WO2018097139A1 - Article transfer device - Google Patents

Article transfer device Download PDF

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Publication number
WO2018097139A1
WO2018097139A1 PCT/JP2017/041857 JP2017041857W WO2018097139A1 WO 2018097139 A1 WO2018097139 A1 WO 2018097139A1 JP 2017041857 W JP2017041857 W JP 2017041857W WO 2018097139 A1 WO2018097139 A1 WO 2018097139A1
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WO
WIPO (PCT)
Prior art keywords
support
power supply
power
article
support body
Prior art date
Application number
PCT/JP2017/041857
Other languages
French (fr)
Japanese (ja)
Inventor
椎野真
田口和浩
宮本雅哉
Original Assignee
株式会社ダイフク
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Publication date
Application filed by 株式会社ダイフク filed Critical 株式会社ダイフク
Publication of WO2018097139A1 publication Critical patent/WO2018097139A1/en

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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

Definitions

  • the present invention relates to an article transfer device for transferring an article between a plurality of transfer target locations.
  • An article transfer device for example, a fork that moves up and down along the vertical direction facing a plurality of transfer target portions arranged side by side in the vertical direction, and transfers the articles between the plurality of transfer target locations.
  • an article storage facility using an article conveyance device (for example, a stacker crane) provided with If a power failure occurs during transfer of an article due to a fork, the article may collapse from the transfer device. In addition, goods and forks (stacker cranes) may be damaged due to collapse of cargo.
  • an operator visually confirms whether or not there is a load collapse or damage of an article or a stacker crane.
  • the control device acquires fork position monitoring information and, when a power failure is detected, causes the fork states of the plurality of stacker cranes to be collectively displayed on the display unit.
  • the operator can select a stacker crane that requires visual confirmation and manual return and a stacker crane that does not require visual confirmation and manual return and can be restored by remote operation by looking at the display device.
  • the return time of the entire article storage facility can be shortened (see [0002] to [0008] etc.).
  • the article transfer device such as a fork provided in the stacker crane is configured so as not to cause the collapse of the load even in the event of a power failure during the transfer.
  • the article transfer device in view of the above is an article transfer supported by a lifting body that moves up and down along a vertical direction facing a plurality of transfer target portions arranged side by side in the vertical direction.
  • a device A support for placing and supporting the article;
  • Support body drive for moving the support body back and forth between a retracted position in which the support body is retracted toward the lifting body and a protruding position in which the support body is protruded toward the transfer target portion side.
  • a support control device for controlling the drive of the support drive device;
  • a main power supply that receives power for operating the support driving device and the support control device and supplies power to the support driving device and the support control device, and
  • An auxiliary power supply for supplying power to the support driving device and the support control device when power supply to the main power supply is interrupted;
  • the support control device uses the power of the auxiliary power supply to drive the support drive device to move the support in and out. Execute processing preferentially.
  • the article storage facility 100 includes a storage shelf 102 that includes a plurality of storage units 101 that store articles B, and a stacker crane 30 that transports the articles B.
  • a storage shelf 102 that includes a plurality of storage units 101 that store articles B
  • a stacker crane 30 that transports the articles B.
  • two storage shelves 102 are installed at an interval so that the direction in which the article B is put in and out faces each other.
  • the stacker crane 30 automatically travels on a moving path 103 formed with a traveling rail 105 between two storage shelves 102.
  • a plurality of storage units 101 are arranged side by side vertically and horizontally.
  • a pair of loading platforms 108 are installed on one end side of the movement path 103 with the traveling rail 105 interposed therebetween, and a ground-side controller 107 (GND-CTRL) that gives an input / output command to the stacker crane 30 is installed.
  • GND-CTRL ground-side controller 107
  • the stacker crane 30 includes a traveling carriage 32 that travels along the traveling rail 105, a pair of masts 31 (two masts 31) erected on the traveling carriage 32, and the mast 31. And a fork device 37 (support) provided on the lifting / lowering body 34.
  • the direction along the traveling direction of the traveling carriage 32 is the front-rear direction Y, and the two masts 31 are arranged one by one at both ends of the traveling carriage 32 in the front-rear direction Y.
  • the mast 31 has a lower end portion fixed to the traveling carriage 32 and an upper end portion connected to the upper frame 115.
  • the upper frame 115 is guided along a guide rail 106 provided along the traveling rail 105 on the ceiling side.
  • the elevating body 34 is suspended and supported by two elevating chains 44 connected to both ends in the front-rear direction Y in the traveling direction of the traveling carriage 32.
  • an upper driven pulley 46 is provided at each of the front end portion and the rear end portion of the upper frame 115.
  • a lifting platform side driven pulley 48 is provided on the lower surface side of the central portion of the lifting body 34 in the front-rear direction Y.
  • a traveling carriage side driven pulley 47 is provided at one end side (front end side or rear end side) and the central portion of the traveling carriage 32 in the front-rear direction Y, and a driving pulley driven by a lifting motor 39 at the one end side. 49 is also provided.
  • the elevating chain 44 is wound around an upper driven pulley 46, a traveling cart side driven pulley 47, an elevating table side driven pulley 48, and a drive pulley 49.
  • the drive pulley 49 is rotated in the forward or reverse direction by the lifting motor 39, the lifting chain 44 moves, and the lifting body 34 suspended and supported by the lifting chain 44 moves up and down.
  • the lifting body 34 is provided with a lifting platform-side rotary encoder 51 that detects the lifting position on the lifting path.
  • a sprocket that meshes with a chain laid in the vertical direction of the mast 31 is attached to the rotating shaft of the elevator base-side rotary encoder 51, and this sprocket rotates when the elevator 34 moves up and down.
  • the lift position is detected based on the lift distance of the lift body 34 from a predetermined lift reference position (for example, the lower end of the lift path).
  • the traveling carriage 32 is provided with two traveling wheels 33 (33a and 33b) that rotate on the traveling rail 105 in the front and rear directions.
  • one traveling wheel 33 in the front-rear direction Y is a driving traveling wheel 33a for propulsion driven by a traveling motor 38
  • the other traveling wheel 33 in the front-rear direction Y is The driven traveling wheel 33b.
  • the traveling carriage 32 is also provided with a vehicle body-side rotary encoder 52 that detects a traveling position on the movement path 103.
  • a sprocket that meshes with a chain laid along the traveling rail 105 is attached to the rotation shaft of the vehicle-body-side rotary encoder 52, and this sprocket rotates when the traveling carriage 32 travels.
  • the travel position is detected based on the travel distance of the travel carriage 32 from a predetermined travel reference position (for example, a reference position set at one end of the movement path 103).
  • the fork device 37 provided in the elevating body 34 is a transfer device that transfers the article B (pallet P) between the loading table 108 and the stacker crane 30 or between the storage unit 101 and the stacker crane 30.
  • 10 article transfer device
  • the fork device 37 projects from the stacker crane 30 in the direction of the storage unit 101 (or the loading platform 108) in a state where the pallet P on which a plurality of articles B are loaded in a stacked state is supported.
  • the article B is transferred from 30 to the storage unit 101 (or the loading table 108).
  • the fork device 37 is retracted from the storage unit 101 (or the loading table 108) to the stacker crane 30 side while supporting the pallet P, so that the stacker is moved from the storage unit 101 (or the loading table 108).
  • the article B is transferred to the crane 30.
  • the fork device 37 is driven to move in and out by the motor 20 for moving in and out.
  • the form which has the two motors 20 for exit / exit (the 1st exit / retreat motor 21 and the 2nd exit / exit motor 22) is illustrated.
  • the stacker crane 30 moves the article B placed on the loading platform 108 to the storage unit 101 by traveling the traveling carriage 32, raising and lowering the lifting body 34, and withdrawing / withdrawing of the fork device 37 (support).
  • a warehousing operation for transferring and a warehousing operation for transferring the article B stored in the storage unit 101 to the loading table 108 are performed.
  • the elevating body 34 is provided with a sensor 55 (SEN) for detecting the placement state of the pallet P placed on the fork device 37.
  • the sensor 55 includes gate-type contacts and is arranged on each of the four sides of the lifting body 34, and a plurality of articles B are loaded in a stacked state depending on whether or not the contacts are in contact with the pallet P or the articles B. The placement state of the placed pallet P is detected.
  • the elevating body 34 may be provided with a camera 56 that images the mounting state of the pallet P mounted on the fork device 37.
  • An image captured by the camera 56 is preferably displayed on the display 109 of the ground-side controller 107.
  • the camera that images the mounting state of the pallet P during transfer between the storage shelf 102 on one side of the pair of storage shelves 102 and the storage on the other side It is preferable that two cameras, that is, a camera for imaging the mounting state of the pallet P at the time of transfer to and from the shelf 102, are provided.
  • FIG. 4 shows a schematic control block diagram of the stacker crane 30.
  • the stacker crane 30 is provided with a crane control device 35 (SC-CTRL) for controlling the stacker crane 30 based on a loading / unloading command from the ground-side controller 107 (GND-CTRL).
  • SC-CTRL crane control device 35
  • a crane control device 35 including a lifting control unit 35a (VM-CTRL) for controlling the lifting body 34 and a traveling control unit 35b (TRV-CTRL) for controlling the traveling vehicle 32 is installed in the traveling vehicle 32.
  • the transfer control unit 12 (F-CTRL) for controlling the fork device 37 is illustrated as being installed on the lifting body 34.
  • the transfer control unit 12 is configured in the control unit 11 installed in the elevating body 34 together with a power supply circuit for supplying power to the fork device 37 and the like.
  • the crane control device 35 including the travel control unit 35b and the elevation control unit 35a is instructed to travel the traveling carriage 32 using the detection information of the vehicle body side rotary encoder 52 based on the loading / unloading command from the ground side controller 107.
  • the lift 34 is moved up and down using the detection information of the lift platform side rotary encoder 51 and stopped at the commanded target stop position.
  • the transfer control unit 12 provided in the control unit 11 transfers the article B by controlling the fork device 37 based on the loading / unloading command from the ground-side controller 107.
  • the loading / unloading command includes at least a loading command and a shipping command, and may include a movement command for moving the article B between different storage units 101.
  • the ground controller 107 sets one of the loading platforms 108 as a transfer target location (transfer source), and sets one of the plurality of storage units 101 as a transfer target location (transfer source), and one of the loading platforms 108 is transferred.
  • a movement command one of the plurality of storage units 101 is set as a transfer target location (transfer source), and the transfer of the plurality of storage units 101 is performed.
  • One storage unit 101 different from the loading source is set as a transfer target location (transfer destination).
  • the warehousing command, the warehousing command, and the movement command are not limited to commands for performing all the warehousing operations, all the warehousing operations, and all the moving operations, respectively. Only one of the scooping command to be performed and the unloading command for performing the unloading operation using the fork device 37 to the transfer destination may be used. In other words, after the craving command for warehousing is given and the craving operation is completed, the unloading command for warehousing is given and the unloading operation is performed, and the warehousing operation by the warehousing command as a whole is performed. Good. The same applies to delivery and movement.
  • the traveling control unit 35b executes the traveling control based on the scooping command, causes the traveling carriage 32 to travel and stops at the traveling target stop position
  • the lifting control unit 35a executes the raising / lowering control to raise / lower the raising / lowering body 34 (preferably raising from the lower end of the raising / lowering path) and stopping at the target raising / lowering stop position.
  • the transfer control unit 12 executes transfer control, and a scooping operation for scooping the article B from the transfer target location (transfer source) is performed.
  • the transfer control unit 12 causes the fork device 37 to protrude and retracts the fork device 37 while the fork device 37 supports the article B.
  • the lifting control unit 35a executes the lifting control to lower the lifting body 34 to the lower end of the lifting path.
  • the crane control device 35 causes the travel control unit 35b to execute the travel control to cause the travel carriage 32 to travel and stop at the travel target stop position, and the lift control unit 35a executes the lift control. Then, the elevating body 34 is raised and lowered (preferably raised from the lower end of the elevating path) and stopped at the elevating target stop position. Next, the transfer control unit 12 executes transfer control, and a lowering operation for dropping the article B to a transfer target location (transfer destination) is performed.
  • the transfer control unit 12 causes the fork device 37 to protrude to the transfer destination while the fork device 37 supports the article B, and after the article B is placed at the transfer destination, the fork device 37 is retracted.
