Stocker

Abstract

A stacker (1) has a first stacker crane (7A) and a second stacker crane (7B), each stacker crane having one mast (72) that has a pair of surfaces (72a, 72b) orthogonal to a traveling direction (D) and a transfer unit (75) that is provided to be vertically movable along one surface (72b) of the pair of surfaces (72a, 72b) and that transfers an article (A) between a first rack (4A) and a second rack (4B). The two cranes (7A, 7B) are arranged so as to face in the directions opposite to the direction in which the one surfaces (72b), on which the transfer units (75) are provided to be vertically movable, face each other in the traveling direction (D). The first space (S1) is provided with an entry area (A3) where two cranes (7A, 7B) enter toward each other. A controller (10) controls travel of the two cranes (7A, 7B) so that the two cranes (7A, 7B) do not collide.

Description

[Technical field]

[0001] One aspect of the present invention relates to a stocker. [Background technology]

[0002] A stocker is known that includes a crane (stacker crane) that transports items and a rack in which the items are stored. For example, Patent Document 1 discloses an automated warehouse in which two stockers, each including two cranes and two racks arranged on either side of the crane along the traveling direction of the crane, are arranged in the traveling direction of the crane. The crane included in this stocker includes a mast that extends in the vertical direction, and a transfer unit that transfers items to the rack is provided so as to be able to rise and fall along one surface in the traveling direction formed on the mast. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-9953 A Summary of the Invention [Problem to be solved by the invention]

[0004] In such a stocker, it is required to increase the number of articles that can be stored in the stocker. However, in a stocker in which a crane having the above-mentioned configuration travels inside the stocker, the mast interferes with the housing of the stocker at one end of the stocker in the traveling direction, so a space is created into which articles cannot be transferred by either of the transfer units of the two cranes. Therefore, a rack cannot be provided in this space, and the number of articles that can be stored in the stocker is reduced.

[0005] Therefore, an object of one aspect of the present invention is to provide a stocker that is equipped with a crane having a transfer section that can be raised and lowered along one side of a mast perpendicular to the traveling direction, and that can increase the number of items that can be stored in the stocker. [Means for solving the problem]

[0006] A stocker according to one aspect of the present invention comprises two cranes that run on a rail that extends in one direction, a rack that extends along the rail and is arranged on either side of the rail, and into which articles are loaded and unloaded by the two cranes, a first space forming section that forms a first space to accommodate the two cranes and the rack, and a controller that controls the two cranes, each of the two cranes has a mast having a pair of faces perpendicular to the traveling direction of the crane, and a transfer section that is arranged to be able to rise and fall along one of the pair of faces and transfers articles between the rack and the two cranes, the two cranes are arranged so that the one face on which the transfer section is arranged to be able to rise and fall faces in the opposite direction to the direction in which they face each other in the traveling direction, and an entry area is provided in the first space where the two cranes can enter and exit each other, and the controller controls the traveling of the two cranes so that the two cranes do not collide.

[0007] In the stocker of this configuration, two cranes are provided in the first space formed by the first space forming part, and one surface of the transfer parts of the two cranes, on which one surface is provided so as to be able to rise and fall, is arranged so as to face the opposite direction to the direction in which they face each other in the traveling direction. As a result, an article is transferred to a rack part that interferes with the mast of one crane at one end of the first space (stocker) in the traveling direction by the other crane, and an article is transferred to a rack part that interferes with the mast of the other crane at the other end of the first space in the traveling direction by one crane. As a result, a rack part can be arranged at the end of the first space in the traveling direction, and an article can be transferred to the rack part. In addition, since an access area where the two cranes can enter each other is provided in the first space, a rack part that can only transfer an article to one of the two cranes is not formed. As a result, in a stocker having a transfer part that is provided so as to be able to rise and fall along one surface of the mast perpendicular to the traveling direction, the number of articles that can be stored in the stocker can be increased.

[0008] In the stocker according to one aspect of the present invention, the boarding area may be provided in the center of the first space in the travel direction. In this configuration, the travel areas of the two cranes are approximately equally distributed, so that the loads of the two cranes can be equally divided.

