JP3361214B2 - Article storage facility - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article storage facility for delivering articles between an elevator and a storage shelf.

[0002]

2. Description of the Related Art Generally, in an article storage facility such as an elevator-type multi-storey parking facility, an elevator is used to store an article to be carried in such as an incoming vehicle in a storage shelf or to carry out an article to be carried out such as an outgoing vehicle from the storage shelf. Goods such as loading and unloading vehicles are transferred between an elevating body such as an elevating table and a storage shelf provided adjacent to the hoistway of the elevating body. One end of a cord-shaped member such as a wire rope is connected to the lifting body, and the other end of the cord-shaped member is connected to a balance weight via a drive sheave. The drive sheave is driven by the elevating drive device so that the elevating body is moved up and down along the hoistway by the rewinding operation.

However, when the elevating body is moved up and down by a string-shaped member, whether or not the article is placed on the elevating body,
Or, the load applied to the string-shaped member by the lifting body is different due to the weight difference or weight balance of the articles placed on the lifting body, so that the extension amount of the string-like member changes and the inclination of the lifting body or the article transfer It is not possible to accurately position the lifting platform with respect to the storage shelf due to ups and downs of the.

Therefore, conventionally, as an article storage facility, for example, as disclosed in Japanese Patent Laid-Open No. 6-129132, the elevating body is vertically displaced while the elevating body is stopped beside a storage shelf. It is known that a displacement means is provided to accurately position the lifting body with respect to the storage shelf. The structure of the displacement means will be described in detail. A reference member provided on one of the lifting body and the storage shelf and a reference member provided on the other are slidably brought into contact with the reference member by horizontally projecting from the reference member. And a level difference adjusting member for lifting the lifting body to an accurate positioning position and displacing the lifting body upward.

[0005]

However, in the conventional article storage facility described above, the positioning of the lifting body causes the lifting drive device to stop the lifting body on the side of the storage shelf, that is, to stop the driving of the drive sheave. Therefore, when the lifting body is lifted upward during positioning, tension decrease or slack occurs at one end side (the lifting body side) of the drive sheave of the string-like member, and the string-like member moves the drive rope. There is a problem that a large difference in tension with the other end side (balance weight side) of the vehicle causes the drive sheave to slip on the drive sheave against frictional force, resulting in significant damage to the cord-shaped member. Moreover, when the lifting body is lifted and lowered by a plurality of cord-shaped members, the tension applied to the lifting body side of each cord-shaped member differs depending on the weight balance of the articles, so the slip amount of each cord-shaped member on the drive sheave. Is uneven, and unbalanced slack or the like is likely to occur on the lifting body side of each string-like member. If the positioning of the lifting body is canceled in this state, the horizontal balance of the lifting body will be disturbed.

The present invention has been made in view of the above points, and an object of the present invention is to keep the tension of the string-like member in the lifting drive device substantially before and after the displacement operation of the elevator body. This control effectively prevents damage to the string-like member and keeps the horizontal balance of the elevating body that moves up and down by the plurality of string-like members smoothly.

[0007]

In order to achieve the above-mentioned object, the means for solving the problems according to the invention of claim 1 is to drive the other end of a string-like member whose one end is connected to an elevating body on which an article is placed. An elevating drive device is provided which is connected to a balance weight via a sheave and drives the drive sheave so that the elevating body is moved up and down along the hoistway by a winding operation or an unwinding operation of the string-shaped member. In addition, a storage shelf is provided adjacent to the hoistway of the elevating body, and the article storage is configured to transfer the article between the elevating body and the storage shelf in a state where the elevating body is stopped to the side of the storage shelf. As equipment, a displacement means for vertically displacing the lifting body stopped laterally of the storage shelf with respect to the storage shelf and a displacement means for displacing the tension of the string-like member are provided. Before and after the displacement operation To keep to one, and a control means for controlling the elevation driving device in conjunction with the displacement action of the displacement means. In addition, the above-mentioned lifting body is attached to the side of the lifting body.
A retractable space for transferring items horizontally to and from the storage shelves.
A ride fork is provided so that the displacement means can
And an engaging member provided on either side of the storage shelf and the other
Provided with a guide groove for guiding the engagement member.
Guide member and the engaging portion provided on the lifting body side.
One of the material and the guide member, the engaging part
Horizontally to guide the material into the guide groove of the guide member.
And an advancing / retreating drive means for moving the advancing / retreating. And above
The engagement member and the guide groove of the guide member are advanced during the engagement guide.
Loading of slide forks according to the amount of retreat drive
Set the installation level to the upper and lower positions of the elevator body with respect to the storage shelf.
It is configured so that it can be positioned so that it can be positioned at two positions .

With this configuration, in the invention according to claim 1, when articles are transferred between the elevator and the storage shelves, when the elevator is stopped to the side of the storage shelves due to the driving stop of the drive sheave. In, even if the load on the string-like member from the elevator is different due to the presence or absence of the article on the elevator and the weight difference or weight balance of the article on the elevator, and the amount of elongation of the string-like member is changing, The displacement of the elevating body in the vertical direction by the displacement means enables accurate positioning with respect to the storage rack. Then, the tension change which is about to occur on the lifting body side (one end side) of the string-shaped member on the lifting sheave side due to the displacement operation of the lifting body in the up-down direction is followed by the driving sheave in conjunction with the displacement operation. This is solved by controlling the lifting drive device to rotate, and the string on the drive sheave due to a large tension difference between the balance weight side (the other end side) and the lifting body side of the drive sheave of the string-shaped member. The slip of the strip-shaped member is reliably prevented, and damage to the string-shaped member is effectively prevented. In particular, even when the lifting body is lifted and lowered by a plurality of string-shaped members,
The tension change that is likely to occur on the lifting body side of each string-shaped member is similarly canceled, slippage of each string-shaped member on the drive sheave is reliably prevented, and the lifting body is lifted and lowered by the plurality of string-shaped members. The horizontal balance after the positioning is released is maintained smoothly.