  • the elevating control unit 35a executes elevating control to lower the elevating body 34 to the lower end of the elevating path.
  • FIG. 5 shows a schematic control block diagram of the control unit 11 mounted on the transfer apparatus 10.
  • the traveling carriage 32 is provided with a control panel including a crane control device 35, and AC power is supplied to the transfer device 10 from the control panel (crane control device 35). That is, the transfer device 10 is supplied with AC power from the outside of the transfer device.
  • the transfer device 10 includes a power receiving unit that receives power supplied from the crane control device 35 as the main power source 1 (M-PW). From the main power supply 1, a transformer circuit 3 (TRNS), an AC-DC converter 4 (AC-DC), and a brake power supply circuit 5 (B-PW) via an uninterruptible power supply (UPS) as an auxiliary power supply 2 described later. ) Is supplied with power.
  • the main power supply 1 receives power supplied from the outside of the transfer device 10 and supplies power to the transformer circuit 3, the AC-DC converter 4, and the brake power supply circuit 5 via the uninterruptible power supply device.
  • the transformer circuit 3 supplies power to the exit / exit motor drive circuit 6 (DRV) that drives the exit / exit motor 20.
  • DVR exit / exit motor drive circuit 6
  • Two exit / exit motor drive circuits 6 for driving the exit / exit motor 20 are provided.
  • the first exit / exit motor drive circuit 6a for driving the first exit / exit motor 21 and the second exit / exit motor.
  • a second exit / exit motor drive circuit 6 b for driving the motor 22.
  • These drive circuits (DRV) are configured with, for example, an inverter circuit as a core.
  • the AC-DC converter 4 supplies power to the fork control unit 8 (F-CTRL) and the sensor 55 (SEN) installed in the transfer device 10.
  • the fork control unit 8 controls the above-described exit / exit motor drive circuit 6 (DRV) to drive and control the exit / exit motor 20.
  • the exit / exit motor 20 is provided with a brake 24 that applies a braking force to the exit / exit motor 20 in a non-energized state.
  • the brake 24 is provided so as not to hinder the rotation of the exit / retreat motor 20 in the energized state.
  • the first exit / exit motor 21 is provided with a first brake 25, and the second exit / exit motor 22 is provided with a second brake 26.
  • the brake power supply circuit 5 (B-PW) supplies electric power to the brake 24 (first brake 25 and second brake 26).
  • the exit / retreat motor 20 and the brake 24 correspond to a support driving device that drives the fork device 37.
  • the support driving device includes the brake 24.
  • the support driving device may be configured simply by the motor (M) without providing such a brake (B).
  • the transfer device 10 (article transfer device) includes a fork device 37 (support body) for mounting and supporting the article B, and a support drive device (exit / retreat motor) for moving the fork device 37 out and out. 20 and the brake 24), a fork control unit 8 (support body control device) for controlling the drive of the support body drive device (exit / retreat motor 20), a support body drive device (exit / exit motor 20 and brake 24), and And a main power source 1 for supplying electric power to the fork control unit 8 (support control device).
  • the support driving device (the motor 20 and the brake 24) is a retracted position where the fork device 37 is retracted toward the lifting body 34 and a protruding position where the fork device 37 protrudes toward the transfer target portion.
  • the fork device 37 is moved back and forth.
  • the main power supply 1 receives electric power for operating the support driving device (the motor 20 and the brake 24) and the fork control unit 8 (support control device) from the outside of the transfer device 10, and these devices (20 , 24, 8).
  • the transfer device 10 further includes power from the outside of the transfer device 10 (from the crane control device 35 in this embodiment) to the main power supply 1.
  • An auxiliary power source 2 is provided to supply power to the support driving device (the motor 20 and the brake 24) and the fork control unit 8 (support control device) when the supply is interrupted.
  • the auxiliary power source 2 is connected to the output side of the main power source 1.
  • the main power supply 1 is connected in parallel with the transformer circuit 3 (TRNS), the AC-DC converter 4 (AC-DC), and the brake power supply circuit 5 (B-PW).
  • the auxiliary power source 2 is connected in series with these subsequent circuits (3, 4, 5) on the output side of the main power source 1. That is, the transformer circuit 3 (TRNS), the AC-DC converter 4 (AC-DC), and the brake power supply circuit 5 (B-PW) are connected in parallel to the auxiliary power supply 2.
  • the auxiliary power source 2 is configured with a rechargeable battery as a core.
  • the rechargeable battery is charged with power input from the main power supply 1.
  • the auxiliary power source 2 outputs the power output from the main power source 1 as it is based on the voltage of the power input to the auxiliary power source 2 (power output from the main power source 1) or outputs the power stored in the rechargeable battery. Switch to do.
  • the auxiliary power source 2 includes a voltage detection circuit
  • the auxiliary power source 2 uses the power output from the main power source 1 as it is when the voltage of the power input from the main power source 1 is within a normal range.
  • the electric power stored in the rechargeable battery is output.
  • the auxiliary power source 2 outputs information (identification information, power failure information, auxiliary power status signal, etc.) indicating whether or not the auxiliary power source 2 is outputting power.
  • the output of this information may be output from a dedicated signal terminal of the auxiliary power supply 2, or the auxiliary power supply 2 may be configured to include a communication circuit and output via the communication circuit.
  • the fork control unit 8 can determine that at least the main power supply 1 has been interrupted (becomes a power failure state). When the power supply to the main power supply 1 is interrupted, the fork control unit 8 uses the power of the auxiliary power supply 2 to support and drive the support body drive device (for exit / retreat). The driving process of the motor 20) is executed with priority. For this reason, it is suppressed that the fork device 37 on the way out and exits suddenly with the interruption of the power supply to the main power source 1 and the load collapses.
  • the fork control unit 8 causes the fork device 37 to project to the projecting position when the fork device 37 has moved from the retracted position to the projecting position when a power failure occurs. Is moved from the protruding position to the retracted position, a one-way moving operation is performed to retract the fork device 37 to the retracted position.
  • a one-way moving operation is performed to retract the fork device 37 to the retracted position.
  • the control of the fork device 37 using the power of the auxiliary power source 2 may be executed only when the article B is supported on the fork device 37.
  • the fork control unit 8 projects the fork device 37 to the projecting position when the fork device 37 supporting the article B is moved from the retracted position to the projecting position when a power failure occurs.
  • a one-way moving operation for retracting the fork device 37 to the retracted position may be executed.
  • the fork device 37 is kept moving in and out in this manner, thereby suppressing the collapse of the article B during transfer.
  • the fork device 37 is provided with a slip stopper or a pressing member to suppress the collapse of the load, or the fork device 37 is provided with a fixing member to fix the article B to the fork device 37.
  • the anti-slip or pressing member may cause collapse of the load without being able to suppress the movement of the article B.
  • the fork device 37 itself may be damaged by the inertial force.
  • the structure of the fork device 37 becomes complicated if a slip stopper, a pressing member, and a fixing member are provided.
  • the pressing member or the fixing member needs to be movable, so that the structure of the fork device 37 is further complicated.
  • the fork device 37 is continuously moved in and out so that the moving-in / out operation does not stop suddenly during the transfer, thereby suppressing the generation of inertial force. That is, the structure of the fork device 37 is not complicated in order to suppress the generation of inertial force that causes a load collapse.
  • the power capacity of the rechargeable battery mounted on the auxiliary power source 2 can complete the movement of the fork device 37 so that even if a power failure occurs in the middle of the transfer of the article B, it is difficult for the cargo to collapse. At least the capacity that can be produced is necessary (ie, the power capacity to move one way).
  • the completion of the moving of the fork device 37 is preferably because the moving motor 20 operates, the brake 24 does not act, and the fork control unit 8 can control the moving motor drive circuit 6.
  • the power capacity of the auxiliary power source 2 is preferably an appropriate capacity as required. If the capacity of the auxiliary power source 2 is set to, for example, about twice that of the above-described power capacity for moving one way, it is preferable that the standard is clear. Therefore, it is preferable that the power capacity of the auxiliary power source 2 is equal to or greater than the power that can move the fork device 37 one way and less than the power that can reciprocate the fork device 37.
  • the auxiliary power source 2 is charged by the power supplied from the main power source 1. If the amount of discharge from the auxiliary power source 2 increases in a power failure state, the time until the power is restored by charging also increases. If a power failure occurs again before the power is restored, even if power is supplied from the auxiliary power supply 2, the fork device 37 may not be able to complete the exit / retreat movement. Accordingly, when the fork device 37 has been moved out and out in a power failure state, it is preferable to cut off the power supply from the auxiliary power source 2. For example, it is preferable that the fork control unit 8 stops the power supply from the auxiliary power source 2 when the fork device 37 has been moved in and out in a power failure state.
  • the fork control unit 8 controls the output control circuit of the auxiliary power supply 2 via the external control terminal and The power supply can be cut off. Further, the fork control unit 8 notifies the auxiliary power source 2 that the fork device 37 has been moved in and out, and the output control circuit of the auxiliary power source 2 cuts off the power supply from the auxiliary power source 2. Also good.
  • the auxiliary power source 2 includes a rechargeable battery (secondary battery) and is charged by the power supplied from the main power source 1 at a normal time has been shown as a preferable mode.
  • the auxiliary power source 2 may be constituted by a primary battery instead of a secondary battery.
  • the auxiliary power source 2 is a primary battery, it is preferable to have a power capacity that allows the fork device 37 to move one way multiple times. In this case, it is preferable that the auxiliary power source 2 is appropriately replaced according to the number of power outages and the like. Further, even when the auxiliary power source 2 is configured to have a rechargeable battery, it may not be charged by the power supplied from the main power source 1. In this case, it is preferable to replace the charged auxiliary power source 2 as appropriate.
  • the fork device 37 illustrated the form which transfers the pallet P in which the several goods B were stacked.
  • the stacker crane 30 is not limited to the one that transfers and conveys such an article B.
  • the article B to be transferred may be a single item, for example, a container or a FOUP (Front Opening Unified Unified Pod) that accommodates a semiconductor substrate.
  • FOUP Front Opening Unified Unified Pod
  • the slide fork type fork device 37 has been exemplified.
  • the present invention is not limited to the slide fork type, and may be a scalar arm type, for example.
  • the power failure countermeasure as described above is also useful in a stacker crane that transfers and conveys containers and FOUPs.
  • the article transfer device in view of the above is an article transfer supported by a lifting body that moves up and down along a vertical direction facing a plurality of transfer target portions arranged side by side in the vertical direction.
  • a device A support for placing and supporting the article;
  • Support body drive for moving the support body back and forth between a retracted position in which the support body is retracted toward the lifting body and a protruding position in which the support body is protruded toward the transfer target portion side.
  • a support control device for controlling the drive of the support drive device;
  • a main power supply that receives power for operating the support driving device and the support control device and supplies power to the support driving device and the support control device, and
  • An auxiliary power supply for supplying power to the support driving device and the support control device when power supply to the main power supply is interrupted;
  • the support control device uses the power of the auxiliary power supply to drive the support drive device to move the support in and out. Execute processing preferentially.
  • the support body control device causes the support body to project to the projecting position.
  • the support is moving from the protruding position to the retracted position, it is preferable to perform a one-way movement operation that retracts the support to the retracted position.
  • the support driving device can continue the movement of the support and move the support to the protruding position or the retracted position. . Since the support body moves to the projecting position or the retraction position, which is the target of the exit / retreat movement, and stops, the support body on the exit / retreat suddenly stops due to the interruption of the power supply to the main power source, causing the collapse of the load. Such a thing is suppressed. In other words, according to this configuration, it is possible to provide an article transfer device configured to be less likely to collapse even if a power failure occurs during the transfer of the article.
  • the auxiliary power source is reciprocated more than electric power capable of moving the support body one way from the retracted position to the protruding position or from the protruding position to the retracted position with the article placed and supported. It is preferable to have a power capacity capable of supplying less than the power that can be generated to the support driving device and the support control device.
  • the power capacity of the auxiliary power source is such that the support drive device and support control device can move the support in and out so that it will not easily collapse even if a power failure occurs during the transfer of goods.
  • a capacity capable of completing the exit / retreat movement to the protruding position or the retraction position, which is the target of the exit / retreat movement is required (that is, a power capacity for moving one way).
  • the power capacity of the auxiliary power source is preferably an appropriate capacity as required. If the upper limit capacity is set based on the power capacity for one-way movement described above, the reference is clear.
