JP2020001840A - Automatic warehousing system and carriage - Google Patents

Abstract

To provide an automatic warehousing system in which a person can travel over a carriage.SOLUTION: An automatic warehousing system has a storage shelf part 22 which can keep a load, and comprises a first carriage loading a load and shifting in a first direction and a second carriage 16 loading the first carriage and shifting in a second direction crossing the first direction near a frontage of the storage shelf 22. The second carriage 16 is configured such that the height of an end in the second direction at a first position in the first direction is lower than the height of an end in the second direction at a second position which is different from the first position in the first direction.SELECTED DRAWING: Figure 11

Description

  The present invention relates to an automatic warehouse system and a truck for an automatic warehouse.

  2. Description of the Related Art There is known an automatic warehouse system that can efficiently store and retrieve a large number of loads in a small space. The present applicant discloses an automatic warehouse system provided with a plurality of storage shelves capable of storing a plurality of articles according to Patent Document 1. This automatic warehouse system is configured to carry in / out articles by using a transport trolley movable in a column direction and a trolley movable in a row direction between storage shelves.

JP 2017-160040 A

  In an automatic warehouse, an operator sometimes moves on a traveling path of a cart for maintenance of storage shelves, and in this case, a course moving over the cart may be the shortest course. However, since the conventional cart does not have a structure for a person to climb over and move on the cart, it is not easy for an operator to get over the cart. For this reason, the worker has to make a roundabout around the storage shelf, bypassing the shortest course, and there is a problem that labor and time are wasted.

  An object of the present invention has been made in view of such a problem, and an object of the present invention is to provide an automatic warehouse system in which a person can move on a cart.

  In order to solve the above-mentioned problem, an automatic warehouse system according to an aspect of the present invention is an automatic warehouse system having a storage shelf portion capable of storing a load, wherein a first carriage that loads and moves in a first direction. And a second bogie carrying a first bogie and moving in a second direction crossing the first direction near the frontage of the storage shelf. The second carriage is configured such that the height of the end in the second direction at the first position in the first direction is lower than the height of the end of the second direction at a second position different from the first position in the first direction. ing.

  Another embodiment of the present invention also relates to an automatic warehouse system. This automatic warehouse system is an automatic warehouse system having a storage shelf portion capable of storing a load, wherein a first truck carrying a load and moving in a first direction and a vicinity of a frontage of the storage shelf portion have a first truck. And a second carriage that moves in a second direction crossing the first direction. The second carriage is provided with a recess for allowing a person to pass in the second direction.

  Still another embodiment of the present invention relates to a cart. This cart is used for an automatic warehouse having a first cart that carries a load and moves in a storage shelf in a first direction in an automatic warehouse that carries a first cart and moves in a second direction that intersects the first direction. Wherein the height of the end in the second direction at the first position in the first direction is lower than the height of the end in the second direction at a second position different from the first position in the first direction. Have been.

  Still another embodiment of the present invention relates also to a cart. This cart is used for an automatic warehouse having a first cart that carries a load and moves in a storage shelf in a first direction in an automatic warehouse that carries a first cart and moves in a second direction that intersects the first direction. And a concave portion for allowing a person to pass in the second direction is provided.

  It is to be noted that any combination of the above-described components, and any replacement of the components and expressions of the present invention between methods, systems, and the like are also effective as embodiments of the present invention.

  According to the present invention, it is possible to provide an automatic warehouse system in which a person can move on a trolley.

It is a top view showing roughly an example of an automatic warehouse system concerning an embodiment. It is a top view which shows arrangement | positioning of the storage shelf part of the automatic warehouse system of FIG. It is a side view which shows the automatic warehouse system of FIG. 1 schematically. It is a side view which shows arrangement | positioning of the storage shelf part of the automatic warehouse system of FIG. It is a top view which shows an example of the 1st cart of the automatic warehouse system of FIG. 1 schematically. It is a front view of the 1st bogie of FIG. FIG. 2 is a plan view schematically showing an example of a second carriage of the automatic warehouse system of FIG. 1. It is a front view of the 2nd trolley | bogie of FIG. It is a side view of the 2nd truck of FIG. It is a side view showing the 2nd truck concerning a comparative example. It is a side view which shows the 2nd truck of the automatic warehouse system of FIG. It is a figure which shows typically the 2nd truck of the automatic warehouse system of FIG.

