid downward.
- the opening 53 is formed (see FIG. 7A), and the opening 53 is closed (shielded) by sliding the slide portion 52 of the second cover member 50 upward (FIG. 7B). reference).
- the opening 53 is provided so as to correspond to the position of the power cable 8 when viewed from the extending direction of the traveling rail 31. That is, the opening 53 is formed at a position where the power cable 8 straddling the first boundary portion 13 (or the second boundary portion 14) can pass through.
- the frame 3a to which the second cover member 50 is attached is provided with a first cover detection unit (first detection unit) 58A that detects the detected unit 55A.
- the first cover detection unit 58A detects the detected unit 55A in the vicinity of the first cover detection unit 58A or the detected unit 55A in contact with the first cover detection unit 58A. Due to the characteristics of the detected unit 55A and the first cover detecting unit 58A, the first cover detecting unit 58A does not detect the detected unit 55A when the sliding unit 52 is located below (in the open state). Further, when the slide unit 52 is located above (when the mouth is closed), the first cover detection unit 58A detects the detected unit 55A. The detection result in the first cover detection unit 58A is acquired by the controller 10.
- the second cover member 50 of the second boundary portion 14 also has a main body portion 51, a slide portion (door portion) 52, and a detected portion 55B, similarly to the second cover member 50 of the first boundary portion 13. ing. Further, the frame 3a to which the second cover member 50 is attached is provided with a second cover detection unit (second detection unit) 58B that detects the detected unit 55B.
- second detection unit second detection unit
- the controller 10 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.
- the controller 10 controls various operations of the stacker cranes 7A and 7B deployed on the plurality of stockers 2A and 2B, respectively. Further, the controller 10 can be configured as software in which a program stored in the ROM is loaded into the RAM and executed by the CPU, for example.
- the controller 10 may be configured as hardware such as an electronic circuit.
- the operation control unit 10A, the specific unit 10B, and the determination unit 10C shown below are formed by the cooperation of hardware such as a CPU, RAM, and ROM, and software such as a program.
- the operation control unit 10A limits the operation of the stacker crane 7A specified by the specific unit 10B. More specifically, the motion control unit 10A prohibits the stacker crane 7A or the stacker crane 7B specified by the specific unit 10B from operating.
- the operation control unit 10A prohibits the entire operation of the stacker crane 7A (the other stacker crane) in the stocker 2A. Further, when the determination unit 10C confirms the existence of the stacker crane 7A (one stacker crane) in the stocker 2B, the operation control unit 10A prohibits the entire operation of the stacker crane 7B (the other stacker crane) in the stocker 2B. ..
- the motion control unit 10A operates the entire area in the stocker 2B in the stacker crane 7B deployed in the stocker 2B. Is prohibited.
- the identification unit 10B identifies whether the stacker crane housed in the maintenance room 11B is a stacker crane (stacker crane 7A or stacker crane 7B) deployed in the adjacent stocker 2A or stocker 2B. Based on the detection results of the first cover detection unit 58A and the second cover detection unit 58B, the specific unit 10B has a stacker crane (stacker crane 7A or stacker crane 7A or) in which the stacker crane is deployed on either the adjacent stocker 2A or the stocker 2B. Identify whether it is a stacker crane 7B).
- the stacker crane 7B of the stocker 2A is maintained. Identify as being housed in room 11B. Further, in the specific unit 10B, when the detected unit 55B is not detected by the second cover detection unit 58B (that is, the opening 53 is open), the stacker crane 7A of the stocker 2B is moved to the maintenance room 11B. Identify as being contained.
- the determination unit 10C determines whether or not the stacker crane 7B exists in the stocker 2A, and also determines whether or not the stacker crane 7A exists in the stocker 2B. More specifically, the determination unit 10C determines whether or not the stacker crane 7B exists in the stocker 2A based on the detection result of the first cable detection unit 38A, and based on the detection result of the second cable detection unit 38B. Then, it is determined whether or not the stacker crane 7A exists in the stocker 2B.