  • the power capacity of the auxiliary power source is equal to or greater than the power capable of moving the support one way and less than the power capable of reciprocating the support.
  • the auxiliary power supply supplies power to the support driving device and the support control device in the power outage state, and outputs information indicating that the power outage is present, and the support control device It is preferable that the supply of power from the auxiliary power supply is stopped after completing the execution of the driving process of the support driving device using the power of the auxiliary power supply.
  • the auxiliary power source is a rechargeable power source
  • the time required for charging becomes long.
  • the support is moved out and out in a power failure state, it is not necessary to supply power from the auxiliary power source. Therefore, when the support movement of the support is completed in the power failure state, it is preferable that power saving can be realized if the power supply from the auxiliary power supply is stopped.
  • the support driving device includes a motor that moves the support and a brake that applies a braking force to the motor in a non-energized state.
  • the article transfer device may be provided with a brake configured to release the braking force in the energized state and to apply the braking force in the state where the power supply is cut off for fail-safe. . In the case where such a brake is provided, when the power supply to the main power supply is interrupted, a stronger braking force acts on the support.
  • the article being transferred may collapse.
  • Auxiliary power supply shares power to the support drive unit including the motor and brake, so even if the power supply to the main power supply is interrupted, the brake does not generate braking force and the support completes moving out Until then, the strong braking force of the brake does not act on the support. Even if such a brake is provided, it is possible to provide an article transfer device configured to be less likely to collapse when a power failure occurs during transfer of an article.
  • Fork control unit support control device
  • Transfer device article transfer device
  • Exit / exit motor support drive unit
  • First motor for exit / exit support drive device
  • Second motor for exit / exit support drive device
  • Brake support drive unit
  • First brake support drive unit
  • Second brake support drive unit
  • Stacker crane goods conveying device
  • Lifting body 37 Fork device (support)
  • B Article P Pallet article
  • T Transfer target location W Container (article)

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  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Provided is an article transfer device configured so that a load collapse does not occur easily even when a power failure occurs while transferring articles. An article transfer device (10) comprises: a support body drive device (20) for extending and retracting a support body (37) on which an article (B) is placed and supported between a retracted position and a projected position; a support body control device (8); and a main power source (1) that receives power and that supplies power to the support body drive device (20) and the support body control device (8). The article transfer device (10) further comprises an auxiliary power source (2) that supplies power to the support body drive device (20) and the support body control device (8) when the power supply to the main power source (1) is interrupted. The support body control device (8) uses the power from the auxiliary power source (2) and prioritizes execution of the driving process for the support body drive device (20) in order to extend and retract the support body (37) when there is a power failure and the power supply to the main power source (1) is interrupted.

Description

物品移載装置（ＡＲＴＩＣＬＥ　ＴＲＡＮＳＦＥＲ　ＤＥＶＩＣＥ）Article transfer device (ARTICLE TRANSFER DEVICE)
　本発明は、複数の移載対象箇所の間で物品を移載する物品移載装置に関する。 The present invention relates to an article transfer device for transferring an article between a plurality of transfer target locations.
　上下方向に並んで配置された複数の移載対象箇所に対向して上下方向に沿って昇降移動して、複数の移載対象箇所の間で物品を移載する物品移載装置（例えばフォーク）を備えた物品搬送装置（例えばスタッカークレーン）を用いた物品保管設備が知られている。フォークによって、物品を移載している最中に停電が発生すると、移載装置からの物品の荷崩れが生じる場合がある。また、荷崩れによって物品やフォーク（スタッカークレーン）が破損する場合もある。日本国公開特許公報第２０１６－３０６６０号には、スタッカークレーンが停電により停止した後、荷崩れの有無や、物品やスタッカークレーンの破損の有無を作業者が目視にて確認した後、手動でスタッカークレーンを復帰させていたことに鑑み、より効率的にスタッカークレーンを復帰させる技術が提案されている。具体的には、制御装置が、フォークの位置の監視情報を取得し、停電が検知された場合に、複数のスタッカークレーンのフォークの状態を一括して表示部に表示させる。作業者は、表示装置を見て、目視確認や手動復帰が必要なスタッカークレーンと、目視確認や手動復帰が不要で遠隔操作で復帰させることが可能なスタッカークレーンとを選別することができるので、物品保管設備全体の復帰時間を短縮することができる（［０００２］～［０００８］等参照）。 An article transfer device (for example, a fork) that moves up and down along the vertical direction facing a plurality of transfer target portions arranged side by side in the vertical direction, and transfers the articles between the plurality of transfer target locations. There is known an article storage facility using an article conveyance device (for example, a stacker crane) provided with If a power failure occurs during transfer of an article due to a fork, the article may collapse from the transfer device. In addition, goods and forks (stacker cranes) may be damaged due to collapse of cargo. In Japanese Patent Publication No. 2016-30660, after a stacker crane stops due to a power failure, an operator visually confirms whether or not there is a load collapse or damage of an article or a stacker crane. In view of returning the crane, a technique for returning the stacker crane more efficiently has been proposed. Specifically, the control device acquires fork position monitoring information and, when a power failure is detected, causes the fork states of the plurality of stacker cranes to be collectively displayed on the display unit. The operator can select a stacker crane that requires visual confirmation and manual return and a stacker crane that does not require visual confirmation and manual return and can be restored by remote operation by looking at the display device. The return time of the entire article storage facility can be shortened (see [0002] to [0008] etc.).
　これによれば、荷崩れの発生などが生じていないスタッカークレーンについては早期に復帰させることができる。しかし、荷崩れが生じているスタッカークレーンについては、依然として手動で荷崩れの復旧や、スタッカークレーンの復帰操作が必要である。従って、スタッカークレーンに備えられたフォークなどの物品移載装置は、移載途中の停電に際しても、荷崩れを起こしにくいように構成されていることが好ましい。 According to this, it is possible to quickly return the stacker crane in which no collapse of the load has occurred. However, for stacker cranes that have collapsed, it is still necessary to manually recover the collapse and restore the stacker crane. Therefore, it is preferable that the article transfer device such as a fork provided in the stacker crane is configured so as not to cause the collapse of the load even in the event of a power failure during the transfer.
特開２０１６－３０６６０号公報Japanese Unexamined Patent Publication No. 2016-30660
　上記背景に鑑みて、物品の移載途中で停電が発生しても、荷崩れを起こしにくいように構成された物品移載装置が望まれる。 In view of the above background, there is a demand for an article transfer device configured to be less likely to collapse even if a power failure occurs during the transfer of the article.
　１つの態様として、上記に鑑みた物品移載装置は、上下方向に並んで配置された複数の移載対象箇所に対向して上下方向に沿って昇降移動する昇降体に支持された物品移載装置であって、
　物品を載置支持する支持体と、
　前記支持体を前記昇降体の側に引退させた引退位置と前記支持体を前記移載対象箇所の側に向けて突出させた突出位置との間で前記支持体を出退移動させる支持体駆動装置と、
　前記支持体駆動装置の駆動を制御する支持体制御装置と、
　前記支持体駆動装置及び前記支持体制御装置を動作させる電力を受け取って、前記支持体駆動装置及び前記支持体制御装置へ電力を供給する主電源と、を備え、
　前記主電源への電力供給が途絶した場合に、前記支持体駆動装置及び前記支持体制御装置へ電力を供給する補助電源をさらに備え、
　前記支持体制御装置は、前記主電源への電力供給が途絶した停電状態となった場合、前記補助電源の電力を用いて、前記支持体の出退移動のための前記支持体駆動装置の駆動処理を優先的に実行する。 As one aspect, the article transfer device in view of the above is an article transfer supported by a lifting body that moves up and down along a vertical direction facing a plurality of transfer target portions arranged side by side in the vertical direction. A device,
A support for placing and supporting the article;
Support body drive for moving the support body back and forth between a retracted position in which the support body is retracted toward the lifting body and a protruding position in which the support body is protruded toward the transfer target portion side. Equipment,
A support control device for controlling the drive of the support drive device;
A main power supply that receives power for operating the support driving device and the support control device and supplies power to the support driving device and the support control device, and
An auxiliary power supply for supplying power to the support driving device and the support control device when power supply to the main power supply is interrupted;
When the power supply to the main power supply is interrupted, the support control device uses the power of the auxiliary power supply to drive the support drive device to move the support in and out. Execute processing preferentially.
　この構成によれば、主電源への電力供給が途絶した場合であっても、補助電源から支持体制御装置へ電力が供給されて、支持体の出退移動のための支持体駆動装置の駆動処理が優先的に実行される。補助電源からは支持体駆動装置へも電力が供給されるので、主電源への電力供給が途絶した場合であっても、支持体駆動装置が支持体の出退移動を継続させることができる。このため、出退途上の支持体が主電源への電力供給の途絶に伴って急停止して荷崩れを生じるようなことが抑制される。即ち、本構成によれば、物品の移載途中で停電が発生しても、荷崩れを起こしにくいように構成された物品移載装置を提供することができる。 According to this configuration, even when power supply to the main power supply is interrupted, power is supplied from the auxiliary power supply to the support control device, and the support drive device is driven to move the support in and out. Processing is preferentially executed. Since electric power is also supplied from the auxiliary power source to the support driving device, the support driving device can continue to move out of the support even when power supply to the main power supply is interrupted. For this reason, it is suppressed that the support body in the exit / outgoing suddenly stops with the interruption of the power supply to the main power source and causes the collapse of the cargo. In other words, according to this configuration, it is possible to provide an article transfer device configured to be less likely to collapse even if a power failure occurs during the transfer of the article.
　物品移載装置のさらなる特徴と利点は、図面を参照して説明する実施形態についての以下の記載から明確となる。 Further features and advantages of the article transfer device will become clear from the following description of the embodiment described with reference to the drawings.
物品搬送設備の全体斜視図Overall perspective view of goods transport equipment スタッカークレーンの側面図Side view of stacker crane 昇降体およびフォーク装置を示す斜視図A perspective view showing a lifting body and a fork device スタッカークレーンの模式的な制御ブロック図Schematic control block diagram of stacker crane 移載装置の模式的制御ブロック図Schematic control block diagram of transfer equipment
　以下、物品保管設備において利用される物品移載装置を例として、物品移載装置の実施形態を図面に基づいて説明する。図１に示すように、物品保管設備１００には、物品Ｂを収納する収納部１０１を複数備えた収納棚１０２と、物品Ｂを搬送するスタッカークレーン３０とが備えられている。図１に示すように、収納棚１０２は、物品Ｂを出し入れする方向が互いに対向するように間隔を隔てて２つ設置されている。スタッカークレーン３０は、２つの収納棚１０２の間に走行レール１０５を有して形成された移動経路１０３を自動走行する。各収納棚１０２には、多数の収納部１０１が縦横に複数並べて配置されている。移動経路１０３の一端側には、走行レール１０５を挟んで一対の荷載置台１０８が設置されていると共に、入出庫指令をスタッカークレーン３０に与える地上側コントローラ１０７（GND-CTRL）が設置されている。 Hereinafter, an embodiment of an article transfer device will be described with reference to the drawings, taking an article transfer device used in an article storage facility as an example. As shown in FIG. 1, the article storage facility 100 includes a storage shelf 102 that includes a plurality of storage units 101 that store articles B, and a stacker crane 30 that transports the articles B. As shown in FIG. 1, two storage shelves 102 are installed at an interval so that the direction in which the article B is put in and out faces each other. The stacker crane 30 automatically travels on a moving path 103 formed with a traveling rail 105 between two storage shelves 102. In each storage shelf 102, a plurality of storage units 101 are arranged side by side vertically and horizontally. A pair of loading platforms 108 are installed on one end side of the movement path 103 with the traveling rail 105 interposed therebetween, and a ground-side controller 107 (GND-CTRL) that gives an input / output command to the stacker crane 30 is installed. .