[0009] In the stocker according to one aspect of the present invention, the transfer section may be provided so as to protrude in the travel direction from one surface of the mast. In this configuration, the size of the crane in the width direction perpendicular to the travel direction can be made compact.

[0010] In a stocker according to one aspect of the present invention, the first spatial component may have an opening / closing part that allows a crane to enter and exit the first space from an end of the first space in the travel direction, and may further include a second spatial component that configures a second space having at least a size capable of accommodating both one of the two cranes that has retreated from the opening / closing part to the outside of the first space, and the other crane that has retreated partially from the opening / closing part to transfer articles to a rack located at the end of the first space on the side where the one crane has retreated. With this configuration, even when the stocker is operated with only one crane, it is possible to transfer articles to all of the rack portions accommodated in the first spatial component.

[0011] In a stocker according to one aspect of the present invention, when the controller confirms that one of the two cranes is located in the second space and that the opening / closing part is closed, the controller may cause the other crane to travel at a speed up to the first speed throughout the entire first space. This allows the crane to travel while completely isolating the first space from workers. As a result, the safety of the workers can be ensured and the crane can be traveled at a higher speed.

[0012] In a stocker according to one aspect of the present invention, when the controller confirms that one of the two cranes is located in the second space and the opening / closing part is not closed, the controller may cause the other crane to travel at a second speed slower than the first speed throughout the entire first space. This makes it impossible to completely isolate the first space from workers, but allows the crane to travel safely for workers. Effect of the Invention

[0013] According to one aspect of the present invention, a stocker can be provided that is equipped with a crane having a transfer section that can be raised and lowered along one side of a mast perpendicular to the traveling direction, and that can increase the number of items that can be stored in the stocker. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a schematic diagram showing the inside of a stocker according to one embodiment. [Diagram 2] FIG. 2 is a cross-sectional view of the stocker of FIG. 1 taken along line II-II. [Diagram 3] FIG. 3 is a perspective view of the first stacker crane and the second stacker crane of FIG. [Figure 4] FIG. 4 is a block diagram showing the functional configuration of the stocker. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] A stocker 1 according to one embodiment will be described below with reference to the drawings. In the description of the drawings, the same elements are given the same reference numerals and duplicated description will be omitted.

[0016] 1 and 2, the stocker 1 includes a stocker body (first space forming portion) 3, a first rack (rack) 4A, a second rack (rack) 4B, a first stacker crane (crane) 7A, a second stacker crane (crane) 7B, and a controller 10 (see FIG. 4). The stocker 1 stores an item A that has been transported from outside the stocker 1 by a transport device, for example. The item A is a container such as a FOUP (Front-Opening Unified Pod) that stores wafers to be processed in semiconductor manufacturing equipment or liquid crystal manufacturing equipment, or a reticle pod that stores reticles used in semiconductor manufacturing equipment or liquid crystal manufacturing equipment, for example.

[0017] In the following description, as shown in Figures 1 to 3, the embodiment may be described by assuming that the running direction D of the first stacker crane 7A and the second stacker crane 7B is the left-right direction, the width direction W perpendicular to the running direction D is the front-rear direction, and the vertical direction is the up-down direction.

[0018] The stocker body 3 defines a first space S1 extending in one direction. The stocker body 3 is composed of a frame and a panel (not shown). The stocker body 3 defines the first space S1 capable of accommodating a part of the traveling rail 31 on which the first stacker crane 7A and the second stacker crane 7B run, a part of the auxiliary rail 32 arranged so as to face the traveling rail 31 in the vertical direction, two stacker cranes, the first stacker crane 7A and the second stacker crane 7B, which run along the traveling rail 31 and the auxiliary rail 32, and a first rack 4A and a second rack 4B arranged along the extending direction of the traveling rail 31 and the auxiliary rail 32.

[0019] The first space S1 formed by the stocker body 3 includes a travel area S11 along which the first stacker crane 7A and the second stacker crane 7B travel, and rack areas S12 disposed on either side of the travel area S11.