Further , when the articles are transferred from the elevating body to the storage shelf, the elevating body is stopped to the side of the storage shelf,
After displacing the article loading level of the slide fork to a position higher than the article loading level of the storage shelf to position the elevating body in the upper position, the slide fork is extended to transfer the article to the storage shelf, and then The articles are delivered to the storage shelf by displacing the article mounting level of the slide fork to a position lower than the article mounting level of the storage shelf and positioning the elevating body at the lower position. On the other hand, when transferring the article from the storage shelf to the elevating body, the slide fork is moved to a position lower than the article mounting level of the storage shelf to position the elevating body in the lower position, and then the slide fork is moved. After extending, the article loading level of the slide fork is moved to a position higher than the article loading level of the storage shelf to position the elevating body in the upper position, and the article on the storage shelf is lifted by the slide fork, and then By contracting the slide fork, the article is transferred to the elevating body. Further, when the elevator body is stopped laterally of the storage shelf due to the driving stop of the drive sheave, the lifting member moves from the elevator body depending on whether the article is placed on the elevator body or the weight difference of the article on the elevator body. Even if the load applied to the cord varies and the amount of elongation of the cord-like member changes, the displacement means accurately positions the elevating body between the upper and lower positions with respect to the storage shelf. Further, because of the slide fork type, when the articles are transferred, the cord-like member is required to be vertically displaced when the slide fork is positioned at two upper and lower positions on the side of the storage shelf. The change in tension on the lifting body side is effectively canceled by rotating the drive sheave in a direction to follow it in conjunction with the displacement operation.

Further , the engagement member and the guide groove of the guide member are simplified.
With a simple and reliable structure, the displacement means can be used to
Positioning in two upper and lower positions of the upper and lower positions
This displacement means enables the upper position and the lower position.
The difference in level between the upper and lower positions is the engaging member and the guide member.
Is it preset by the engagement guide with the guide groove ?
And at least actively drive the sheave in conjunction with the displacement operation.
When controlling the rotation, the rotation amount of the drive sheave is separately
Even if it is not controlled based on the tension sensor of
Control based only on the level difference between the position and the down position.
And low cost and highly reliable positioning is possible.
It Moreover, the lifting / lowering body is displaced with respect to the storage shelf by the displacement means.
Since it is positioned at two positions, it is a string
The level difference between the upper and lower positions is independent of the amount of expansion and contraction of the member.
It is kept constant to minimize the vertical pitch of the storage shelves.
It is possible to save space in the vertical direction of the goods storage facility.
A pace is achieved. Also, the engaging member and the guide member
Of slide fork according to the amount of movement of one of the
Since the mounting level is displaced in the upper and lower two positions,
Back and forth movement (displacement of slide fork article loading level
The thrust of the advancing / retreating drive means to be operated) is linked to this advancing / retreating operation.
Stop the driving sheave that is moving.
Load weight obtained by subtracting the weight of the balance weight from the weight
The thrust of the difference will be enough to cover,
Thrust becomes small and it becomes compact.

The means for solving the problems according to the second aspect of the invention is as follows.
In addition to the configuration requirements for the invention of claim 1 Symbol mounting, the drive sheave,
The stop braking force is applied when the drive is stopped. Then, the control means controls to release the stop braking force of the drive sheave when the vertically moving body is displaced in the vertical direction by the displacing means, and the string-like member is wound up in the vertical direction by the amount of vertical displacement of the vertically moving body. Alternatively, at least one of the controls for driving the drive sheave in the rewinding direction is performed on the lifting drive device.

With this configuration, in the invention according to the second aspect, when the control for releasing the stop braking force of the drive sheave is performed when vertically moving the lifting body, the lifting means moves the lifting body up and down. Driving sheaves such that the tension decrease or slack generated on the lifting body side of the string-like member during displacement causes the lifting body side to wind up, or the tension increase generated on the lifting body side of the string-like member rewinds the lifting body side. Is solved by following and rotating. Further, when the elevating body is vertically displaced by the displacing means, the stop braking force of the drive sheave is released, and the string-shaped member is wound up or rewound by the amount of vertical displacement of the elevating body. When the control to positively drive is performed, the tension decrease, slack, etc. on the lifting body side of the string-shaped member causes the driving sheave to follow and rotate in the direction to wind up or rewind the lifting body side. At the same time, by driving the drive sheave by the amount of displacement in the vertical direction, it is positively and effectively eliminated. In particular, even in the case where the lifting body is lifted and lowered by a plurality of string-shaped members, the tension decrease, slack, etc. on the lifting body side of each of the string-shaped members, the increase in tension, etc. are reliably eliminated, and after the lifting / lowering body is unpositioned. Horizontal balance is maintained smoothly .

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 15 shows an elevator type three-dimensional parking facility A of a lower entry type as an article storage facility according to an embodiment of the present invention. In the figure, 1 is a building, 2, ...
A plurality of storage spaces provided in layers on the left and right sides of the space excluding the lower end portion and the upper end portion inside the building 1, each storage space 2 being a vehicle C as an article.
Storage shelves 3 that allow parking of vehicles are installed, and a pallet P that carries a vehicle C as an article is placed on each storage shelf 3.

The storage spaces 2, 2 on both the left and right sides are provided adjacent to a hoistway 4 extending in the up-down direction. In the hoistway 4, elevator tables 6 as elevators constituting an elevator 5 are provided at four corners. Is connected to one end of the wire rope 7, ...
At the time of loading and unloading, the elevating table 6 is raised to the side of the intended storage rack 3 to transfer (transfer) the vehicle C together with the storage rack 3 together with the pallet P. In addition, FIG.
, 8 are driven pulleys, 9 is a drive pulley as a drive sheave, and this drive pulley 9 is rotated forward or backward by a motor M capable of forward and reverse drive as an elevation drive device. The driven pulley 8, the drive pulley 9, and the motor M are connected to the shaft of the motor M so as to rotate integrally therewith.
Is installed in a machine room 11 provided in a space at the upper end inside the building 1. Further, a balance weight 10 is connected to the other end of each wire rope 7.