　スタッカークレーン３０は、図２に示すように、走行レール１０５に沿って走行する走行台車３２と、走行台車３２に立設された一対のマスト３１（２本のマスト３１）と、マスト３１に沿って昇降する昇降体３４と、昇降体３４に備えられたフォーク装置３７（支持体）とを備えている。走行台車３２の走行方向に沿った方向を前後方向Ｙとして、２本のマスト３１は、走行台車３２の前後方向Ｙの両端部に１本ずつ配置されている。図１及び図２に示すように、マスト３１は、下端部が走行台車３２に固定され、上端部が上部フレーム１１５に連結されている。上部フレーム１１５は、天井側において走行レール１０５に沿うように設けられたガイドレール１０６に沿って案内される。 As shown in FIG. 2, the stacker crane 30 includes a traveling carriage 32 that travels along the traveling rail 105, a pair of masts 31 (two masts 31) erected on the traveling carriage 32, and the mast 31. And a fork device 37 (support) provided on the lifting / lowering body 34. The direction along the traveling direction of the traveling carriage 32 is the front-rear direction Y, and the two masts 31 are arranged one by one at both ends of the traveling carriage 32 in the front-rear direction Y. As shown in FIGS. 1 and 2, the mast 31 has a lower end portion fixed to the traveling carriage 32 and an upper end portion connected to the upper frame 115. The upper frame 115 is guided along a guide rail 106 provided along the traveling rail 105 on the ceiling side.
　図２に示すように、昇降体３４は、走行台車３２の走行方向において前後方向Ｙの両端部に連結された２本の昇降用チェーン４４にて吊下げ支持されている。前後方向Ｙにおいて、上部フレーム１１５の前端部および後端部には、それぞれ上方側従動プーリ４６が設けられている。前後方向Ｙにおいて昇降体３４の中央部の下面側には、昇降台側従動プーリ４８が設けられている。走行台車３２の前後方向Ｙにおける一端側（前端側又は後端側）及び中央部には、それぞれ走行台車側従動プーリ４７が設けられ、当該一端側には昇降用モータ３９によって駆動される駆動プーリ４９も設けられている。昇降用チェーン４４は、上方側従動プーリ４６、走行台車側従動プーリ４７、昇降台側従動プーリ４８、および、駆動プーリ４９に巻きかけられている。昇降用モータ３９により、駆動プーリ４９を正方向又は逆方向に回転させることにより、昇降用チェーン４４が動き、昇降用チェーン４４に吊下げ支持された昇降体３４が昇降移動する。 As shown in FIG. 2, the elevating body 34 is suspended and supported by two elevating chains 44 connected to both ends in the front-rear direction Y in the traveling direction of the traveling carriage 32. In the front-rear direction Y, an upper driven pulley 46 is provided at each of the front end portion and the rear end portion of the upper frame 115. On the lower surface side of the central portion of the lifting body 34 in the front-rear direction Y, a lifting platform side driven pulley 48 is provided. A traveling carriage side driven pulley 47 is provided at one end side (front end side or rear end side) and the central portion of the traveling carriage 32 in the front-rear direction Y, and a driving pulley driven by a lifting motor 39 at the one end side. 49 is also provided. The elevating chain 44 is wound around an upper driven pulley 46, a traveling cart side driven pulley 47, an elevating table side driven pulley 48, and a drive pulley 49. When the drive pulley 49 is rotated in the forward or reverse direction by the lifting motor 39, the lifting chain 44 moves, and the lifting body 34 suspended and supported by the lifting chain 44 moves up and down.
　図２に示すように、昇降体３４には、昇降経路上の昇降位置を検出する昇降台側ロータリエンコーダ５１が設けられている。図示は省略するが、昇降台側ロータリエンコーダ５１の回転軸には、マスト３１の上下方向に敷設されたチェーンに噛み合うスプロケットが取り付けられており、昇降体３４が昇降するとこのスプロケットが回転する。所定の昇降基準位置（例えば昇降経路の下端部）からの昇降体３４の昇降距離に基づいて、昇降位置が検出される。 As shown in FIG. 2, the lifting body 34 is provided with a lifting platform-side rotary encoder 51 that detects the lifting position on the lifting path. Although not shown, a sprocket that meshes with a chain laid in the vertical direction of the mast 31 is attached to the rotating shaft of the elevator base-side rotary encoder 51, and this sprocket rotates when the elevator 34 moves up and down. The lift position is detected based on the lift distance of the lift body 34 from a predetermined lift reference position (for example, the lower end of the lift path).
　走行台車３２には、走行レール１０５上を回転する前後２つの走行輪３３（３３ａ，３３ｂ）が設けられている。２つの走行輪３３の内、前後方向Ｙの一方側の走行輪３３が、走行用モータ３８にて駆動される推進用の駆動走行輪３３ａであり、前後方向Ｙの他方側の走行輪３３が、従動走行輪３３ｂである。図２に示すように、走行台車３２にも、移動経路１０３上の走行位置を検出する車体側ロータリエンコーダ５２が設けられている。図示は省略するが、車体側ロータリエンコーダ５２の回転軸には、走行レール１０５に沿って敷設されたチェーンに歯合するスプロケットが取り付けられており、走行台車３２が走行するとこのスプロケットが回転する。所定の走行基準位置（例えば移動経路１０３の一端部に設定された基準位置）からの走行台車３２の走行距離に基づいて、走行位置が検出される。 The traveling carriage 32 is provided with two traveling wheels 33 (33a and 33b) that rotate on the traveling rail 105 in the front and rear directions. Of the two traveling wheels 33, one traveling wheel 33 in the front-rear direction Y is a driving traveling wheel 33a for propulsion driven by a traveling motor 38, and the other traveling wheel 33 in the front-rear direction Y is The driven traveling wheel 33b. As shown in FIG. 2, the traveling carriage 32 is also provided with a vehicle body-side rotary encoder 52 that detects a traveling position on the movement path 103. Although not shown, a sprocket that meshes with a chain laid along the traveling rail 105 is attached to the rotation shaft of the vehicle-body-side rotary encoder 52, and this sprocket rotates when the traveling carriage 32 travels. The travel position is detected based on the travel distance of the travel carriage 32 from a predetermined travel reference position (for example, a reference position set at one end of the movement path 103).
　昇降体３４に備えられたフォーク装置３７は、荷載置台１０８とスタッカークレーン３０との間、又は、収納部１０１とスタッカークレーン３０との間で、物品Ｂ（パレットＰ）を移載する移載装置１０（物品移載装置）において、物品Ｂを支持する支持体に相当する。フォーク装置３７は、複数の物品Ｂが段積み状態で載せられたパレットＰを支持した状態で、スタッカークレーン３０の側から収納部１０１（又は荷載置台１０８）の方向へ突出することによって、スタッカークレーン３０から収納部１０１（又は荷載置台１０８）へ物品Ｂを移載する。また、フォーク装置３７は、当該パレットＰを支持した状態で、収納部１０１（又は荷載置台１０８）の側からスタッカークレーン３０の側へ引退することによって、収納部１０１（又は荷載置台１０８）からスタッカークレーン３０に物品Ｂを移載する。フォーク装置３７は、図４、図５に示すように出退用モータ２０によって出退駆動される。ここでは、図５に示すように、２つの出退用モータ２０（第１出退用モータ２１及び第２出退用モータ２２）を有する形態を例示している。 The fork device 37 provided in the elevating body 34 is a transfer device that transfers the article B (pallet P) between the loading table 108 and the stacker crane 30 or between the storage unit 101 and the stacker crane 30. 10 (article transfer device) corresponds to a support for supporting the article B. The fork device 37 projects from the stacker crane 30 in the direction of the storage unit 101 (or the loading platform 108) in a state where the pallet P on which a plurality of articles B are loaded in a stacked state is supported. The article B is transferred from 30 to the storage unit 101 (or the loading table 108). Further, the fork device 37 is retracted from the storage unit 101 (or the loading table 108) to the stacker crane 30 side while supporting the pallet P, so that the stacker is moved from the storage unit 101 (or the loading table 108). The article B is transferred to the crane 30. As shown in FIGS. 4 and 5, the fork device 37 is driven to move in and out by the motor 20 for moving in and out. Here, as shown in FIG. 5, the form which has the two motors 20 for exit / exit (the 1st exit / retreat motor 21 and the 2nd exit / exit motor 22) is illustrated.
　上述したように、スタッカークレーン３０は、走行台車３２の走行、昇降体３４の昇降、フォーク装置３７（支持体）の出退によって、荷載置台１０８に載置されている物品Ｂを収納部１０１に移載させる入庫作業や、収納部１０１に収納されている物品Ｂを荷載置台１０８に移載させる出庫作業を行う。 As described above, the stacker crane 30 moves the article B placed on the loading platform 108 to the storage unit 101 by traveling the traveling carriage 32, raising and lowering the lifting body 34, and withdrawing / withdrawing of the fork device 37 (support). A warehousing operation for transferring and a warehousing operation for transferring the article B stored in the storage unit 101 to the loading table 108 are performed.
　また、昇降体３４には、図３に示すように、フォーク装置３７に載置されているパレットＰの載置状態を検出するセンサ５５（SEN）が設けられている。センサ５５は、ゲート型の接触子を備えて昇降体３４の四方の夫々に配置されており、接触子とパレットＰや物品Ｂとの接触の有無により、複数の物品Ｂが段積み状態で載置されているパレットＰの載置状態を検出する。 Further, as shown in FIG. 3, the elevating body 34 is provided with a sensor 55 (SEN) for detecting the placement state of the pallet P placed on the fork device 37. The sensor 55 includes gate-type contacts and is arranged on each of the four sides of the lifting body 34, and a plurality of articles B are loaded in a stacked state depending on whether or not the contacts are in contact with the pallet P or the articles B. The placement state of the placed pallet P is detected.
　また、昇降体３４には、図３に示すように、フォーク装置３７に載置されているパレットＰの載置状態を撮像するカメラ５６が設けられていてもよい。カメラ５６による撮影画像は、地上側コントローラ１０７のディスプレイ１０９に表示されると好適である。尚、カメラ５６が設けられる場合、１対の収納棚１０２の内、一方側の収納棚１０２との間での移載の際にパレットＰの載置状態を撮像するカメラと、他方側の収納棚１０２との間での移載の際にパレットＰの載置状態を撮像するカメラとの２台が設けられていると好適である。 Further, as shown in FIG. 3, the elevating body 34 may be provided with a camera 56 that images the mounting state of the pallet P mounted on the fork device 37. An image captured by the camera 56 is preferably displayed on the display 109 of the ground-side controller 107. In the case where the camera 56 is provided, the camera that images the mounting state of the pallet P during transfer between the storage shelf 102 on one side of the pair of storage shelves 102 and the storage on the other side. It is preferable that two cameras, that is, a camera for imaging the mounting state of the pallet P at the time of transfer to and from the shelf 102, are provided.
　図４は、スタッカークレーン３０の模式的な制御ブロック図を示している。図４に示すように、スタッカークレーン３０には、地上側コントローラ１０７（GND-CTRL）からの入出庫指令に基づいて、スタッカークレーン３０を制御するクレーン制御装置３５（SC-CTRL）が設けられている。ここでは、昇降体３４を制御する昇降制御部３５ａ（VM-CTRL）、及び、走行台車３２を制御する走行制御部３５ｂ（TRV-CTRL）を備えたクレーン制御装置３５が走行台車３２に設置され、フォーク装置３７を制御する移載制御部１２（F-CTRL）が昇降体３４に設置されている形態を例示している。詳細は、図５を参照して後述するが移載制御部１２は、フォーク装置３７に電力を供給する電源回路等と共に昇降体３４に設置された制御ユニット１１内に構成されている。 FIG. 4 shows a schematic control block diagram of the stacker crane 30. As shown in FIG. 4, the stacker crane 30 is provided with a crane control device 35 (SC-CTRL) for controlling the stacker crane 30 based on a loading / unloading command from the ground-side controller 107 (GND-CTRL). Yes. Here, a crane control device 35 including a lifting control unit 35a (VM-CTRL) for controlling the lifting body 34 and a traveling control unit 35b (TRV-CTRL) for controlling the traveling vehicle 32 is installed in the traveling vehicle 32. The transfer control unit 12 (F-CTRL) for controlling the fork device 37 is illustrated as being installed on the lifting body 34. Although the details will be described later with reference to FIG. 5, the transfer control unit 12 is configured in the control unit 11 installed in the elevating body 34 together with a power supply circuit for supplying power to the fork device 37 and the like.