[0020] At both ends of the stocker body 3 in the traveling direction D, i.e., at both left and right ends of the stocker body 3, there are arranged reserve stocker bodies (second space forming parts) 3A, 3A which form a second space S2 capable of accommodating the first stacker crane 7A or the second stacker crane 7B which has retreated from the first space S1. In detail, the second space S2 is a space surrounded by a part of the stocker body 3 and the reserve stocker body 3A. The reserve stocker body 3A is constituted by a frame and a panel, not shown. The second space S2 accommodates the traveling rail 31 and the auxiliary rail 32 extending from the first space S1. The second space S2 on the right side constituted in this way constitutes a first maintenance area A11 for performing maintenance on the first stacker crane 7A. The second space S2 on the left side constitutes a second maintenance area A12 for performing maintenance on the second stacker crane 7B.

[0021] The stocker body 3 includes a door 35, a first shutter (opening / closing section) 36, and a second shutter (opening / closing section) 37. The door 35 is provided for an operator to enter and exit the first space S1. The door 35 is provided at the center in the left-right direction on the front surface of the stocker body 3. The first shutter 36 is provided for allowing the first stacker crane 7A to enter and exit the first space S1 from the right end of the first space S1 in the travel direction D. The first shutter 36 is provided at the right end of the stocker body 3. The second shutter 37 is provided for allowing the second stacker crane 7B to enter and exit the first space S1 from the left end of the first space S1 in the travel direction D. The second shutter 37 is provided at the left end of the stocker body 3.

[0022] The door 35 can be switched between an open state where a worker can move between the first space S1 and the outside of the first space S1 and a closed state where a worker cannot move between the first space S1 and the outside of the first space S1. The first shutter 36 can be switched between an open state where a first stacker crane 7A can move between the first space S1 and the second space S2 and a closed state where the first stacker crane 7A cannot move between the first space S1 and the second space S2. The second shutter 37 can be switched between an open state where a second stacker crane 7B can move between the first space S1 and the second space S2 and a closed state where the second stacker crane 7B cannot move between the first space S1 and the second space S2.

[0023] The door 35, the first shutter 36, and the second shutter 37 are provided with a door detector 35A, a first shutter detector 36A, and a second shutter detector 37A, respectively, for detecting an open / closed state. Examples of the door detector 35A, the first shutter detector 36A, and the second shutter detector 37A are a contact sensor, an optical sensor, etc. As shown in Fig. 4, the results of detection of the open / closed state by the door detector 35A, the first shutter detector 36A, and the second shutter detector 37A are acquired by the controller 10.

[0024] The second space S2 on the right side has a size that can accommodate both the first stacker crane 7A that has retreated from the first shutter 36 to the outside of the first space S1, and the second stacker crane 7B in a state where a part of the whole has retreated from the first shutter 36 in order to transfer the article A to the first rack 4A and the second rack 4B that are arranged at the right end of the first space S1. Here, in order for the second stacker crane 7B to transfer the article A to the first rack 4A and the second rack 4B that are arranged at the right end of the first space S1, at least the mast 72 needs to retreat from the first shutter 36. This is to align the position of the transfer part 75 of the second stacker crane 7B with the position of the placement part (rack part) 41 of the first rack 4A and the second rack 4B that are arranged at the right end of the first space S1. The "part of the whole" mentioned above refers to the second stacker crane 7B in a state where the mast 72 has retreated. The part that retreats from the first shutter 36 differs depending on the configuration of the stacker crane.

[0025] Similarly to the second space S2 on the right side, the second space S2 on the left side has a size that can accommodate both the second stacker crane 7B that has retracted from the second shutter 37 to the outside of the first space S1, and the first stacker crane 7A that has partially retracted from the second shutter 37 in order to transfer the article A to the first rack 4A and the second rack 4B that are disposed at the left end of the first space S1. The portion that retracts from the second shutter 37 differs depending on the configuration of the stacker crane.

[0026] Each of the first rack 4A and the second rack 4B has a plurality of placement sections 41 on which the articles A are placed one by one. The placement sections 41 are arranged in the vertical and horizontal directions. The first rack 4A and the second rack 4B are arranged along the traveling area S11. The first rack 4A and the second rack 4B are also arranged to face each other in the extension direction of the traveling area S11 (the traveling rail 31 and the auxiliary rail 32) and the width direction perpendicular to the vertical direction. Each of the first rack 4A and the second rack 4B constitutes a placement section 41 in almost the entire first space S1, except for the lower area S16 of the boarding area A3, which will be described in detail later.