At the lower end of the building 1, there is formed an entrance / exit 12 through which the vehicle C enters and exits, and at the back of the entrance / exit 12, a vehicle entrance / exit space 13 following the hoistway 4 is provided. ing. A pit 14 is recessed on the floor surface at the lower end of the hoistway 4, and a vehicle turning device 17 having a turntable 16 provided on a base body 15 is installed in the pit 14, and the vehicle turning device 17 operates. Thus, the direction of the vehicle C that has entered the pallet P on the turntable 16 is changed using the loading / unloading space 13. Then, the elevator 5 and the vehicle turning device 17
As a result, an elevator type multi-level parking device B for loading and unloading the vehicle C is configured.

Further, as shown in FIGS. 7 to 11, the building 1 is horizontally bridged between four pillars 18, ... Standing on the ground and adjacent pillars 18, 18. It is composed of a steel frame structure assembled by a large number of beams 19, ..., And the like, and an exterior panel (not shown) provided outside the steel frame structure, and each of the storage shelves 3 described above.
Is a pallet P in a direction orthogonal to the transfer direction of the pallet P.
The two rack rails 3a, 3a extend horizontally on both sides of each storage space 2 in the transfer direction of the pallet P so as to support the lower surfaces of the front and rear ends of the rack rail 3a.
Is formed in a substantially U-shaped cross section with the backs thereof facing each other and opening outward. Incidentally, in FIG. 7 and FIG.
Reference numeral 0 denotes a shelf pillar to which one end of each shelf rail 3a is attached.

The lift table 6 includes two vertical frames 21,
21 and two horizontal frames 22, 22 are provided with a lifting table body 23, and in the middle of the lifting table body 23, two vertical frames 24, 24 and two horizontal frames 2 are provided.
A support frame 26 framed with 5, 25 is a lift table main body 23.
A receiving portion 27 that is mounted so as to be movable upward with respect to the support frame 26 and that mounts and supports the pallet P between the vehicle turning device 17 and the four corners when the vehicle C is turned by the vehicle turning device 17. ... is attached. Support frames 28, 28 are attached to the front and rear ends of the lift main body 23, one end of each wire rope 7 is connected to both ends of each support frame 28, and the lift 6 is suspended and supported in the hoistway 4. ing. Guide rollers 29, 29 are supported on both ends of each of the support frames 28 via brackets 30, and each of the guide rollers 29 engages with the flange 20a of the H-shaped rope, which is each of the shelf posts 20, to raise and lower the platform 6. The flange 20a is adapted to roll in the vertical direction in accordance with the ascending / descending operation of. In addition, on the front side (lower end in FIG. 7), which is the vehicle entry side of the lift table main body 23, there is provided a boarding / alighting deck 31 on which the vehicle C and people get in and out.

Inside the support frames 28, 28 of the lift table 6 (lift body main body 23), a pair of horizontally movable slide forks 32, 32 are arranged, and the lift table 6 slides on both slides. The vehicle C is mounted on the forks 32, 32 together with the pallet P to move up and down the hoistway 4.

Each of the slide forks 32 is provided with a base fork 33 fixed to the vertical frames 21 and 21 of the lift table main body 23, and the base fork 33 has two base frames 33a and 33a arranged in parallel. Are connected by a plate 33b, and a plurality of guide rollers 34, 35 are mounted on the inside of each base frame 33a so as to be rotatable at predetermined intervals.

A middle fork 36 is movably supported on the upper portion of the base fork 33. The middle fork 36 connects two middle frames 36a, 36a having a substantially I-shaped cross section by a plate 36b. The two middle frames 36a are guided by the guide rollers 34, 35 of the base fork 33 to move back and forth with respect to the base fork 33.

The middle fork 36 movably supports a top fork 37 on which an empty pallet P or an on-vehicle pallet P is mounted. The top forks 37 are arranged in parallel so as to face each other. The upper surfaces of two substantially C-shaped top frames 37a, 37a are connected by a support plate 37c. Like the base fork 33, a plurality of guide rollers 34, 35 are mounted on both sides of the top fork 37 so as to be rotatable at predetermined intervals, and the top fork 37 moves forward and backward with respect to the middle fork 36. Is guided by the guide rollers 34 and 35. Further, the upper surface of the support plate 37c is located above the upper surface of the middle fork 36, and the upper surface of the support plate 37c contacts the lower surface of the pallet P to support the pallet P in the mounted state. It has become.

As shown in FIG. 12, three sprocket wheels 3 are provided on the back side of each base fork 33.
8, 39, 40 are arranged, and the respective sprockets 38, 3 are arranged.
A chain 41 is wound around the shafts 9, 40, and both ends of the chain 41 are connected to the front and rear ends of the middle fork 36, respectively. In addition, the above-mentioned middle fork 36
Two sprockets 42 and 43 are arranged on the back side of the
A chain 44 is wound around the sprocket 42 on the tip end side, and both ends of the chain 44 are connected to the base ends of the base fork 33 and the top fork 37, respectively, while the sprocket 43 on the other base end side is connected. Another chain 45 is wound around, and one end of the chain 45 is connected to the base fork 33 and the top fork 3.
7 are respectively connected to the tips.

Both ends of a shaft 46 are connected to the sprockets 38, 38 of the pair of base forks 33, 33, and a driven sprocket 47 is attached to the shaft 46, while the lifting table body of the lifting table 6 is mounted. A drive motor 48 is installed at 23. The drive motor 48
A drive sprocket 49 is attached to the output shaft 48a of the drive sprocket 49 and the driven sprocket 4 described above.
An endless chain 50 is wound around 7.
Then, when the vehicle C (pallet P) is carried in and out, the lifting platform 6 is stopped to the side of the storage shelf 3, and the three chains 41, 44, 45 are run by the forward / reverse operation of the drive motor 48. As a result, the middle fork 36 and the top fork 37 are moved forward and backward on one side of the storage shelves 3, 3 on both sides thereof, and this forward / backward movement, that is, the expansion / contraction operation of the slide fork 32 and the vertical displacement by the vertical movement mechanism (positioning device 57) described later. The vehicle C (pallet P) is transferred between the lift table 6 and the storage shelf 3 by the operation.