　走行制御部３５ｂ及び昇降制御部３５ａを備えたクレーン制御装置３５は、地上側コントローラ１０７からの入出庫指令に基づき、車体側ロータリエンコーダ５２の検出情報を用いて走行台車３２を走行させて指令された走行用目標停止位置で停止させると共に、昇降台側ロータリエンコーダ５１の検出情報を用いて昇降体３４を昇降させて指令された昇降用目標停止位置で停止させる。制御ユニット１１に備えられた移載制御部１２は、地上側コントローラ１０７からの入出庫指令に基づき、フォーク装置３７を出退制御して、物品Ｂを移載する。 The crane control device 35 including the travel control unit 35b and the elevation control unit 35a is instructed to travel the traveling carriage 32 using the detection information of the vehicle body side rotary encoder 52 based on the loading / unloading command from the ground side controller 107. In addition to stopping at the travel target stop position, the lift 34 is moved up and down using the detection information of the lift platform side rotary encoder 51 and stopped at the commanded target stop position. The transfer control unit 12 provided in the control unit 11 transfers the article B by controlling the fork device 37 based on the loading / unloading command from the ground-side controller 107.
　入出庫指令には、少なくとも入庫指令及び出庫指令が含まれ、異なる収納部１０１の間で、物品Ｂを移動させる移動指令が含まれていてもよい。地上側コントローラ１０７は、入庫指令の場合は、荷載置台１０８の内の１つを移載対象箇所（移載元）と設定し、複数の収納部１０１の内の１つを移載対象箇所（移載先）と設定し、出庫指令の場合は、複数の収納部１０１の内の１つを移載対象箇所（移載元）と設定し、荷載置台１０８の内の１つを移載対象箇所（移載先）と設定し、移動指令の場合には、複数の収納部１０１の内の１つを移載対象箇所（移載元）と設定し、複数の収納部１０１の内、移載元とは異なる１つの収納部１０１を移載対象箇所（移載先）と設定する。 The loading / unloading command includes at least a loading command and a shipping command, and may include a movement command for moving the article B between different storage units 101. In the case of a warehousing instruction, the ground controller 107 sets one of the loading platforms 108 as a transfer target location (transfer source), and sets one of the plurality of storage units 101 as a transfer target location ( In the case of a delivery instruction, one of the plurality of storage units 101 is set as a transfer target location (transfer source), and one of the loading platforms 108 is transferred. In the case of a movement command, one of the plurality of storage units 101 is set as a transfer target location (transfer source), and the transfer of the plurality of storage units 101 is performed. One storage unit 101 different from the loading source is set as a transfer target location (transfer destination).
　尚、入庫指令、出庫指令、移動指令は、それぞれ入庫動作の全て、出庫動作の全て、移動動作の全てを行わせる指令に限らず、移載元に対してフォーク装置３７を用いた掬い動作を行わせる掬い指令、移載先に対してフォーク装置３７を用いた降ろし動作を行わせる降ろし指令の一方のみであってもよい。つまり、入庫のための掬い指令が与えられ、掬い動作が完了した後に、入庫のための降ろし指令が与えられて降ろし動作が行われ、全体として入庫指令による入庫動作が行われる形態であってもよい。出庫、移動についても同様である。 In addition, the warehousing command, the warehousing command, and the movement command are not limited to commands for performing all the warehousing operations, all the warehousing operations, and all the moving operations, respectively, Only one of the scooping command to be performed and the unloading command for performing the unloading operation using the fork device 37 to the transfer destination may be used. In other words, after the craving command for warehousing is given and the craving operation is completed, the unloading command for warehousing is given and the unloading operation is performed, and the warehousing operation by the warehousing command as a whole is performed. Good. The same applies to delivery and movement.
　例えば、クレーン制御装置３５は、掬い指令に基づき、走行制御部３５ｂ（TRV-CTRL）が走行制御を実行して走行台車３２を走行させて走行用目標停止位置に停止させ、昇降制御部３５ａ（VM-CTRL）が昇降制御を実行して昇降体３４を昇降させて（好ましくは昇降経路の下端部から上昇させて）昇降用目標停止位置に停止させる。次に、移載制御部１２（F-CTRL）が移載制御を実行し、移載対象箇所（移載元）から物品Ｂを掬い取る掬い動作が行われる。掬い動作では、移載制御部１２は、フォーク装置３７を突出させ、フォーク装置３７に物品Ｂを支持した状態でフォーク装置３７を引退させる。好ましくは、次の走行制御に備えて、昇降制御部３５ａが昇降制御を実行して昇降体３４を昇降経路の下端部まで下降させる。 For example, in the crane control device 35, the traveling control unit 35b (TRV-CTRL) executes the traveling control based on the scooping command, causes the traveling carriage 32 to travel and stops at the traveling target stop position, and the lifting control unit 35a ( VM-CTRL) executes the raising / lowering control to raise / lower the raising / lowering body 34 (preferably raising from the lower end of the raising / lowering path) and stopping at the target raising / lowering stop position. Next, the transfer control unit 12 (F-CTRL) executes transfer control, and a scooping operation for scooping the article B from the transfer target location (transfer source) is performed. In the scooping operation, the transfer control unit 12 causes the fork device 37 to protrude and retracts the fork device 37 while the fork device 37 supports the article B. Preferably, in preparation for the next traveling control, the lifting control unit 35a executes the lifting control to lower the lifting body 34 to the lower end of the lifting path.
　続いて、クレーン制御装置３５は、降ろし指令に基づき、走行制御部３５ｂが走行制御を実行して走行台車３２を走行させて走行用目標停止位置に停止させ、昇降制御部３５ａが昇降制御を実行して昇降体３４を昇降させて（好ましくは昇降経路の下端部から上昇させて）昇降用目標停止位置に停止させる。次に、移載制御部１２が移載制御を実行し、移載対象箇所（移載先）へ物品Ｂを降ろす降ろし動作が行われる。降ろし動作では、移載制御部１２は、フォーク装置３７に物品Ｂを支持した状態でフォーク装置３７を移載先まで突出させ、移載先に物品Ｂを載置した後、フォーク装置３７を引退させる。掬い指令の場合と同様に、好ましくは、昇降制御部３５ａが昇降制御を実行して昇降体３４を昇降経路の下端部まで下降させる。 Subsequently, on the basis of the lowering command, the crane control device 35 causes the travel control unit 35b to execute the travel control to cause the travel carriage 32 to travel and stop at the travel target stop position, and the lift control unit 35a executes the lift control. Then, the elevating body 34 is raised and lowered (preferably raised from the lower end of the elevating path) and stopped at the elevating target stop position. Next, the transfer control unit 12 executes transfer control, and a lowering operation for dropping the article B to a transfer target location (transfer destination) is performed. In the lowering operation, the transfer control unit 12 causes the fork device 37 to protrude to the transfer destination while the fork device 37 supports the article B, and after the article B is placed at the transfer destination, the fork device 37 is retracted. Let As in the case of the scooping command, preferably, the elevating control unit 35a executes elevating control to lower the elevating body 34 to the lower end of the elevating path.
　ところで、スタッカークレーン３０によって、物品Ｂを搬送している最中に停電が発生すると、特に、掬い動作及び降ろし動作において、フォーク装置３７（支持体）を出退させている際に停電が発生すると、フォーク装置３７上の物品Ｂが荷崩れを起こす場合がある。具体的には、掬い動作においてフォーク装置３７に物品Ｂが支持されている状態で、フォーク装置３７を引退させている場合や、降ろし動作においてフォーク装置３７に物品Ｂが支持されている状態で、フォーク装置３７を突出させている場合である。本実施形態では、スタッカークレーン３０によって、物品Ｂを搬送している最中に停電が発生しても、少なくともフォーク装置３７（移載装置１０）によって移載している途中の物品Ｂが荷崩れを生じないように構成されている。 By the way, when a power failure occurs while the article B is being transported by the stacker crane 30, particularly when a power failure occurs when the fork device 37 (support) is withdrawn / withdrawn during the scooping operation and the unloading operation. The article B on the fork device 37 may collapse. Specifically, when the fork device 37 is retracted while the fork device 37 is supported by the fork device 37 in the scooping operation, or when the fork device 37 is supported by the fork device 37 during the lowering operation, This is a case where the fork device 37 is projected. In the present embodiment, even if a power failure occurs while the article B is being conveyed by the stacker crane 30, at least the article B being transferred by the fork device 37 (transfer device 10) collapses. It is comprised so that it may not produce.
　図５は、移載装置１０に搭載された制御ユニット１１の模式的制御ブロック図を示している。走行台車３２には、クレーン制御装置３５を含む制御盤が設置されており、移載装置１０へはこの制御盤（クレーン制御装置３５）から交流電力が供給される。つまり、移載装置１０は、移載装置の外部から交流電力を供給される。移載装置１０には、クレーン制御装置３５から供給される電力を受け取る受電部が主電源１（M-PW）として備えられている。主電源１からは、後述する補助電源２としての無停電電源装置（UPS）を介して、変圧回路３（TRNS）、ＡＣ－ＤＣコンバータ４（AC-DC）、ブレーキ電源回路５（B-PW）に電力が供給される。主電源１は、移載装置１０の外部から供給される電力を受けとって、無停電電源装置を介して、変圧回路３、ＡＣ－ＤＣコンバータ４、ブレーキ電源回路５に電力を供給する。 FIG. 5 shows a schematic control block diagram of the control unit 11 mounted on the transfer apparatus 10. The traveling carriage 32 is provided with a control panel including a crane control device 35, and AC power is supplied to the transfer device 10 from the control panel (crane control device 35). That is, the transfer device 10 is supplied with AC power from the outside of the transfer device. The transfer device 10 includes a power receiving unit that receives power supplied from the crane control device 35 as the main power source 1 (M-PW). From the main power supply 1, a transformer circuit 3 (TRNS), an AC-DC converter 4 (AC-DC), and a brake power supply circuit 5 (B-PW) via an uninterruptible power supply (UPS) as an auxiliary power supply 2 described later. ) Is supplied with power. The main power supply 1 receives power supplied from the outside of the transfer device 10 and supplies power to the transformer circuit 3, the AC-DC converter 4, and the brake power supply circuit 5 via the uninterruptible power supply device.
　変圧回路３（TRNS）は、出退用モータ２０を駆動する出退用モータ駆動回路６（DRV）に電力を供給する。出退用モータ２０を駆動する出退用モータ駆動回路６は２つ備えられており、第１出退用モータ２１を駆動する第１出退用モータ駆動回路６ａと、第２出退用モータ２２を駆動する第２出退用モータ駆動回路６ｂとが備えられている。これらの駆動回路（DRV）は例えばインバータ回路を中核として構成されている。 The transformer circuit 3 (TRNS) supplies power to the exit / exit motor drive circuit 6 (DRV) that drives the exit / exit motor 20. Two exit / exit motor drive circuits 6 for driving the exit / exit motor 20 are provided. The first exit / exit motor drive circuit 6a for driving the first exit / exit motor 21 and the second exit / exit motor. And a second exit / exit motor drive circuit 6 b for driving the motor 22. These drive circuits (DRV) are configured with, for example, an inverter circuit as a core.
　ＡＣ－ＤＣコンバータ４（AC-DC）は、フォーク制御部８（F-CTRL）及び移載装置１０に設置されたセンサ５５（SEN）に電力を供給する。フォーク制御部８（F-CTRL）は、上述した出退用モータ駆動回路６（DRV）を制御して出退用モータ２０を駆動制御する。 The AC-DC converter 4 (AC-DC) supplies power to the fork control unit 8 (F-CTRL) and the sensor 55 (SEN) installed in the transfer device 10. The fork control unit 8 (F-CTRL) controls the above-described exit / exit motor drive circuit 6 (DRV) to drive and control the exit / exit motor 20.
　出退用モータ２０には、非通電状態で出退用モータ２０に制動力を作用させるブレーキ２４が備えられている。ブレーキ２４は、通電状態では、出退用モータ２０の回転を阻害しないように設けられている。第１出退用モータ２１には第１ブレーキ２５が備えられ、第２出退用モータ２２には第２ブレーキ２６が備えられている。ブレーキ電源回路５（B-PW）は、ブレーキ２４（第１ブレーキ２５及び第２ブレーキ２６）に電力を供給する。尚、出退用モータ２０及びブレーキ２４は、フォーク装置３７を駆動する支持体駆動装置に相当する。本実施形態では、支持体駆動装置にブレーキ２４を含めているが、このようなブレーキ（B）が備えられることなく、単にモータ（M）によって支持体駆動装置が構成されていてもよい。 The exit / exit motor 20 is provided with a brake 24 that applies a braking force to the exit / exit motor 20 in a non-energized state. The brake 24 is provided so as not to hinder the rotation of the exit / retreat motor 20 in the energized state. The first exit / exit motor 21 is provided with a first brake 25, and the second exit / exit motor 22 is provided with a second brake 26. The brake power supply circuit 5 (B-PW) supplies electric power to the brake 24 (first brake 25 and second brake 26). The exit / retreat motor 20 and the brake 24 correspond to a support driving device that drives the fork device 37. In the present embodiment, the support driving device includes the brake 24. However, the support driving device may be configured simply by the motor (M) without providing such a brake (B).