[0027] The first stacker crane 7A and the second stacker crane 7B travel in the first space S1 and transport the article A between a plurality of placement sections 41 provided in the first space S1 and a loading / unloading port (not shown). More specifically, the first stacker crane 7A and the second stacker crane 7B each travel along the traveling rail 31 and the auxiliary rail 32, transport the article A between the placement section 41 and the loading / unloading port, and transfer (load and unload) the article A to the placement section 41. The first stacker crane 7A is disposed on the right side of the second stacker crane 7B in the extending direction of the traveling rail 31 and the auxiliary rail 32 as viewed from the front in FIG. 1. The second stacker crane 7B is disposed on the left side of the first stacker crane 7A in the extending direction of the traveling rail 31 and the auxiliary rail 32 as viewed from the front in FIG. 1.

[0028] As shown in Fig. 3, each of the first stacker crane 7A and the second stacker crane 7B includes a traveling section 71, a mast 72, a lifting platform 73, a transfer section 75, an auxiliary traveling section 77, and a sensor 79 (see Fig. 1). The traveling section 71 mainly includes a traveling motor 71A and a lifting motor 71B. The traveling section 71 travels along the traveling rail 31. The traveling section 71 includes traveling drive wheels that roll along the upper surface of the traveling rail 31. The traveling motor 71A is a drive source for the traveling drive wheels. The lifting motor 71B is a drive source for the lifting platform 73.

[0029] The mast 72 is erected vertically on the upper part of the travel section 71. The mast 72 has a pair of surfaces (first surface 72a and second surface 72b) perpendicular to the travel direction D of the crane. The first surface 72a of the first stacker crane 7A and the first surface 72a of the second stacker crane 7B are surfaces on which the lifting platform 73 is provided so as to be able to rise and fall. In other words, the lifting platform 73 (transfer section 75) of the first stacker crane 7A is provided so as to be able to rise and fall along the first surface 72a, and the lifting platform 73 (transfer section 75) of the second stacker crane 7B is also provided so as to be able to rise and fall along the first surface 72a.

[0030] The first stacker crane 7A and the second stacker crane 7B are arranged so that the first surfaces 72a, 72a on which the lifting platform 73 (transfer section 75) is provided so as to be capable of rising and falling face in the opposite direction (back to back) to the direction in which they face each other in the traveling direction D. The first stacker crane 7A and the second stacker crane 7B are arranged so that the second surfaces 72b, 72b face each other.

[0031] The transfer unit 75 is provided on the lifting platform 73. More specifically, the transfer unit 75 is provided so as to protrude from the first surface 72a in the running direction D, and is capable of being raised and lowered along the first surface 72a by the lifting platform 73. The transfer unit 75 transfers the item A between the placement units 41 of the first rack 4A and the second rack 4B, and also transfers the item A between the loading and unloading port. The auxiliary running unit 77 runs along the auxiliary rail 32. The auxiliary running unit 77 includes a pair of drive wheels that roll while sandwiching the auxiliary rail 32.

[0032] The sensor 79 is a sensor that detects the position of an object. The sensor 79 of the first stacker crane 7A is provided on the second surface 72b, and measures the distance to the second surface 72b of the second stacker crane 7B that faces the traveling direction D. The sensor 79 of the second stacker crane 7B is provided on the second surface 72b, and measures the distance to the second surface 72b of the first stacker crane 7A that faces the traveling direction D. The measurement results of the sensors 79, 79 are acquired by the controller 10 (see FIG. 4). The measurement by the sensors 79, 79 may be performed constantly or at predetermined time intervals.

[0033] The first stacker crane 7A and the second stacker crane 7B may be provided with a shock absorber, for example, on the second surface 72b of at least one of the first stacker crane 7A and the second stacker crane 7B. This makes it possible to prevent the first stacker crane 7A and the second stacker crane 7B from being damaged in whole or in part, even if the first stacker crane 7A and the second stacker crane 7B collide with each other.