A plurality of rollable rollers 51 as engaging members are attached to the two shelf posts 20, 20 on the side of each of the storage shelves 3 by mounting fittings 52 corresponding to each of the storage shelves 3, while Front and rear support frames 2 on the side of the lift table 6
One slide guide 53 is attached to each of both ends of 8 and 28, and a fluid pressure cylinder 54 as an advancing / retreating drive means is installed at the base end of each slide guide 53. Further, as shown in enlarged detail in FIGS. 13 and 14, a piston rod 54a extending in the horizontal direction of the fluid pressure cylinder 54.
A plate-shaped guide member 55 is provided at the tip of the connecting fitting 55a.
The guide member 55 is horizontally moved along the upper and lower guide grooves 53a, 53a of the slide guide 53 by the expansion and contraction of the fluid pressure cylinder 54.

A guide groove 56 for engaging and guiding the roller 51 is formed at the tip of the guide member 55, and the guide groove 5 is formed.
6 is a first guide groove portion 56a extending in the horizontal direction and the first guide groove portion 56a.
The first guide groove portion 5 is composed of a second guide groove portion 56b which is continuous with the guide groove portion 56a and extends obliquely downward toward the back of the groove.
At the open end of 6a, inclined surfaces 56c, 56c are formed which expand the groove width outward.

Further, the roller 51, the guide member 55 and the fluid pressure cylinder 54 constitute a positioning device 57 as a displacing means. The positioning device 57 is on the side of the storage shelf 3 where the vehicle C is to be carried in and out and the opposite side thereof. Side storage shelf 3
Two are provided at a predetermined distance from the side. Then, in a state in which the lift table 6 is stopped to the side of the storage shelf 3, the four guide members 55, ... At the four corners of the lift table 6 are advanced by the synchronized extension operation of the fluid pressure cylinders 54, and the extension operation is performed. Accordingly, the roller 51 is engaged with the first guide groove portion 56a by using the inclined surface 56c of the guide groove 56 as a guide, and as shown in FIGS. 1 and 2, as shown in FIGS. The article placement level) is displaced to a lower position lower than the vehicle placement level Lt (article placement level) of the storage shelf 3, and further, from this positioning state, the fluid pressure cylinders 54 are extended by the synchronized extension operation. By advancing the guide member 55 and engaging the roller 51 with the second guide groove portion 56 b of the guide member 55,
The vehicle mounting level Lf of both slide forks 32 is displaced to an upper position higher than the vehicle mounting level Lt of the storage shelf 3, whereby the lift table 6 is positioned in two stages in the vertical direction. Positioning of the lift table 6 in two steps, upper and lower, is performed by the control means 60 (see FIGS. 3 to 6) for controlling the expansion and contraction operation of the fluid pressure cylinder 54. Further, the extension / contraction operation of the slide fork 32 is also controlled by the control means 60 .

The upper SL drive pulley 9 is stopped the braking force by the brake device 61 of the motor M is configured to act upon the drive stop. The rotation-free state when the drive is stopped is restricted by the braking force of the brake device 61 of the motor M. In FIGS. 1 and 2, the drive pulley 9 is advanced at the time of advance so that the stop braking state and the stop braking released state of the brake device 61 are clear.
The brake pad 61a slidably contacting the outer peripheral surface of the motor and a cylinder 61b for moving the brake pad 61a forward and backward with respect to the outer peripheral surface of the drive pulley 9 are configured for convenience, but the brake device 61 is built in the motor M. However, the means for satisfying the braking action is not limited to this configuration. Further, the forward / reverse rotation operation of the motor M and the stop braking / stop braking release operation of the drive pulley 9 are controlled by the control means 60.
The control means 60 interlocks with the vertical displacement operation of the positioning device 57 so that the tension of each wire rope 7 is kept substantially uniform before and after the vertical displacement operation of the positioning device 57. The above control for the motor M and the drive pulley 9 is performed. That is, the control of the motor M and the drive pulley 9 of the control means 60 is
When the lifter 6 is vertically displaced by the positioning device 57, the cylinder 61b of the brake device 61 is retracted so as to release the stop braking force of the drive pulley 9, so that the wire rope 7 can be moved by the displacement operation. Following this, the drive pulley 9 is adapted to be freely rotatable in the forward and reverse directions. Further, in order to assist the rotation of the drive pulley 9 as necessary, the drive pulley 9 is positively or reversely rotated in the winding direction or the rewinding direction of each wire rope 7 by the amount of the displacement. May be.

Here, the control of the control means 60 for the motor M when the vehicle C is loaded and unloaded in the elevator type multi-level parking facility A will be described with reference to the flow charts of FIGS. 3 to 6, and at the time of loading and unloading of the vehicle. The procedure will be described with reference to FIGS. 1 and 2.

First, as shown in FIG. 1, the control for storing the vehicle C will be described with reference to the flow charts of FIGS. 3 and 4. After the start, in step S1, the motor for preparing the storage of the vehicle C is prepared. M is driven in reverse to rotate the drive pulley 9 in the reverse direction, and an empty pallet P is placed on the elevator table 6 of the elevator 5 to be in a storage standby state. Then, the incoming vehicle C that has entered the vehicle loading / unloading space 13 from the loading / unloading opening 12 is loaded into the empty pallet P on the elevator platform 6 of the elevator 5 waiting for loading, and is turned so that it can be exited forward in preparation for shipping. The direction of the vehicle C is changed by the operation of the device 17. After that, step S
2, the motor M is driven to rotate in the normal direction to rotate the drive pulley 9 in the normal direction to raise the lift table 6 to the side of the intended storage shelf 3 to be stored, and then in step S3, the motor M rotates in the normal direction. The drive is stopped to stop the normal rotation of the drive pulley 9, and in step S4, the cylinder 61b of the brake device 61 is stopped.
Drive pulley 9 with brake pad 61a
Stop braking is performed (state shown in FIG. 1a). In this state, the vehicle mounting level Lf of the slide fork 32 is located below the vehicle mounting level Lt of the storage shelf 3 (shelf rail 3a), and the guide members 55 at the four corners of the lift table 6 are stored in the storage shelf. It is positioned so as to be retracted so as not to interfere with the rollers 51 on the third side.