- the stocker 2A and the stocker 2B operate the stacker crane 7A and the stacker crane 7B with the first cover member 41 and the second cover member 50 attached to the frame 3a. That is, the stacker crane 7A and the stacker crane 7B are configured not to operate unless the first cover member 41 and the second cover member 50 are attached to the frame 3a.
- a detection unit such as a sensor that detects that the first cover member 41 and the second cover member 50 are attached to the frame 3a may be provided.
- the operator opens the shutter 35 and removes the first cover member 41 and the second cover member 50 from the frame 3a. Then, the operator moves the stacker crane 7A to the maintenance room 11B. Next, the operator attaches the first cover member 41 to the frame 3a. Next, the operator puts the slide portion 52 downward (that is, a state in which the opening 53 is formed and the power cable 8 connected to the stacker crane 7A is inserted through the opening 53). The second cover member 50 is attached to the frame 3a. As a result, the stacker crane 7A is accommodated in the maintenance room 11B, and the stacker crane 7B can be operated in the stocker 2B. The stacker crane 7A housed in the maintenance room 11B is prohibited from being operated by the controller 10 as described above.
- the procedure opposite to the above procedure is performed. Further, when it is desired to house the stacker crane 7B of the stocker 2A in the maintenance room 11B, the same procedure as when the stacker crane 7A of the stocker 2B is housed in the maintenance room 11B may be performed, so detailed description thereof will be omitted.
- the stacker crane housed in the maintenance room 11B is a stacker crane (stacker crane 7A or stacker crane 7B) deployed in the adjacent stocker 2A or stocker 2B. Therefore, the operation of the stacker crane whose operation should be restricted in the maintenance room 11B can be reliably restricted. As a result, it is possible to prevent the operator from being in danger due to the operation of the stacker crane housed in the maintenance room 11B. As a result, the safety of the worker during the maintenance work can be ensured.
- the operation control unit 10A prohibits the stacker crane (stacker crane 7A or stacker crane 7B) specified by the specific unit 10B from operating, so that the operator during the maintenance work The safety of the crane can be ensured more reliably.
- the stacker crane housed in the maintenance room 11B is specified by using the power cable 8 connected to the stacker crane 7A and the stacker crane 7B. That is, the stacker crane housed in the maintenance room 11B is specified based on the presence or absence of an opening in the second cover member 50 attached to the second boundary portion 14 and the first boundary portion 13. Thereby, it is possible to identify whether the stacker crane housed in the maintenance room 11B is the stacker crane (stacker crane 7A or stacker crane 7B) deployed in the adjacent stocker 2B or stocker 2A with a simpler configuration. it can.
- the stocker system 1 of the above embodiment includes a determination unit 10C for determining whether or not the stacker crane 7B exists in the stocker 2A and determining whether or not the stacker crane 7A exists in the stocker 2B.
- a determination unit 10C for determining whether or not the stacker crane 7B exists in the stocker 2A and determining whether or not the stacker crane 7A exists in the stocker 2B.
- the operation control unit 10A prohibits the entire area operation of the other stacker crane 7A in the stocker 2A in which the existence of one stacker crane 7B is confirmed by the determination unit 10C, and one stacker crane The entire area operation of the other stacker crane 7B in the stocker 2B where the existence of 7A has been confirmed is prohibited. As a result, it is possible to prevent the two stacker cranes 7A and the stacker cranes 7B from colliding with each other in the stocker 2B and the stocker 2A.
- the determination unit 10C determines whether or not the stacker crane 7A exists in the stocker 2B based on the detection result of the second cable detection unit 38B that detects the power cable 8. Based on the detection result in the first cable detection unit 38A that detects the power cable 8, it is determined whether or not the stacker crane 7B exists in the stocker 2A. In this configuration, it is possible to determine whether or not the stacker crane 7B exists in the stocker 2A and determine whether or not the stacker crane 7A exists in the stocker 2B with a simpler configuration.