　上述したように、移載装置１０（物品移載装置）は、物品Ｂを載置支持するフォーク装置３７（支持体）と、フォーク装置３７を出退移動させる支持体駆動装置（出退用モータ２０及びブレーキ２４）と、支持体駆動装置（出退用モータ２０）の駆動を制御するフォーク制御部８（支持体制御装置）と、支持体駆動装置（出退用モータ２０及びブレーキ２４）及びフォーク制御部８（支持体制御装置）へ電力を供給する主電源１と、を備える。支持体駆動装置（出退用モータ２０及びブレーキ２４）は、フォーク装置３７を昇降体３４の側に引退させた引退位置とフォーク装置３７を移載対象箇所の側に向けて突出させた突出位置との間でフォーク装置３７を出退移動させる。主電源１は、支持体駆動装置（出退用モータ２０及びブレーキ２４）及びフォーク制御部８（支持体制御装置）を動作させる電力を移載装置１０の外部から受け取って、これらの装置（２０，２４，８）へ電力を供給する。 As described above, the transfer device 10 (article transfer device) includes a fork device 37 (support body) for mounting and supporting the article B, and a support drive device (exit / retreat motor) for moving the fork device 37 out and out. 20 and the brake 24), a fork control unit 8 (support body control device) for controlling the drive of the support body drive device (exit / retreat motor 20), a support body drive device (exit / exit motor 20 and brake 24), and And a main power source 1 for supplying electric power to the fork control unit 8 (support control device). The support driving device (the motor 20 and the brake 24) is a retracted position where the fork device 37 is retracted toward the lifting body 34 and a protruding position where the fork device 37 protrudes toward the transfer target portion. The fork device 37 is moved back and forth. The main power supply 1 receives electric power for operating the support driving device (the motor 20 and the brake 24) and the fork control unit 8 (support control device) from the outside of the transfer device 10, and these devices (20 , 24, 8).
　ここで、図５に示すように、移載装置１０（制御ユニット１１）には、さらに、移載装置１０の外部から（本実施形態の場合はクレーン制御装置３５から）主電源１への電力供給が途絶した場合に、支持体駆動装置（出退用モータ２０及びブレーキ２４）及びフォーク制御部８（支持体制御装置）へ電力を供給する補助電源２が備えられている。補助電源２は、主電源１の出力側に接続されている。上述したように、主電源１には、変圧回路３（TRNS）、ＡＣ－ＤＣコンバータ４（AC-DC）、ブレーキ電源回路５（B-PW）が並列接続されている。補助電源２は、主電源１の出力側において、これらの後段の回路（３，４，５）との間に直列接続されている。つまり、変圧回路３（TRNS）、ＡＣ－ＤＣコンバータ４（AC-DC）、ブレーキ電源回路５（B-PW）は、補助電源２に対して並列接続されている。 Here, as shown in FIG. 5, the transfer device 10 (control unit 11) further includes power from the outside of the transfer device 10 (from the crane control device 35 in this embodiment) to the main power supply 1. An auxiliary power source 2 is provided to supply power to the support driving device (the motor 20 and the brake 24) and the fork control unit 8 (support control device) when the supply is interrupted. The auxiliary power source 2 is connected to the output side of the main power source 1. As described above, the main power supply 1 is connected in parallel with the transformer circuit 3 (TRNS), the AC-DC converter 4 (AC-DC), and the brake power supply circuit 5 (B-PW). The auxiliary power source 2 is connected in series with these subsequent circuits (3, 4, 5) on the output side of the main power source 1. That is, the transformer circuit 3 (TRNS), the AC-DC converter 4 (AC-DC), and the brake power supply circuit 5 (B-PW) are connected in parallel to the auxiliary power supply 2.
　例えば、１つの態様として、補助電源２は、充電池を中核として構成されている。充電池は、主電源１から入力される電力によって充電される。補助電源２は、補助電源２に入力される電力（主電源１が出力する電力）の電圧に基づいて、主電源１が出力する電力をそのまま出力するか、充電池に蓄えられた電力を出力するかを切換える。例えば、補助電源２が電圧検出回路を備えている場合には、補助電源２は、主電源１から入力される電力の電圧が正常範囲内である場合に、主電源１が出力する電力をそのまま出力し、当該電圧が所定のしきい値電圧以下の場合に、充電池に蓄えられた電力を出力する。 For example, as one aspect, the auxiliary power source 2 is configured with a rechargeable battery as a core. The rechargeable battery is charged with power input from the main power supply 1. The auxiliary power source 2 outputs the power output from the main power source 1 as it is based on the voltage of the power input to the auxiliary power source 2 (power output from the main power source 1) or outputs the power stored in the rechargeable battery. Switch to do. For example, when the auxiliary power source 2 includes a voltage detection circuit, the auxiliary power source 2 uses the power output from the main power source 1 as it is when the voltage of the power input from the main power source 1 is within a normal range. When the voltage is not more than a predetermined threshold voltage, the electric power stored in the rechargeable battery is output.
　また、補助電源２は、補助電源２が電力を出力している状態か否かの状態を示す情報（識別情報、停電情報、補助電源ステータス信号等）を出力すると好適である。この情報の出力は、補助電源２の専用の信号端子から出力されてもよいし、補助電源２が通信回路を有して構成され、当該通信回路を介して出力されてもよい。この情報によって、フォーク制御部８は、少なくとも主電源１が途絶したこと（停電状態となったこと）を判定することができる。フォーク制御部８は、主電源１への電力供給が途絶した停電状態となった場合、補助電源２の電力を用いて、フォーク装置３７の出退移動のための支持体駆動装置（出退用モータ２０）の駆動処理を優先的に実行する。このため、出退途上のフォーク装置３７が主電源１への電力供給の途絶に伴って急停止して荷崩れを生じるようなことが抑制される。 Further, it is preferable that the auxiliary power source 2 outputs information (identification information, power failure information, auxiliary power status signal, etc.) indicating whether or not the auxiliary power source 2 is outputting power. The output of this information may be output from a dedicated signal terminal of the auxiliary power supply 2, or the auxiliary power supply 2 may be configured to include a communication circuit and output via the communication circuit. With this information, the fork control unit 8 can determine that at least the main power supply 1 has been interrupted (becomes a power failure state). When the power supply to the main power supply 1 is interrupted, the fork control unit 8 uses the power of the auxiliary power supply 2 to support and drive the support body drive device (for exit / retreat). The driving process of the motor 20) is executed with priority. For this reason, it is suppressed that the fork device 37 on the way out and exits suddenly with the interruption of the power supply to the main power source 1 and the load collapses.
　具体的には、フォーク制御部８は、停電状態となった際に、フォーク装置３７が引退位置から突出位置へ移動している場合には、フォーク装置３７を突出位置まで突出させ、フォーク装置３７が突出位置から引退位置へ移動している場合には、フォーク装置３７を引退位置まで引退させる、片道移動動作を実行する。ところで、フォーク装置３７が引退位置から突出位置へ移動している場合には、上述したように、掬い動作において物品Ｂを掬い取るために、物品Ｂを支持していないフォーク装置３７を突出させている場合が含まれる。また、フォーク装置３７が突出位置から引退位置へ移動している場合には、降ろし動作において物品Ｂを降ろした後、物品Ｂを支持していないフォーク装置３７を引退させている場合が含まれる。 Specifically, the fork control unit 8 causes the fork device 37 to project to the projecting position when the fork device 37 has moved from the retracted position to the projecting position when a power failure occurs. Is moved from the protruding position to the retracted position, a one-way moving operation is performed to retract the fork device 37 to the retracted position. By the way, when the fork device 37 is moved from the retracted position to the protruding position, as described above, the fork device 37 that does not support the item B is protruded in order to scoop the item B in the scooping operation. Is included. In addition, when the fork device 37 is moved from the protruding position to the retracted position, the fork device 37 that does not support the article B is retracted after the article B is lowered in the lowering operation.
　停電状態となった場合に荷崩れが生じるのは、フォーク装置３７に物品Ｂが支持されているときである。従って、補助電源２の電力を用いたフォーク装置３７の出退制御は、フォーク装置３７に物品Ｂが支持されているときにのみ実行されてもよい。具体的には、フォーク制御部８は、停電状態となった際に、物品Ｂを支持したフォーク装置３７が引退位置から突出位置へ移動している場合には、フォーク装置３７を突出位置まで突出させ、物品Ｂを支持したフォーク装置３７が突出位置から引退位置へ移動している場合には、フォーク装置３７を引退位置まで引退させる、片道移動動作を実行してもよい。 When the power failure occurs, cargo collapse occurs when the fork device 37 supports the article B. Therefore, the control of the fork device 37 using the power of the auxiliary power source 2 may be executed only when the article B is supported on the fork device 37. Specifically, the fork control unit 8 projects the fork device 37 to the projecting position when the fork device 37 supporting the article B is moved from the retracted position to the projecting position when a power failure occurs. When the fork device 37 supporting the article B is moved from the protruding position to the retracted position, a one-way moving operation for retracting the fork device 37 to the retracted position may be executed.
　本実施形態では、このように、フォーク装置３７の出退移動を継続することによって、移載途中の物品Ｂが荷崩れを起こすことを抑制している。別の構成として、フォーク装置３７に滑り止めや、押さえ部材を設けて荷崩れを抑制したり、フォーク装置３７に固定部材を設けてフォーク装置３７に物品Ｂを固定したりすることも考えられる。しかし、滑り止めや押さえ部材では物品Ｂの移動を抑えきれずに荷崩れを起こす場合もある。また、固定部材によってフォーク装置３７に物品Ｂを固定した場合には、慣性力によってフォーク装置３７自体が破損する場合もある。また、滑り止めや押さえ部材、固定部材を設けると、フォーク装置３７の構造が複雑化する。特に、押さえ部材や固定部材を設ける場合には、押さえ部材や固定部材を可動式とする必要もあるので、さらにフォーク装置３７の構造が複雑化する。本実施形態では、フォーク装置３７の出退移動を継続することによって、移載途中において出退動作が急停止しないようにすることで、慣性力の発生を抑制している。つまり、荷崩れの要因となる慣性力の発生を抑制するため、フォーク装置３７の構造が複雑化することがない。 In this embodiment, the fork device 37 is kept moving in and out in this manner, thereby suppressing the collapse of the article B during transfer. As another configuration, it is conceivable that the fork device 37 is provided with a slip stopper or a pressing member to suppress the collapse of the load, or the fork device 37 is provided with a fixing member to fix the article B to the fork device 37. However, the anti-slip or pressing member may cause collapse of the load without being able to suppress the movement of the article B. In addition, when the article B is fixed to the fork device 37 by the fixing member, the fork device 37 itself may be damaged by the inertial force. In addition, the structure of the fork device 37 becomes complicated if a slip stopper, a pressing member, and a fixing member are provided. In particular, when a pressing member or a fixing member is provided, the pressing member or the fixing member needs to be movable, so that the structure of the fork device 37 is further complicated. In the present embodiment, the fork device 37 is continuously moved in and out so that the moving-in / out operation does not stop suddenly during the transfer, thereby suppressing the generation of inertial force. That is, the structure of the fork device 37 is not complicated in order to suppress the generation of inertial force that causes a load collapse.