Next, in step S5, the four fluid pressure cylinders 54 are synchronously extended to move the four guide members 55, ... To the storage shelves 3 and 3 on both sides.
The roller 51 of the first guide groove portion 56a of each guide member 55 is engaged, and in step S6 each guide member 55 is further advanced to engage with the second guide groove portion 56b. As a result, the vehicle mounting level Lf of each slide fork 32 is positioned at an upper position higher than the vehicle mounting level Lt of the storage shelf 3, and in this state, the lift table 6 is moved from four sides by the four positioning devices 57 ,. Stable and horizontally positioned. Further, in the initial stage of this engagement, the roller 51 is guided by the inclined surface 56c of the guide member 56, so that the roller 51
Can be smoothly and reliably engaged with the second guide groove portion 56b via the first guide groove portion 56a.

At the same time as the operation of step S6,
The operations of steps S7 to S9 are performed. Specifically, in step S7, the cylinder 61b of the brake device 61 is retracted to release the stop braking of the drive pulley 9 by the brake pad 61a, and in step S8, the amount of displacement from the lower position of the lift table 6 to the upper position is increased. In order to wind each wire rope 7 in synchronization with the displacement operation,
The motor M is driven to rotate in the normal direction to rotate the drive pulley 9 in the normal direction, and then, in step S9, the drive to rotate the motor M in the normal direction is stopped to stop the rotation of the drive pulley 9 in the normal direction (state shown in b of FIG. 1). .

Then, in step S10, the braking device 6
Brake pad 61a by advancing the first cylinder 61b
Thus, the drive pulley 9 is stopped and braked. Thereafter, in step S11, the slide forks 32, 32 are extended by the drive of the drive motor 48, and the warehousing vehicle C is transferred to the storage space 2 together with the pallet P (state shown in c of FIG. 1). At this time, since the slide forks 32 are located above the storage shelf 3 with a distance as described above,
Interference with the storage rack 3 is prevented when the pallet P is transferred.
Further, when both slide forks 32, 32 are extended together with the pallet P mounted on the vehicle, a tilting moment is generated in the lift table 6, but as described above, the lift table 6 is positioned by the positioning devices 57 ,. From
The tilting moment is received by each positioning device 57 to prevent the elevator platform 6 from tilting, so that the warehousing vehicle C can be stably delivered between the elevator platform 6 and the storage rack 3.

Next, in step S12, the guide members 55 are retracted by the contraction operation of the fluid pressure cylinders 54, and in step S13, the rollers 51 are moved from the second guide groove portions 56b to the first guide groove portions 56a of the guide members 55. Switch to and engage. As a result, each slide fork 32
The vehicle mounting level Lf of is the vehicle mounting level Lt of the storage shelf 3.
It becomes lower than that, and the receiving vehicle C stores the pallet P together with the storage shelf 3
To be delivered to.

At the same time as the operations of steps S12 and S13, the operations of steps S14 to S16 are performed. Specifically, in step S14, the cylinder 61b of the brake device 61 is retracted to release the stop braking of the drive pulley 9 by the brake pad 61a, and in step S15, the amount of displacement of the lift table 6 from the upper position to the lower position is calculated. The motor M is reversely driven to reversely rotate the drive pulley 9 so that the rewinding of each wire rope 7 is performed in synchronization with the displacement operation, and then, step S1.
At 6, the reverse rotation of the motor M is stopped and the reverse rotation of the drive pulley 9 is stopped (state shown in d of FIG. 1).

Then, in step S17, the braking device 6
Brake pad 61a by advancing the first cylinder 61b
Thus, the drive pulley 9 is stopped and braked. As described above, since the slide fork 32 is displaced in the up-down direction by the positioning operation of the positioning device 57 when transferring the warehousing vehicle C, it is not necessary to separately use an elevating means such as a jack and the facility cost is reduced. To be done. Further, in steps S14 to S16, the drive pulley 9 is rotated in the reverse direction in the unwinding direction of each wire rope 7 by the amount of displacement from the upper position to the lower position of the lift table 6 in synchronization with the displacement operation. The switching engagement of the roller 51 from the second guide groove portion 56b of each guide member 55 to the first guide groove portion 56a can be smoothly performed without being pulled by each wire rope 7.

Then, in step S18, both slide forks 32, 32 are contracted by the drive of the drive motor 48 (state shown in e of FIG. 1). Then, in step S19, the guide members 55 are retracted by the most contracting operation of the fluid pressure cylinders 54, and the rollers 51 are disengaged from the guide grooves 56 (state shown in f of FIG. 1). Next, if there is a warehousing, move the elevator 6 to the vehicle loading / unloading space 13
On the other hand, when there is a delivery, the elevating platform 6 is moved up and down to the side of the storage shelf 3 in which the intended delivery vehicle C is stored.

Next, as shown in FIG. 2, the control for unloading the vehicle C will be described based on the flowcharts of FIGS. 5 and 6. After the start, in step S31, the empty elevator platform 6 is unloaded. After the vehicle C is moved up and down to the side of the intended storage shelf 3 where it is parked, the forward / reverse drive of the motor M is stopped to stop the rotation of the drive pulley 9 in step S32, and the brake device 61 of the brake device 61 is stopped in step S33. The cylinder 61b is advanced to stop and brake the drive pulley 9 by the brake pad 61a (state shown in a of FIG. 2). In this state, the vehicle mounting level Lf of the slide fork 32 is
Is located below the vehicle mounting level Lt of the storage shelf 3. At this time, the guide members 55 at the four corners of the lifting table 6 are
It is retracted so as not to interfere with the rollers 51 on the storage shelf 3 side.