- the stacker crane 7A or the stacker crane 7B existing in the maintenance room 11B has been described with an example of determining based on the presence or absence of the power cable 8.
- one aspect of the present invention is based on this. Not limited.
- the presence of the stacker crane 7A or the stacker crane 7B in the maintenance room 11B is detected by a plurality of sensors that directly detect only one of the stacker crane 7A or the stacker crane 7B, so that the stacker crane 7A or the stacker crane 7B is housed in the maintenance room 11B. It is possible to identify whether the stacker crane is a stacker crane deployed in an adjacent stocker.
- the opening 53 through which the power cable 8 can pass and the door portion for switching between the opening state in which the opening 53 is opened and the closed state in which the opening 53 is closed are configured as a sliding portion 52 slidable in the vertical direction.
- a member covering the opening 53 may be detachably attached to the main body 51, or a member covering the opening 53 may be attached to the main body 51 using a hinge or the like.
- the maintenance room 11B has been described by taking as an example a configuration in which two stacker cranes 7B and stacker crane 7A cannot be accommodated at the same time.
- both the stacker crane 7B and the stacker crane 7A are used. It may be configured so that it can be accommodated at the same time.
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Abstract
Description
Claims (6)
- 物品を収容する棚と、前記物品を移載するスタッカクレーンと、前記棚及び前記スタッカクレーンを収容する本体部とを有するストッカが、前記スタッカクレーンの走行方向において複数配列されるストッカシステムであって、
複数の前記ストッカにそれぞれ配備される前記スタッカクレーンの動作を制御する動作制御部と、
隣り合う前記ストッカの間に設けられ、隣り合う前記ストッカのそれぞれに配備された前記スタッカクレーンの両方が進入可能であり少なくとも一つの前記スタッカクレーンを収容可能なメンテナンス室と、
前記メンテナンス室に収容された前記スタッカクレーンが、隣り合う前記ストッカのどちらに配備されているスタッカクレーンであるかを特定する特定部と、を備え、
前記動作制御部は、前記特定部によって特定された前記スタッカクレーンの動作を制限する、ストッカシステム。 - 前記動作制御部は、前記特定部によって特定された前記スタッカクレーンを動作させることを禁止する、請求項1記載のストッカシステム。
- 基端部が前記ストッカに設けられると共に先端部が前記スタッカクレーンに接続される第一ケーブルと、
一方の前記ストッカと前記メンテナンス室との境界である第一境界部、及び他方の前記ストッカと前記メンテナンス室との境界である第二境界部のそれぞれに配置されており、前記第一ケーブルが通過可能な開口部及び前記開口部を開口する開口状態と閉口する閉口状態とに切り替える扉部を有する仕切板と、
前記第一境界部に配置される前記仕切板の開口の有無を検知する第一検知部と、
前記第二境界部に配置される前記仕切板の開口の有無を検知する第二検知部と、を更に備え、
前記特定部は、前記第一検知部及び前記第二検知部の検知結果に基づいて、前記特定部によって特定された前記スタッカクレーンが、隣り合う前記ストッカのどちらに配備されているスタッカクレーンであるかを特定する、請求項1又は2記載のストッカシステム。 - 複数の前記ストッカのそれぞれの内部に前記スタッカクレーンが存在するか否かを判定する判定部を更に備える、請求項1~3の何れか一項記載のストッカシステム。
- 前記ストッカには、二台の前記スタッカクレーンが配備されており、
前記動作制御部は、前記判定部によって一方の前記スタッカクレーンの存在が確認されたストッカにおける他方の前記スタッカクレーンの全域運転を禁止する、請求項4記載のストッカシステム。 - 基端部が前記ストッカに設けられると共に先端部が前記スタッカクレーンに接続される第二ケーブルと、
複数の前記ストッカのそれぞれに設けられ、前記第二ケーブルを検知する第三検知部と、を更に備え、
前記判定部は、前記第三検知部における検知結果に基づいて、前記ストッカの内部に前記スタッカクレーンが存在するか否かを判定する、請求項4又は5記載のストッカシステム。
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