　ところで、補助電源２に搭載される充電池の電力容量は、物品Ｂの移載途中で停電状態となっても、荷崩れを起こしにくいように、フォーク装置３７の出退移動を完了させることができる容量が少なくとも必要である（即ち、片道移動させるための電力容量。）。ここで、フォーク装置３７の出退移動を完了させるとは、出退用モータ２０が動作し、ブレーキ２４が作用せず、フォーク制御部８が出退用モータ駆動回路６を制御できて、好ましくは出退移動の目標である突出位置又は引退位置までの出退移動を完了させることをいう。一方、一般的に充電池は重く、電力容量に応じてその形状も大きくなるから、充電池の電力容量が大きすぎると、補助電源２の形状が大型化したり、コストが上昇したりする場合がある。従って、補助電源２の電力容量は必要に応じた適切な容量であることが好ましい。補助電源２の容量は、上述した片道移動させるための電力容量を基準として、例えばその２倍程度に設定すると基準が明確となって好適である。従って、補助電源２の電力容量は、フォーク装置３７を片道移動させることが可能な電力以上、フォーク装置３７を往復移動させることが可能な電力未満であると好適である。 By the way, the power capacity of the rechargeable battery mounted on the auxiliary power source 2 can complete the movement of the fork device 37 so that even if a power failure occurs in the middle of the transfer of the article B, it is difficult for the cargo to collapse. At least the capacity that can be produced is necessary (ie, the power capacity to move one way). Here, the completion of the moving of the fork device 37 is preferably because the moving motor 20 operates, the brake 24 does not act, and the fork control unit 8 can control the moving motor drive circuit 6. Means completion of the exit / retreat movement to the protruding position or the retirement position, which is the target of the exit / retreat movement. On the other hand, since the rechargeable battery is generally heavy and its shape increases depending on the power capacity, if the power capacity of the rechargeable battery is too large, the shape of the auxiliary power source 2 may increase in size or cost may increase. is there. Therefore, the power capacity of the auxiliary power source 2 is preferably an appropriate capacity as required. If the capacity of the auxiliary power source 2 is set to, for example, about twice that of the above-described power capacity for moving one way, it is preferable that the standard is clear. Therefore, it is preferable that the power capacity of the auxiliary power source 2 is equal to or greater than the power that can move the fork device 37 one way and less than the power that can reciprocate the fork device 37.
　上述したように、補助電源２は、主電源１から供給される電力によって充電される。停電状態において、補助電源２からの放電量が多くなると、充電によって電力が回復するまでの時間も長くなる。電力が回復する前に再度停電が起きると、補助電源２から電力を供給しても、フォーク装置３７の出退移動を完了させることができない場合がある。従って、停電状態においてフォーク装置３７の出退移動が完了している場合には、補助電源２からの電力供給を遮断すると好適である。例えば、停電状態においてフォーク装置３７の出退移動が完了している場合に、フォーク制御部８が補助電源２から電力供給を停止させると好適である。 As described above, the auxiliary power source 2 is charged by the power supplied from the main power source 1. If the amount of discharge from the auxiliary power source 2 increases in a power failure state, the time until the power is restored by charging also increases. If a power failure occurs again before the power is restored, even if power is supplied from the auxiliary power supply 2, the fork device 37 may not be able to complete the exit / retreat movement. Accordingly, when the fork device 37 has been moved out and out in a power failure state, it is preferable to cut off the power supply from the auxiliary power source 2. For example, it is preferable that the fork control unit 8 stops the power supply from the auxiliary power source 2 when the fork device 37 has been moved in and out in a power failure state.
　１つの態様として、補助電源２に外部制御端子等が備えられている場合には、フォーク制御部８が当該外部制御端子を介して補助電源２の出力制御回路を制御して、補助電源２からの電力供給を遮断させることができる。また、フォーク制御部８が補助電源２に対して、フォーク装置３７の出退移動が完了していることを通知し、補助電源２の出力制御回路が補助電源２からの電力供給を遮断させてもよい。尚、「停電状態においてフォーク装置３７の出退移動が完了している場合」には、「停電状態となった際に既にフォーク装置３７の出退移動が完了している場合」、及び「停電状態となった後、出退移動を継続してフォーク装置３７の出退移動が完了した場合」の双方を含む。 As one aspect, when the auxiliary power supply 2 is provided with an external control terminal or the like, the fork control unit 8 controls the output control circuit of the auxiliary power supply 2 via the external control terminal and The power supply can be cut off. Further, the fork control unit 8 notifies the auxiliary power source 2 that the fork device 37 has been moved in and out, and the output control circuit of the auxiliary power source 2 cuts off the power supply from the auxiliary power source 2. Also good. Note that “when the fork device 37 has already been moved out / in in a power failure state”, “when the fork device 37 has already been moved out / in when a power failure occurs”, and “power outage” After entering the state, it includes both of the case where the fork device 37 continues moving out and the moving out of the fork device 37 is completed.
　尚、上記においては、好適な態様として、補助電源２が充電池（二次電池）を有して構成され、通常時に主電源１から供給される電力によって充電される例を示した。しかし、この態様に限定されることなく、補助電源２は、二次電池ではなく、一次電池によって構成されていてもよい。補助電源２が一次電池の場合には、フォーク装置３７を複数回、片道移動させることが可能な電力容量を有していることが好ましい。また、この場合には、停電回数等に応じて、適宜、補助電源２が交換されることが好ましい。また、補助電源２が充電池を有して構成されている場合においても、主電源１から供給される電力によって充電されなくてもよい。この場合には、適宜、充電済の補助電源２と交換されることが好ましい。 In addition, in the above, the example in which the auxiliary power source 2 includes a rechargeable battery (secondary battery) and is charged by the power supplied from the main power source 1 at a normal time has been shown as a preferable mode. However, without being limited to this mode, the auxiliary power source 2 may be constituted by a primary battery instead of a secondary battery. When the auxiliary power source 2 is a primary battery, it is preferable to have a power capacity that allows the fork device 37 to move one way multiple times. In this case, it is preferable that the auxiliary power source 2 is appropriately replaced according to the number of power outages and the like. Further, even when the auxiliary power source 2 is configured to have a rechargeable battery, it may not be charged by the power supplied from the main power source 1. In this case, it is preferable to replace the charged auxiliary power source 2 as appropriate.
　ところで、上記においては、フォーク装置３７が、複数の物品Ｂが段積みされたパレットＰを移載する形態を例示した。しかし、スタッカークレーン３０はこのような物品Ｂを移載、搬送するものに限定されるものではない。移載対象の物品Ｂは単一のもの、例えばコンテナや、半導体基板を収容するＦＯＵＰ（Front Opening Unified Pod）等であってもよい。また、上記においては、スライドフォーク型のフォーク装置３７を例示したが、スライドフォーク型に限らず、例えばスカラーアーム型であってもよい。物品ＢがコンテナやＦＯＵＰの場合であっても、移載途上の停電によって、コンテナやＦＯＵＰが落下したり、コンテナの収容物やＦＯＵＰ内の半導体基板に衝撃が加わって当該収容物や半導体基板が破損したりする場合がある。従って、コンテナやＦＯＵＰを移載、搬送するスタッカークレーンにおいても上述したような停電対策は有用である。 By the way, in the above, the fork device 37 illustrated the form which transfers the pallet P in which the several goods B were stacked. However, the stacker crane 30 is not limited to the one that transfers and conveys such an article B. The article B to be transferred may be a single item, for example, a container or a FOUP (Front Opening Unified Unified Pod) that accommodates a semiconductor substrate. In the above description, the slide fork type fork device 37 has been exemplified. However, the present invention is not limited to the slide fork type, and may be a scalar arm type, for example. Even if the article B is a container or FOUP, the container or FOUP falls due to a power failure during transfer, or an impact is applied to the container contents or the semiconductor substrate in the FOUP so that the contents or semiconductor substrate It may be damaged. Therefore, the power failure countermeasure as described above is also useful in a stacker crane that transfers and conveys containers and FOUPs.
〔実施形態の概要〕
　以下、上記において説明した物品移載装置の概要について簡単に説明する。 [Outline of Embodiment]
The outline of the article transfer apparatus described above will be briefly described below.
　１つの態様として、上記に鑑みた物品移載装置は、上下方向に並んで配置された複数の移載対象箇所に対向して上下方向に沿って昇降移動する昇降体に支持された物品移載装置であって、
　物品を載置支持する支持体と、
　前記支持体を前記昇降体の側に引退させた引退位置と前記支持体を前記移載対象箇所の側に向けて突出させた突出位置との間で前記支持体を出退移動させる支持体駆動装置と、
　前記支持体駆動装置の駆動を制御する支持体制御装置と、
　前記支持体駆動装置及び前記支持体制御装置を動作させる電力を受け取って、前記支持体駆動装置及び前記支持体制御装置へ電力を供給する主電源と、を備え、
　前記主電源への電力供給が途絶した場合に、前記支持体駆動装置及び前記支持体制御装置へ電力を供給する補助電源をさらに備え、
　前記支持体制御装置は、前記主電源への電力供給が途絶した停電状態となった場合、前記補助電源の電力を用いて、前記支持体の出退移動のための前記支持体駆動装置の駆動処理を優先的に実行する。 As one aspect, the article transfer device in view of the above is an article transfer supported by a lifting body that moves up and down along a vertical direction facing a plurality of transfer target portions arranged side by side in the vertical direction. A device,
A support for placing and supporting the article;
Support body drive for moving the support body back and forth between a retracted position in which the support body is retracted toward the lifting body and a protruding position in which the support body is protruded toward the transfer target portion side. Equipment,
A support control device for controlling the drive of the support drive device;
A main power supply that receives power for operating the support driving device and the support control device and supplies power to the support driving device and the support control device, and
An auxiliary power supply for supplying power to the support driving device and the support control device when power supply to the main power supply is interrupted;
When the power supply to the main power supply is interrupted, the support control device uses the power of the auxiliary power supply to drive the support drive device to move the support in and out. Execute processing preferentially.
　この構成によれば、主電源への電力供給が途絶した場合であっても、補助電源から支持体制御装置へ電力が供給されて、支持体の出退移動のための支持体駆動装置の駆動処理が優先的に実行される。補助電源からは支持体駆動装置へも電力が供給されるので、主電源への電力供給が途絶した場合であっても、支持体駆動装置が支持体の出退移動を継続させることができる。このため、出退途上の支持体が主電源への電力供給の途絶に伴って急停止して荷崩れを生じるようなことが抑制される。即ち、本構成によれば、物品の移載途中で停電が発生しても、荷崩れを起こしにくいように構成された物品移載装置を提供することができる。 According to this configuration, even when power supply to the main power supply is interrupted, power is supplied from the auxiliary power supply to the support control device, and the support drive device is driven to move the support in and out. Processing is preferentially executed. Since electric power is also supplied from the auxiliary power source to the support driving device, the support driving device can continue to move out of the support even when power supply to the main power supply is interrupted. For this reason, it is suppressed that the support body in the exit / outgoing suddenly stops with the interruption of the power supply to the main power source and causes the collapse of the cargo. In other words, according to this configuration, it is possible to provide an article transfer device configured to be less likely to collapse even if a power failure occurs during the transfer of the article.
　ここで、前記支持体制御装置は、前記停電状態となった際に、前記支持体が前記引退位置から前記突出位置へ移動している場合には、前記支持体を前記突出位置まで突出させ、前記支持体が前記突出位置から前記引退位置へ移動している場合には、前記支持体を前記引退位置まで引退させる、片道移動動作を実行すると好適である。 Here, when the support body has moved from the retracted position to the projecting position when the power failure state occurs, the support body control device causes the support body to project to the projecting position, When the support is moving from the protruding position to the retracted position, it is preferable to perform a one-way movement operation that retracts the support to the retracted position.
　これによれば、主電源への電力供給が途絶した場合であっても、支持体駆動装置が支持体の出退移動を継続させて、支持体を突出位置又は引退位置まで移動させることができる。支持体は、出退移動の目標である突出位置又は引退位置まで移動して停止するため、出退途上の支持体が主電源への電力供給の途絶に伴って急停止して荷崩れを生じるようなことが抑制される。即ち、本構成によれば、物品の移載途中で停電が発生しても、荷崩れを起こしにくいように構成された物品移載装置を提供することができる。 According to this, even when the power supply to the main power supply is interrupted, the support driving device can continue the movement of the support and move the support to the protruding position or the retracted position. . Since the support body moves to the projecting position or the retraction position, which is the target of the exit / retreat movement, and stops, the support body on the exit / retreat suddenly stops due to the interruption of the power supply to the main power source, causing the collapse of the load. Such a thing is suppressed. In other words, according to this configuration, it is possible to provide an article transfer device configured to be less likely to collapse even if a power failure occurs during the transfer of the article.