Next, in step S34, the four fluid pressure cylinders 54, ... Are synchronously extended to move the four guide members 55 ,. The roller 51 is engaged with the first guide groove portion 56a of each guide member 55 (state shown in FIG. 2B). As a result, the lifting table 6 has four positioning devices 5
Stable and horizontal positioning from four directions by 7, ... Further, in the initial stage of this engagement, the roller 51 is guided by the inclined surface 56c of the guide groove 56, so that the roller 51 is smoothly and reliably engaged with the first guide groove portion 56a.

Then, in step S36, both slide forks 32, 32 are extended by the drive of the drive motor 48 (state shown in FIG. 2c). At this time, since the slide forks 32 are located below the storage shelf 3 with a distance as described above, interference with the storage shelf 3 is prevented when the pallet P is transferred.

Thereafter, in step S37, the guide members 55 are further advanced by further expanding the fluid pressure cylinders 54, and in step S38, the rollers 51 are moved.
Is engaged by switching from the first guide groove portion 56a of each guide member 55 to the second guide groove portion 56b. As a result, the vehicle mounting level Lf of each slide fork 32 becomes an upper position higher than the vehicle mounting level Lt of the storage shelf 3, and the unloading vehicle C is delivered to the slide fork 32 together with the pallet P.
At this time, the slide fork 32 causes a tilting moment on the lifting table 6 due to the loading of the warehousing vehicle C. However, since the lifting table 6 is positioned by the positioning devices 57, ... Is received by each positioning device 57 to prevent the lift table 6 from tilting,
The unloading vehicle C can be stably transferred between the lifting platform 6 and the storage shelf 3.

Simultaneously with the operations of steps S37 and S38, the operations of steps S39 to S41 are performed. Specifically, in step S39, the cylinder 61b of the brake device 61 is retracted to release the stop braking of the drive pulley 9 by the brake pad 61a, and in step S40, the amount of displacement of the lift table 6 from the lower position to the upper position is increased. The motor M is normally driven to rotate the drive pulley 9 in the normal direction so that the winding of each wire rope 7 is performed in synchronization with the displacement operation, and then, in step S41.
Then, the normal rotation drive of the motor M is stopped and the normal rotation of the drive pulley 9 is stopped (state shown in d of FIG. 2).

Thereafter, in step S42, the cylinder 61b of the brake device 61 is advanced to move the brake pad 61.
The drive pulley 9 is stopped and braked by a. Next, in step S43, both slide forks 32, 32 are contracted by the drive of the drive motor 48, and the unloading vehicle C is transferred to the lift table 6 (state shown by e in FIG. 2).

Then, in step S44, the guide members 55 are retracted by the contraction operation of the fluid pressure cylinders 54, and the rollers 51 are moved to the guide members 5 in step S45.
The first guide groove 56a of No. 5 is switched and engaged. As a result, the vehicle loading level Lf of each slide fork 32 becomes lower than the vehicle loading level Lt of the storage shelf 3, and the unloading vehicle C is transferred to the lift table 6 together with the pallet P.

At the same time as the operations of steps S44 and S45, steps S46 to S46 are performed.
48 operations are performed. Specifically, in step S46, the cylinder 61b of the brake device 61 is retracted to release the stop braking of the drive pulley 9 by the brake pad 61a, and in step S47, the lift table 6 is displaced from the upper position to the lower position by the amount of displacement. The motor M is reversely driven to reversely rotate the drive pulley 9 so that the rewinding of each wire rope 7 is performed in synchronization with the displacement operation, and then, step S4.
At 8 the reverse rotation of the motor M is stopped and the reverse rotation of the drive pulley 9 is stopped (state indicated by f in FIG. 2).

Then, in step S49, the braking device 6
Brake pad 61a by advancing the first cylinder 61b
Thus, the drive pulley 9 is stopped and braked. In this way, since the vertical movement of the slide fork 32 during the delivery of the delivery vehicle C is performed by the positioning operation of the positioning device 57, it is not necessary to use a separate lifting device such as a jack, and the equipment cost Is reduced. Further, in steps S46 to S48, the drive pulley 9 is rotated in the unwinding direction of the wire ropes 7 in the rewinding direction of the wire ropes 7 in synchronization with the displacement operation by the amount of displacement from the upper position of the lift table 6 to the lower position. The switching engagement of the roller 51 from the second guide groove portion 56b of the guide member 55 to the first guide groove portion 56a is smoothly performed without being pulled by each wire rope 7.

Thereafter, in step S50, the guide members 55 are retracted by the most contracting operation of the fluid pressure cylinders 54 to disengage the rollers 51 from the guide grooves 56 (state indicated by g in FIG. 2). Then, in step S51, the drive pulley 9 is reversely rotated by the reverse rotation of the motor M to lower the elevating table 6 to the side of the vehicle loading / unloading space 13, and the loading / unloading vehicle C is loaded from the loading / unloading port. If there is a subsequent delivery, the motor M is driven to rotate in the forward direction to rotate the drive pulley 9 in the forward direction, and the lifting platform 6 is raised to the side of the storage shelf 3 in which the target delivery vehicle C is stored. While the unloading vehicle C is unloaded as described above, if there is warehousing, the unloading vehicle C is mounted in the lowered state as it is, and warehousing is performed in the same manner as described in the above warehousing.

As described above, in the above-described embodiment, when the lifting platform 6 is stopped laterally of the storage shelf 3 by stopping the forward and reverse rotations of the drive pulley 9, the loading / unloading vehicle C on the lifting platform 6 is stopped. Even if the load on the wire ropes 7 from the elevator 6 changes due to the presence / absence of placement and the weight difference of the loading / unloading vehicle C on the elevator 6 and the extension amount of each wire rope 7 changes, the elevator 6 The positioning device 57 for vertically displacing the vertical position to the upper position or the lower lower position accurately positions the elevating table 6 with respect to the storage shelf 3 at the two upper and lower positions.