[0034] In the normal mode, the first stacker crane 7A and the second stacker crane 7B are preset with areas in which they can travel in the first space S1. Specifically, the first stacker crane 7A is set with a first travel area A1 so that the article A can be transferred between the first stacker crane 7A and the placement unit 41 arranged in the range R1 shown in FIG. 1. The second stacker crane 7B is set with a second travel area A2 so that the article A can be transferred between the second stacker crane 7B and the placement unit 41 arranged in the range R2 shown in FIG. In the first space S1 in which the first travel area A1 and the second travel area A2 are set, a boarding area A3 is set where the two first stacker cranes 7A and the second stacker crane 7B board each other. In the stocker 1 of this embodiment, the boarding area A3 is provided in the center of the first space S1 in the travel direction D.

[0035] The controller 10 shown in Fig. 4 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The controller 10 controls various operations of the first stacker crane 7A and the second stacker crane 7B arranged in the stocker 1. The controller 10 can be configured as software in which a program stored in the ROM is loaded onto the RAM and executed by the CPU, for example. The controller 10 may also be configured as hardware including electronic circuits, etc. The controller 10 executes various controls as described below by cooperation between hardware such as the CPU, RAM, and ROM and software such as programs.

[0036] The controller 10 is provided so as to be capable of switching between a normal mode in which both the first stacker crane 7A and the second stacker crane 7B are operated, a first separation mode in which the operation of one of the first stacker crane 7A and the second stacker crane 7B is stopped in the first space S1, and a second separation mode in which the operation of one of the first stacker crane 7A and the second stacker crane 7B is stopped in the second space S2. The switching between the modes is performed by an operator using an operation unit or the like (not shown).

[0037] In the normal mode, the controller 10 controls the travel of the first stacker crane 7A so that the first stacker crane 7A travels only in the first traveling area A1 and the boarding area A3 (so as not to advance into the second traveling area A2), and controls the travel of the second stacker crane 7B so that the second stacker crane 7B travels only in the second traveling area A2 and the boarding area A3 (so as not to advance into the first traveling area A1). In addition, the controller 10 controls the travel of the first stacker crane 7A and the second stacker crane 7B so that they do not collide with each other.

[0038] Specifically, the controller 10 controls the first stacker crane 7A and the second stacker crane 7B so that the distance between them does not become closer than a predetermined distance based on the detection result of the sensor 79 of the first stacker crane 7A and the detection result of the sensor 79 of the second stacker crane 7B. Specifically, when the distance value of at least one of the detection results of the sensor 79 of the first stacker crane 7A and the detection result of the sensor 79 of the second stacker crane 7B falls below a threshold distance that is a certain value longer than the above-mentioned predetermined distance, the controller 10 outputs a drive-out command to one of the two stacker cranes 7A and 7B. As a result, the two stacker cranes 7A and 7B are always kept apart by a predetermined distance or more, so that the first stacker crane 7A and the second stacker crane 7B can be prevented from colliding with each other.

[0039] A third shutter 45, a fourth shutter 46, a fifth shutter 47, a first light curtain 48, and a second light curtain 49 are provided inside the stocker body 3 (first space S1).

[0040] The third shutter 45 can switch between an open state in which the first stacker crane 7A can move between the first travel area A1 and the boarding area A3 in the first space S1 and a closed state in which the first stacker crane 7A cannot move between the first travel area A1 and the boarding area A3. The third shutter 45 may be provided so as to be openable and closable by a door structure, or may be provided so as to be openable and closable by a detachable structure. The third shutter 45 is provided at the boundary between the travel area S11 of the first travel area A1 and the lower area S16 of the boarding area A3. The third shutter 45 is provided with a third shutter detection unit 45A that detects whether the shutter is open or closed. The third shutter detection unit 45A is, for example, a contact sensor, an optical sensor, or the like. The detection result of the opening and closing by the third shutter detection unit 45A is acquired by the controller 10.

