Method for controlling storage/retrieval device in flat storage facility
A flat storage facility includes a storage/retrieval device having a Y-direction moving member with a length corresponding to the width of a storage item placement plane in an X direction and that is movable in a forward/backward Y direction of the storage item placement plane. A carriage is supported on the Y-direction moving member and is movable in the X direction. A storage item gripping mechanism is supported on the carriage so as to be freely raised and lowered. Lowering of the storage item gripping mechanism is controlled such that downward flexural deformation distances between end portions of the Y-direction moving member in the X direction are determined. Lowering distance adjustment values of the storage item gripping mechanism for the storage item placement points are set based on the downward flexural deformation distances, and lowering distances of the storage item gripping mechanism are reduced by the lowering distance adjustment values.
1. A method for controlling a storage/retrieval device in a flat storage facility which includes a rectangular storage item placement plane and a storage/retrieval device and in which the storage/retrieval device includes: a Y-direction laterally moving member that has a length corresponding to a width of the storage item placement plane in a lateral X direction and that is freely moved laterally in a forward/backward Y direction of the storage item placement plane; a carriage that is supported on the Y-direction laterally moving member so as to be freely moved in the lateral X direction; and a storage item gripping means that is supported on the carriage so as to be freely raised and lowered, and the storage/retrieval device is configured so as to be able to store and retrieve a storage item gripped by the storage item gripping means with respect to respective storage item placement points set on the storage item placement plane by the movement of the Y-direction laterally moving member in the forward/backward Y direction, the movement of the carriage in the lateral X direction, and the raising/lowering movement of the storage item gripping means, the method comprising:
control being performed by determining downward flexural deformation distances of the Y-direction laterally moving member between end portions thereof in the lateral X direction;
setting lowering distance adjustment values of the storage item gripping means for the storage item placement points based on the downward flexural deformation distances; and
reducing lowering distances of the storage item gripping means by the lowering distance adjustment values.
2. The method for controlling a storage/retrieval device in a flat storage facility according to claim 1 , wherein:
a distance measuring means for measuring a vertical distance to the storage item placement plane is attached to the carriage,
the carriage is moved to a measurement position between the end portions of the Y-direction laterally moving member in the lateral X direction,
the vertical distance to the storage item placement plane is measured with the distance measuring means and
the lowering distance adjustment value is set based on the measured value.
3. The method for controlling a storage/retrieval device in a flat storage facility according to claim 1 , wherein:
a distance measuring means for measuring a vertical distance to the storage item placement plane is supported on a lower end portion of the storage item gripping means,
the carriage is moved to a measurement position between the end portions of the Y-direction laterally moving member in the lateral X direction,
in a state where the storage item gripping means is lowered a given distance from the carriage, the vertical distance to the storage item placement plane is measured with the distance measuring means, and
the lowering distance adjustment value is set based on the measured value.
4. The method for controlling a storage/retrieval device in a flat storage facility according to claim 3 , wherein:
the distance measuring means is attached to a support member gripped by the storage item gripping means so as to match a center position of a flat surface of the storage item gripped by the storage item gripping means or to be located in a vicinity thereof.