In that case, the motor M includes a positioning device 57.
Each wire rope 7 interlocked with the displacement operation of the lifting table 6 by
Is controlled so that the tension of the positioning device 57 is kept substantially uniform before and after the displacement operation to the upper position or the lower position of the positioning device 57, that is, when the lifting device 6 is displaced by the positioning device 57 to the up and down position. The control for releasing the stop braking of the drive pulley 9 by 61, and hoisting each wire rope 7 by the amount of vertical displacement of the elevator 6 when the elevator 6 is displaced by the positioning device 57 to the vertical position or Drive pulley 9 to rewind
Is controlled to rotate in the forward and reverse directions. Therefore, a decrease in tension, a slack, an increase in tension, etc. occurring on the lifting body side of each wire rope 7 relative to the drive pulley 9 of each wire rope 7 due to the vertical displacement operation of the lift table 6 causes the drive pulley 9 to move. Is reversed by rotating the wire ropes 7 forward and backward, and slippage of the wire ropes 7 on the drive pulley 9 due to a large tension difference between the balance weight side of the wire ropes 7 and the lifting body side is reliably prevented. The damage of 7 can be effectively prevented. In particular,
Non-uniform slipping of the wire ropes 7 on the drive pulley 9 can be reliably prevented, and the horizontal balance after the positioning release of the lifting platform 6 that moves up and down by the plurality of wire ropes 7 can be maintained smoothly.

Further, the roller 51 and the guide groove 56 of the guide member 55 store the vehicle mounting level Lf of the slide fork 32 in the lift table 6 according to the extension amount of the fluid pressure cylinder 54 for moving the guide member 55 forward and backward. Since it is engaged and guided so as to be displaceably positioned at two positions, an upper position and a lower position with respect to the shelf 3, the positioning device 57 is configured by a simple and reliable configuration of the roller 51 and the guide groove 56 of the guide member 55. It is possible to position the lift table 6 at two upper and lower positions compulsorily above and below, and the level difference between the upper and lower positions between the upper and lower positions by the positioning device 57 causes the roller 51 and the guide. Guide groove 56 of member 55
Since the rotation amount of the drive pulley 9 is not controlled based on a separate tension sensor or the like, it is set based on only the level difference between the upper position and the lower position, because it is set in advance by the engagement guide with. Only the control is required, and the positioning can be performed at low cost and with high reliability. Moreover, the lift 6
Is positioned at two upper and lower positions with respect to the storage shelf 3 by the positioning device 57, the level difference between the upper and lower two positions is kept constant regardless of the amount of expansion and contraction of each wire rope 7. The vertical arrangement pitch of the storage shelves 3 can be minimized, and space saving in the vertical direction of the elevator type multi-level parking facility A can be achieved. Also,
Since the vehicle mounting level Lf of the slide fork 32 is displaced at the upper and lower two positions according to the amount of advance / retreat of the guide member 55,
The thrust of the fluid pressure cylinder 54 for moving the guide member 55 forward and backward (displacement operation of the slide fork 32 at the vehicle mounting level Lf) is linked to the forward and backward movement.
Of the balance weight 10 from the load weight by the control for releasing the stop braking and the control for rotating the drive pulley 9 in the forward and reverse directions.
Since the thrust of the load weight difference obtained by subtracting the weight of is sufficient, the fluid pressure cylinder 54 can be made compact with a small thrust.

The present invention is not limited to the above embodiment, but includes various other modifications. For example, in the above embodiment, the displacing means is constituted by the positioning device 57, but the displacing means may be constituted by using an elevating means such as a jack.

Further, in the above embodiment, while the roller 51 is provided on the storage shelf 3 side and the fluid pressure cylinder 54 and the guide member 55 are provided on the lifting table 6 side, the fluid pressure cylinder and the guide member are provided on the storage shelf side. May be provided, and the roller may be provided on the lifting table side. Furthermore, in the above embodiment, the guide member 55 is connected to the tip of the piston rod 54a of the fluid pressure cylinder 54, but a roller may be provided at the tip of the piston rod of the fluid pressure cylinder. Further, in the above-described embodiment, only the guide member 55 is advanced and retracted by the expansion and contraction operation of the fluid pressure cylinder 54, but the roller is also advanced and retracted with respect to the guide member by the advance and retreat operation (expansion and contraction operation) of the advancing and retracting drive means such as the fluid pressure cylinder. It may be configured to do.

Further, in the above embodiment, the control means 60 controls the forward / reverse operation of the motor M and the stop braking / stop braking releasing operation in conjunction with the vertical displacement operation of the positioning device 57.
However, it does not have a brake mechanism in particular because it has only a stop / stop brake release operation of the brake device of the motor or the drive pulley in conjunction with the vertical displacement operation of the positioning device, or has a self-lock mechanism in the lift drive device. For the motor, only the forward rotation / reverse rotation drive of the motor may be controlled.

[0054]

As described above, according to the article storage facility in the invention of claim 1, the tension of the string-like member is interlocked with the displacement operation of the displacement means before and after the displacement operation of the displacement means in the vertical direction. Since the lifting drive is controlled so as to keep it almost even after the operation, the tension decrease or slack generated on the lifting body side of the string-like member due to the vertical displacement of the lifting body is eliminated by the rotation of the drive sheave. The slip of the string-shaped member on the drive sheave due to a large tension difference between the balance weight side and the lifting body side of the string-shaped member can be reliably prevented, and damage to the string-shaped member can be prevented. Particularly, it is possible to reliably prevent uneven slippage of each string-like member on the drive sheave when raising and lowering the elevator by the plurality of string-like members, and The horizontal balance can be reliably maintained.

[0055] In addition, the elevation driving unit so as to keep substantially uniform the previous displacement movement in the vertical direction after the displacement operation of the displacement means the tension of vertical displacement operation and conjunction with string member telescopic slide fork It is possible to effectively eliminate the tension decrease or slack on the elevating body side of the string-shaped member due to the vertical displacement of the slide fork due to the slide fork type, which is necessary when the article is transferred, by rotating the drive sheave. .