[0041] The fourth shutter 46 can switch between an open state in which the second stacker crane 7B can move between the second traveling area A2 and the boarding area A3 in the first space S1 and a closed state in which the second stacker crane 7B cannot move between the second traveling area A2 and the boarding area A3. The fourth shutter 46 may be provided so as to be openable and closable by a door structure, or may be provided so as to be openable and closable by a detachable structure. The fourth shutter 46 is provided at the boundary between the traveling area S11 of the second traveling area A2 and the lower area S16 of the boarding area A3. The fourth shutter 46 is provided with a fourth shutter detection unit 46A that detects whether the shutter 46 is open or closed. The fourth shutter detection unit 46A is, for example, a contact sensor, an optical sensor, or the like. The detection result of the opening and closing by the fourth shutter detection unit 46A is acquired by the controller 10.

[0042] The fifth shutter 47 can switch between an open state in which an operator can move between the lower area S16 and the upper area S15 provided above the lower area S16 in the boarding area A3 of the first space S1, and a closed state in which an operator cannot move between the lower area S16 and the upper area S15. The fifth shutter 47 may be provided so as to be openable and closable by a door structure, or may be provided so as to be openable and closable by a detachable structure. The fifth shutter 47 is provided at the boundary between the lower area S16 and the upper area S15. The fifth shutter 47 is provided with a fifth shutter detection unit 47A that detects whether the shutter is open or closed. The fifth shutter detection unit 47A is, for example, a contact sensor, an optical sensor, or the like. The detection result of the opening and closing by the fifth shutter detection unit 47A is acquired by the controller 10.

[0043] A partition plate 42 is provided at the boundary between the rack area S12 of the first traveling area A1 and the lower area S16 of the boarding area A3. In such a configuration in which the third shutter 45, the fourth shutter 46, the fifth shutter 47, and the partition plate 42 are provided, when the third shutter 45, the fourth shutter 46, and the fifth shutter 47 are in a closed state, the lower area S16 of the boarding area A3 becomes a closed space surrounded by the third shutter 45, the fourth shutter 46, the fifth shutter 47, and the partition plate 42.

[0044] The first light curtain 48 detects whether or not an object is present at the boundary between the travel region S11 of the first travel area A1 and the upper region S15 of the boarding area A3. The first light curtain 48 includes a light projecting section and a light receiving section. The first light curtain 48 detects whether or not an object is present based on whether or not light projected from the light projecting section is detected by the light receiving section. The detection result of the presence or absence of an object by the first light curtain 48 is acquired by the controller 10.

[0045] The second light curtain 49 detects whether or not an object is present in the boundary between the travel region S11 of the second travel area A2 and the upper region S15 of the boarding area A3. The configuration of the second light curtain 49 is the same as that of the first light curtain 48. The detection result of the presence or absence of an object by the second light curtain 49 is acquired by the controller 10.

[0046] In the first separation mode in which the second stacker crane 7B does not operate in the second travel area A2 of the first space S1, the controller 10 controls the travel of the first stacker crane 7A so that the first stacker crane 7A travels only in the first travel area A1 and the entrance area A3 (so as not to advance into the second travel area A2). The controller 10 causes the first stacker crane 7A to travel on the condition that the third shutter detection unit 45A and the fifth shutter detection unit 47A are in the closed state and the first light curtain 48 and the second light curtain 49 do not detect an object. In other words, when the third shutter detection unit 45A detects an open state, the fifth shutter detection unit 47A detects an open state, the first light curtain 48 detects an object, or the second light curtain 49 detects an object while the first stacker crane 7A is traveling, the controller 10 stops the travel of the first stacker crane 7A (emergency stop).

[0047] Such a configuration of the third shutter 45 and the fifth shutter 47 allows an operator to operate the first stacker crane 7A only when all of the entry routes from the lower region S16 of the boarding area A3 to the first traveling area A1 in which the first stacker crane 7A operates are blocked, thereby ensuring the safety of the operator. Also, such a configuration of the second light curtain 49 stops the travel of the first stacker crane 7A when an operator attempts to enter the first traveling area A1 from the second traveling area A2 via the upper region S15 of the boarding area A3, thereby ensuring the safety of the operator.