　また、前記補助電源は、前記物品を載置支持した状態で前記支持体を前記引退位置から前記突出位置まで又は前記突出位置から前記引退位置までの片道移動させることが可能な電力以上、往復移動させることが可能な電力未満の電力を前記支持体駆動装置及び前記支持体制御装置へ供給可能な電力容量を有すると好適である。 Further, the auxiliary power source is reciprocated more than electric power capable of moving the support body one way from the retracted position to the protruding position or from the protruding position to the retracted position with the article placed and supported. It is preferable to have a power capacity capable of supplying less than the power that can be generated to the support driving device and the support control device.
　補助電源の電力容量は、物品の移載途中で停電が発生しても、荷崩れを起こしにくいように、支持体駆動装置及び支持体制御装置が、支持体の出退移動を行うことができ、好ましくは、出退移動の目標である突出位置又は引退位置までの出退移動を完了させることができる容量が少なくとも必要である（即ち、片道移動させるための電力容量。）。一方、電力容量が大きすぎると、補助電源の形状が大型化したり、補助電源のコストが上昇したりする場合がある。従って、補助電源の電力容量は必要に応じた適切な容量であることが好ましい。上限の容量は、上述した片道移動させるための電力容量を基準に設定すると基準が明確である。１つの態様として、補助電源の電力容量は、支持体を片道移動させることが可能な電力以上、支持体を往復移動させることが可能な電力未満であると好適である。 The power capacity of the auxiliary power source is such that the support drive device and support control device can move the support in and out so that it will not easily collapse even if a power failure occurs during the transfer of goods. Preferably, at least a capacity capable of completing the exit / retreat movement to the protruding position or the retraction position, which is the target of the exit / retreat movement, is required (that is, a power capacity for moving one way). On the other hand, if the power capacity is too large, the shape of the auxiliary power source may increase in size or the cost of the auxiliary power source may increase. Therefore, the power capacity of the auxiliary power source is preferably an appropriate capacity as required. If the upper limit capacity is set based on the power capacity for one-way movement described above, the reference is clear. As one aspect, it is preferable that the power capacity of the auxiliary power source is equal to or greater than the power capable of moving the support one way and less than the power capable of reciprocating the support.
　また、１つの態様として、前記補助電源は、前記停電状態において前記支持体駆動装置及び前記支持体制御装置へ電力を供給すると共に前記停電状態であること示す情報を出力し、前記支持体制御装置は、前記補助電源の電力を用いて前記支持体駆動装置の駆動処理の実行を完了した後、前記補助電源からの電力の供給を停止させると好適である。 Further, as one aspect, the auxiliary power supply supplies power to the support driving device and the support control device in the power outage state, and outputs information indicating that the power outage is present, and the support control device It is preferable that the supply of power from the auxiliary power supply is stopped after completing the execution of the driving process of the support driving device using the power of the auxiliary power supply.
　停電状態において、補助電源から供給される電力が多くなると、補助電源の残存電力が少なくなる。補助電源が充電式の電源の場合には、充電に要する時間が長くなる。停電状態において支持体の出退移動が完了している場合には、補助電源からの電力供給も必要がなくなる。従って、停電状態において支持体の出退移動が完了している場合には、補助電源から電力供給が停止されると省電力を実現することができて好適である。 If the power supplied from the auxiliary power supply increases in the power failure state, the remaining power of the auxiliary power supply decreases. When the auxiliary power source is a rechargeable power source, the time required for charging becomes long. When the support is moved out and out in a power failure state, it is not necessary to supply power from the auxiliary power source. Therefore, when the support movement of the support is completed in the power failure state, it is preferable that power saving can be realized if the power supply from the auxiliary power supply is stopped.
　１つの態様として、前記支持体駆動装置は、前記支持体を移動させるモータと、非通電状態で前記モータに制動力を作用させるブレーキとを備えていると好適である。 As one aspect, it is preferable that the support driving device includes a motor that moves the support and a brake that applies a braking force to the motor in a non-energized state.
　モータが回転している状態で主電源への電力供給が途絶した場合、モータは慣性力によって回転を続けるが、その回転による起電力による電機子反作用によってモータに制動力が作用する。この制動力によって支持体の出退移動が妨げられて、出退移動の慣性力が作用している物品が荷崩れを生じる場合がある。さらに、物品移載装置には、フェールセーフのために通電状態においては制動力が解除され、電力供給が遮断した状態において制動力が作用するように構成されたブレーキが備えられている場合がある。このようなブレーキが備えられている場合、主電源への電力供給が途絶すると、さらに強い制動力が支持体に作用する。その結果、移載途中の物品が荷崩れを生じる場合がある。補助電源が、モータ及びブレーキを含む支持体駆動装置に電力を共有するので、主電源への電力供給が途絶しても、ブレーキが制動力を生じることがなく、支持体が出退移動を完了するまでにブレーキの強い制動力は支持体に作用しない。このようなブレーキを備えていても、物品の移載途中で停電が発生した場合に、荷崩れを起こしにくいように構成された物品移載装置を提供することができる。 When the power supply to the main power supply is interrupted while the motor is rotating, the motor continues to rotate due to the inertial force, but the braking force acts on the motor due to the armature reaction caused by the electromotive force due to the rotation. The braking force may prevent the support from moving in and out, and the article on which the inertia force of the moving in and out acts may cause a load collapse. Further, the article transfer device may be provided with a brake configured to release the braking force in the energized state and to apply the braking force in the state where the power supply is cut off for fail-safe. . In the case where such a brake is provided, when the power supply to the main power supply is interrupted, a stronger braking force acts on the support. As a result, the article being transferred may collapse. Auxiliary power supply shares power to the support drive unit including the motor and brake, so even if the power supply to the main power supply is interrupted, the brake does not generate braking force and the support completes moving out Until then, the strong braking force of the brake does not act on the support. Even if such a brake is provided, it is possible to provide an article transfer device configured to be less likely to collapse when a power failure occurs during transfer of an article.
１　　　　主電源
２　　　　補助電源
８　　　　フォーク制御部（支持体制御装置）
１０　　　移載装置（物品移載装置）
２０　　　出退用モータ（支持体駆動装置）
２１　　　出退用第１モータ（支持体駆動装置）
２２　　　出退用第２モータ（支持体駆動装置）
２４　　　ブレーキ（支持体駆動装置）
２５　　　第１ブレーキ（支持体駆動装置）
２６　　　第２ブレーキ（支持体駆動装置）
３０　　　スタッカークレーン（物品搬送装置）
３４　　　昇降体
３７　　　フォーク装置（支持体）
Ｂ　　　　物品
Ｐ　　　　パレット（物品）
Ｔ　　　　移載対象箇所
Ｗ　　　　容器（物品）
 
  1 Main power source 2 Auxiliary power source 8 Fork control unit (support control device)
10 Transfer device (article transfer device)
20 Exit / exit motor (support drive unit)
21 First motor for exit / exit (support drive device)
22 Second motor for exit / exit (support drive device)
24 Brake (support drive unit)
25 First brake (support drive unit)
26 Second brake (support drive unit)
30 Stacker crane (goods conveying device)
34 Lifting body 37 Fork device (support)
B Article P Pallet (article)
T Transfer target location W Container (article)

Claims (5)

  1. 　上下方向に並んで配置された複数の移載対象箇所に対向して上下方向に沿って昇降移動する昇降体に支持された物品移載装置であって、
    　物品を載置支持する支持体と、
    　前記支持体を前記昇降体の側に引退させた引退位置と前記支持体を前記移載対象箇所の側に向けて突出させた突出位置との間で前記支持体を出退移動させる支持体駆動装置と、
    　前記支持体駆動装置の駆動を制御する支持体制御装置と、
    　前記支持体駆動装置及び前記支持体制御装置を動作させる電力を受け取って、前記支持体駆動装置及び前記支持体制御装置へ電力を供給する主電源と、を備え、
    　前記主電源への電力供給が途絶した場合に、前記支持体駆動装置及び前記支持体制御装置へ電力を供給する補助電源をさらに備え、
    　前記支持体制御装置は、前記主電源への電力供給が途絶した停電状態となった場合、前記補助電源の電力を用いて、前記支持体の出退移動のための前記支持体駆動装置の駆動処理を優先的に実行する、物品移載装置。     An article transfer device supported by an elevating body that moves up and down along a vertical direction facing a plurality of transfer target locations arranged side by side in the vertical direction,
    A support for placing and supporting the article;
    Support body drive for moving the support body back and forth between a retracted position in which the support body is retracted toward the lifting body and a protruding position in which the support body is protruded toward the transfer target portion side. Equipment,
    A support control device for controlling the drive of the support drive device;
    A main power supply that receives power for operating the support driving device and the support control device and supplies power to the support driving device and the support control device, and
    An auxiliary power supply for supplying power to the support driving device and the support control device when power supply to the main power supply is interrupted;
    When the power supply to the main power supply is interrupted, the support control device uses the power of the auxiliary power supply to drive the support drive device to move the support in and out. An article transfer apparatus that preferentially executes processing.
  2. 　前記支持体制御装置は、前記停電状態となった際に、前記支持体が前記引退位置から前記突出位置へ移動している場合には、前記支持体を前記突出位置まで突出させ、前記支持体が前記突出位置から前記引退位置へ移動している場合には、前記支持体を前記引退位置まで引退させる、片道移動動作を実行する、請求項１に記載の物品移載装置。 The support body control device causes the support body to project to the projecting position when the support body has moved from the retracted position to the projecting position when the power failure occurs. 2. The article transfer device according to claim 1, wherein a one-way movement operation is performed to retract the support body to the retraction position when the is moved from the protruding position to the retraction position.
  3. 　前記補助電源は、前記物品を載置支持した状態で前記支持体を前記引退位置から前記突出位置まで又は前記突出位置から前記引退位置までの片道移動させることが可能な電力以上、往復移動させることが可能な電力未満の電力を前記支持体駆動装置及び前記支持体制御装置へ供給可能な電力容量を有する、請求項１又は２に記載の物品移載装置。 The auxiliary power source reciprocates more than electric power capable of moving the support from the retracted position to the protruding position or from the protruding position to the retracted position in a state where the article is placed and supported. The article transfer apparatus according to claim 1, wherein the article transfer apparatus has a power capacity capable of supplying electric power less than the electric power capable of being supplied to the support driving apparatus and the support control apparatus.
  4. 　前記補助電源は、前記停電状態において前記支持体駆動装置及び前記支持体制御装置へ電力を供給すると共に前記停電状態であること示す情報を出力し、
    　前記支持体制御装置は、前記補助電源の電力を用いて前記支持体駆動装置の駆動処理の実行を完了した後、前記補助電源からの電力の供給を停止させる、請求項１から３の何れか一項に記載の物品移載装置。     The auxiliary power supply supplies information to the support driving device and the support control device in the power outage state and outputs information indicating the power outage state,
    The said support body control apparatus stops the supply of the electric power from the said auxiliary power supply, after completing execution of the drive process of the said support body drive apparatus using the electric power of the said auxiliary power supply. The article transfer apparatus according to one item.
  5. 　前記支持体駆動装置は、前記支持体を移動させるモータと、非通電状態で前記モータに制動力を作用させるブレーキとを備える、請求項１から４のいずれか一項に記載の物品移載装置。
          The article transfer device according to any one of claims 1 to 4, wherein the support drive device includes a motor that moves the support and a brake that applies a braking force to the motor in a non-energized state. .
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JPH09278120A (en) * 1996-04-18 1997-10-28 Daifuku Co Ltd Article storing device
JPH10181811A (en) * 1996-10-24 1998-07-07 Kito Corp Signal/feed device for flameproof refrigerating automatic warehouse
JP2006347706A (en) * 2005-06-16 2006-12-28 Daifuku Co Ltd Article storing facility
JP2016016934A (en) * 2014-07-08 2016-02-01 村田機械株式会社 Transportation vehicle of automated warehouse

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Publication number Priority date Publication date Assignee Title
JPH09278120A (en) * 1996-04-18 1997-10-28 Daifuku Co Ltd Article storing device
JPH10181811A (en) * 1996-10-24 1998-07-07 Kito Corp Signal/feed device for flameproof refrigerating automatic warehouse
JP2006347706A (en) * 2005-06-16 2006-12-28 Daifuku Co Ltd Article storing facility
JP2016016934A (en) * 2014-07-08 2016-02-01 村田機械株式会社 Transportation vehicle of automated warehouse

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