Further, the engaging member and the guide groove of the guide member
And a slide fork with the advancement of advancing drive means
Set the article loading level to the upper and lower
Engage so that it can be positioned at two positions
Since the joint guide is provided, the level between the upper and lower positions can be adjusted by the displacement means.
By setting the difference in advance in advance, the
It becomes possible to control based on the bell difference only, and separately
Low cost and highly reliable position with no need for tension sensor
You can make a decision. Moreover, it can be moved up and down by the displacement means.
Since the lifting body is positioned in two positions, it can be placed in the top and bottom two positions.
Arrangement of storage shelves vertically by keeping the level difference between storage units constant
Minimize the pitch to save space in the vertical direction of the equipment storage facility
The pace can be increased. Also, the engaging member and the plan
Stop of the drive sheave linked to the forward / backward movement of one of the inner members
By controlling the stop braking release, etc.,
The thrust of the load weight difference that deducts the weight of the weight is sufficient
To provide a compact forward / backward drive means with small thrust that can be covered.
You can

According to the article storage facility of the second aspect of the present invention, the driving rope is used to reduce the tension, the slack, or the increase in the tension of the string-shaped member on the lifting body side due to the displacement of the lifting body in the vertical direction by the displacement means. The control to release the stop braking force of the vehicle and the control to drive the drive sheave by the amount of the displacement to wind up or rewind the string-like member positively and effectively eliminates the problem. It is possible to reliably prevent slipping of the tree member and prevent damage to the string-shaped member. Moreover, even when the elevating body is moved up and down by a plurality of string-like members, the tension decrease, slack and tension increase on the elevating body side of each of the string-like members are controlled and lifted to release the stop braking force of the drive sheave. At least one of the controls for driving the drive sheave according to the amount of vertical displacement of the body can surely cancel it, and the horizontal balance after the positioning of the lifting body is released can be more reliably maintained .

[Brief description of drawings]

FIG. 1 is an operation explanatory diagram showing (a) to (f) a delivery procedure at the time of entering a vehicle according to an embodiment of the present invention.

FIG. 2 is an operation explanatory view showing (a) to (g) of a delivery procedure when the vehicle is leaving.

FIG. 3 is a flowchart illustrating the first half control by the control device when the vehicle is stored.

FIG. 4 is a flowchart illustrating the second half of the control by the control device when the vehicle is stored.

FIG. 5 is a flowchart illustrating the first half control by the control device when the vehicle is leaving the vehicle.

FIG. 6 is a flowchart illustrating the second half of control by the control device when the vehicle is leaving the vehicle.

FIG. 7 is a cross-sectional plan view of an elevator type multi-level parking facility.

FIG. 8 is a side view of the lifting table.

FIG. 9 is a plan view of a slide fork.

FIG. 10 is a side view of the slide fork.

FIG. 11 is a front view of the slide fork viewed from the storage shelf side.

FIG. 12 is a perspective view showing a telescopic mechanism of a slide fork.

FIG. 13 is a side view of the positioning device.

FIG. 14 is a plan view showing a partially broken positioning device.

FIG. 15 is a schematic configuration diagram of an elevator type multi-level parking device.

[Explanation of symbols]

3 Storage Shelf 4 Hoistway 6 Elevating Table (Elevating Body) 7 Wire Rope (String Member) 9 Drive Pulley (Drive Sheave) 10 Balance Weight 32 Slide Fork 51 Roller (Engaging Member) 54 Fluid Pressure Cylinder (Advancing / Retracting Drive Means) ) 55 guide member 56 guide groove 57 positioning device (displacement means) 60 control means A elevator type multi-level parking facility (mechanical parking facility) C vehicle (article) Lf vehicle mounting level of slide fork (article mounting level) Lt storage Shelf vehicle loading level (item loading level) M motor (elevation drive device)

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-6-129132 (JP, A) JP-A-7-166732 (JP, A) JP-A-4-237776 (JP, A) JP-A-2- 279877 (JP, A) JP 5-202632 (JP, A) Actual development 5-75354 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) E04H 6/18 E04H 6 / 18 601 E04H 6/22

Claims (2)

(57) [Claims] 1. A hoisting or unwinding operation for the string-like member, the other end of which is connected to a balance weight through a drive sheave, one end of which is connected to a lifting body on which an article can be placed. Is provided with a lifting drive device for driving the drive sheave so as to raise and lower the lifting body along the hoistway, and a storage shelf adjacent to the hoistway of the lifting body is provided. In an article storage facility that transfers articles between the elevator and storage shelves with the elevator stopped sideways, the elevator that is stopped on the side of the storage shelf is accurately positioned with respect to the storage shelf. As described above, the displacing means for displacing the elevating body in the vertical direction and the displacing operation of the displacing means so that the tension of the string-like member is kept substantially uniform before and after the displacing operation of the displacing means. The elevator drive device is controlled in conjunction with And control means for, in the lifting body, water articles between storage shelves of the elevating side side
Provided with a retractable slide fork for horizontal transfer
It is, the displacement means, either the lifting side and storage shelf side one
The engaging member provided on one side and the engaging member on the other side
A guide member having a guide groove for engaging and guiding the member;
Of the above-mentioned engaging member and guide member provided on the descending body side,
One of the two, the engaging member into the guide groove of the guide member when it advances.
Forward / backward drive to move forward / backward in a horizontal direction to guide engagement
Means for guiding the engaging member and the guide groove of the guide member.
In addition, the slide fo
The product loading level of the rack to the storage shelf of the elevator.
It can be positioned so that it can be positioned at two positions:
An article storage facility characterized by being provided as described above. 2. The drive sheave is configured so that a stop braking force acts when the drive sheave is stopped, and the control means is configured to displace the elevating body in the vertical direction by the displacement means. At least one of the control for releasing the stop braking force of the vehicle and the control for driving the drive sheave in the winding direction or the rewinding direction of the string-shaped member by the amount of vertical displacement of the lifting body is driven up and down. the article storage facility of the way and claim 1 Symbol placement made to the device.