[0048] In addition, in the first separation mode in which the first stacker crane 7A does not operate in the first travel area A1 of the first space S1, the controller 10 controls the travel of the second stacker crane 7B so that the second stacker crane 7B travels only in the second travel area A2 and the entrance area A3 (so as not to advance into the first travel area A1). The controller 10 causes the second stacker crane 7B to travel on the condition that the fourth shutter detection unit 46A and the fifth shutter detection unit 47A are in the closed state and the first light curtain 48 and the second light curtain 49 do not detect an object. In other words, when the fourth shutter detection unit 46A detects an open state, the fifth shutter detection unit 47A detects an open state, the first light curtain 48 detects an object, or the second light curtain 49 detects an object while the second stacker crane 7B is traveling, the controller 10 stops the travel of the second stacker crane 7B (emergency stop).

[0049] Such a configuration of the fourth shutter 46 and the fifth shutter 47 allows the worker to operate the second stacker crane 7B only when all of the entry routes from the lower region S16 of the boarding area A3 to the second traveling area A2 in which the second stacker crane 7B operates are blocked, thereby ensuring the safety of the worker. Also, such a configuration of the first light curtain 48 stops the travel of the second stacker crane 7B when the worker attempts to enter the second traveling area A2 from the first traveling area A1 through the upper region S15 of the boarding area A3, thereby ensuring the safety of the worker.

[0050] In the second separation mode in which the operation of the second stacker crane 7B is stopped in the second space S2, the controller 10 controls the first stacker crane 7A to travel in the entire area of ​​the first space S1. That is, the controller 10 controls the first stacker crane 7A to travel in the first traveling area A1, the boarding area A3, and the second traveling area A2.

[0051] When the second stacker crane 7B is located in the second space S2 on the left side and the second shutter detector 37A detects the closed state, the controller 10 causes the first stacker crane 7A to travel at a speed up to the first speed. The first speed is, for example, the up-limit speed of the first stacker crane 7A and the second stacker crane 7B in the normal mode. By such control, the first stacker crane 7A can be caused to travel in a state where the first space S1 is completely isolated from the worker. As a result, the safety of the worker can be ensured.

[0052] Furthermore, when the second stacker crane 7B is located in the second space S2 and the second shutter detector 37A detects the open state, the controller 10 causes the first stacker crane 7A to travel at a speed up to a second speed slower than the first speed. This makes it impossible to completely isolate the first space S1 from the worker, but allows the first stacker crane 7A to travel safely for the worker.

[0053] In the second separation mode in which the operation of the first stacker crane 7A is stopped in the second space S2, the controller 10 controls the second stacker crane 7B to travel in the entire area of ​​the first space S1. That is, the controller 10 controls the second stacker crane 7B to travel in the first traveling area A1, the boarding area A3, and the second traveling area A2.

[0054] When the first stacker crane 7A is located in the second space S2 on the right side and the first shutter detector 36A detects the closed state, the controller 10 causes the second stacker crane 7B to travel at a speed up to the first speed. By this control, the first stacker crane 7A can be caused to travel in a state where the first space S1 is completely isolated from the worker. As a result, the safety of the worker can be ensured.

[0055] Furthermore, when the first stacker crane 7A is located in the second space S2 and the first shutter detector 36A detects the open state, the controller 10 causes the second stacker crane 7B to travel at a speed up to the second speed. This makes it impossible to completely isolate the first space S1 from the worker, but allows the second stacker crane 7B to travel safely for the worker.

[0056] The effects of the stocker 1 of the above embodiment will be described. In the stocker 1 of the above embodiment, two first and second stacker cranes 7A and 7B are provided in the first space S1 formed by the stocker body 3, and the first surface 72a on which the transfer section 75 is provided so as to be able to rise and fall is arranged to face the opposite direction to the direction in which they face each other in the traveling direction D. As a result, the first stacker crane 7A transfers the article A to the placement section 41 of the first rack 4A and the second rack 4B that interferes with the mast 72 of the second stacker crane 7B at the right end of the first space S1 in the traveling direction D, and the second stacker crane 7B transfers the article A to the placement section 41 of the first rack 4A and the second rack 4B that interferes with the mast 72 of the first stacker crane 7A at the left end of the first space S1 in the traveling direction D. As a result, the placement section 41 of the first rack 4A and the second rack 4B can be arranged also at the end of the first space S1 in the traveling direction D, and the article A can be transferred to the placement section 41 as well.

[0057] Furthermore, since the first space S1 is provided with an access area A3 where the first stacker crane 7A and the second stacker crane 7B can access each other, the placement portion 41 of the first rack 4A and the second rack 4B is not formed such that the article A can be transferred to only one of the first stacker crane 7A and the second stacker crane 7B. This makes it possible to increase the number of articles A that can be stored in the stocker 1 equipped with a crane having a transfer portion 75 that is provided so as to be able to rise and fall along the first surface 72a of the mast 72 perpendicular to the traveling direction D.

[0058] Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit and scope of the invention.

[0059] In the above embodiment of the stocker 1, the controller 10 has been described as being switchable between three modes: normal mode, first separation mode, and second separation mode. However, the controller 10 may also execute control having only the normal mode, control for switching between the normal mode and the first separation mode, or control for switching between the normal mode and the second separation mode.

[0060] In the above embodiment and modified example of the stocker 1, an example has been described in which the reserve stocker assemblies 3A constituting the second space S2 are provided at both ends of the stocker 1, but they may be provided at only one side or neither side. Also, it is not necessary to provide a reserve stocker assemblies 3A that accommodates the first stacker crane 7A or the second stacker crane 7B located on the drawn rail, with only the rail being drawn out from the first space S1.

[0061] Although the above embodiment and modified example of the stocker 1 have been described with reference to an example in which only one stocker 1 is arranged, the stockers 1 may be arranged with the second space S2 (first maintenance area A11 or second maintenance area A12) interposed therebetween in the traveling direction D. In this case, the second space S2 sandwiched between the stockers 1 is shared by the two stockers 1 and is used as a maintenance area for the stacker crane. [Explanation of symbols]

[0062] 1...stocker, 3...stocker main body (first space forming portion), 3A...spare stocker body (second space forming portion), 4A...first rack (rack), 4B...second rack (rack), 7A...first stacker crane (crane), 7B...second stacker crane (crane), 10...controller, 31...running rail (rail), 36...first shutter (opening / closing portion), 37...second shutter (opening / closing portion), 41...mounting portion (rack portion), 72...mast, 72a...first surface (one surface), 72b...second surface, 73...lifting platform, 75...transfer portion, A...item, A1...first running area, A2...second running area, A3...boarding area, D...running direction, S1...first space, S2...second space.

Claims

1. Two cranes running on rails extending in one direction; a rack extending along the rail and disposed on either side of the rail, into which articles are loaded and unloaded by the two cranes; a first space forming portion that forms a first space that accommodates the two cranes and the rack; A controller for controlling the two cranes, Each of the two cranes has a mast having a pair of surfaces perpendicular to the traveling direction of the crane, and a transfer unit that is arranged to be able to rise and fall along one of the pair of surfaces and transfers the article between the rack, The two cranes are arranged such that the one surface on which the transfer unit is liftably provided faces in a direction opposite to the direction in which the two cranes face each other in the traveling direction, The first space is provided with an entry area through which the two cranes can enter each other, The controller controls travel of the two cranes so as to prevent the two cranes from colliding with each other, The first space forming portion has an opening / closing portion that allows the crane to enter and exit the first space from an end portion in a traveling direction of the first space, the stocker further comprising a second space forming portion that forms a second space having at least a size capable of accommodating both one of the two cranes that has retreated from the opening / closing portion to outside the first space, and the other crane that has retreated partially from the opening / closing portion in order to transfer the item to the rack that is located at the end of the first space on the side where the one crane has retreated.

2. The stocker according to claim 1 , wherein the boarding area is provided in a central portion of the first space in the running direction.

3. 3. The stocker according to claim 1, wherein the transfer section is provided so as to protrude from the one surface of the mast in the travel direction.

4. 2. The stocker according to claim 1, wherein when the controller confirms that one of the two cranes is positioned in the second space and the opening / closing portion is closed, the controller causes the other crane to travel at a speed up to a first speed throughout the entire first space.

5. 5. The stocker according to claim 4, wherein when the controller confirms that one of the two cranes is positioned in the second space and the opening / closing portion is not closed, the controller causes the other crane to travel throughout the entire first space at a second speed which is slower than the first speed and has an upper limit.

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