Hereinafter, the present invention will be described based on preferred embodiments with reference to the drawings. In the embodiments and the modified examples, the same or equivalent components and members are denoted by the same reference numerals, and the repeated description will be omitted as appropriate. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. In each drawing, some members that are not important for describing the embodiments are omitted.
Also, terms including ordinal numbers such as first and second are used to describe various components, but this term is used only for the purpose of distinguishing one component from other components, and The components are not limited by the above.

[Embodiment]
The configuration of the automatic warehouse system 100 according to the embodiment will be described with reference to FIGS. FIG. 1 is a plan view schematically showing an example of the automatic warehouse system 100 according to the embodiment. FIG. 2 is a plan view showing the arrangement of the storage shelves 22 of the automatic warehouse system 100. FIG. 3 is a side view schematically showing the automatic warehouse system 100. FIG. 4 is a side view showing the arrangement of the storage shelves 22 of the automatic warehouse system 100. In these figures, illustration of columns, beams, and the like is omitted.

  For convenience of explanation, as shown in the drawing, an XYZ orthogonal coordinate system in which a certain horizontal direction is an X-axis direction, a horizontal direction orthogonal to the X-axis direction is a Y-axis direction, and a direction orthogonal to both directions, that is, a vertical direction is a Z-axis direction. Is determined. The positive direction of each of the X axis, the Y axis, and the Z axis is defined in the direction of the arrow in each drawing, and the negative direction is defined in the direction opposite to the arrow. Further, the X-axis direction may be referred to as a “row direction”. Further, the Y-axis direction may be referred to as a “column direction”. Further, the Z-axis direction may be referred to as the “up-down direction”. Such notation of the direction does not limit the configuration of the automatic warehouse system 100, and the automatic warehouse system 100 can be used in an arbitrary configuration depending on the application. In the following description, an XYZ orthogonal coordinate system will be described, but the X-axis direction, the Y-axis direction, and the Z-axis direction do not necessarily have to be orthogonal to each other, but may intersect at approximately 90 degrees.

  First, the overall configuration of the automatic warehouse system 100 will be described. The automatic warehouse system 100 is a system including a storage shelf 22 capable of storing a large number of loads 12. The automatic warehouse system 100 includes a storage shelf 22, a first carriage 14, a second carriage 16, a first rail 40, a second rail 44, a power supply unit 34, a control unit 18, a mode setting unit 30 And In the embodiment, the Y-axis direction is exemplified as the first direction, and the X-axis direction is exemplified as the second direction. In the storage shelf 22, the first rail 40 extends in the Y-axis direction. The traveling path 47 is a traveling path of the second truck 16 and extends in the X-axis direction near the end of the storage shelf 22. When the first cart 14 and the second cart 16 are collectively referred to, they may be simply referred to as “carts”. The second rail 44 and the power supply section 34 extend in the X-axis direction on the traveling path 47. In the present specification, the end of the storage shelf 22 on the traveling path 47 side is referred to as “the frontage of the storage shelf 22”.

  The control unit 18 includes an MPU (Micro Processing Unit) and the like, and controls the movement of the load 12 based on the operation result from the user. The control unit 18 can control the operations of the first truck 14 and the second truck 16 to control the movement of the load 12. The mode setting unit 30 is a setting unit that sets an operation mode of the automatic warehouse system 100. The mode setting unit 30 of the present embodiment can set a plurality of modes. The mode setting unit 30 provides the setting result to the control unit 18.

  In the present embodiment, the load 12 is handled while being placed on a pallet (not shown). However, the present invention is not limited to this, and the load 12 may be handled independently without using a pallet. Note that transferring the load 12 on a pallet is simply referred to as transferring the load 12.

(Storage shelf)
The storage shelf 22 is installed on the floor Lg, and is a storage space of a high-density storage type that cannot store a large number of loads 12. In the present embodiment, the storage shelves 22 are provided on both sides in the row direction with the travel path 47 interposed therebetween. The configuration of the storage shelf 22 is not particularly limited as long as it can accommodate and store a plurality of loads 12. The automatic warehouse system 100 has N (N ≧ 2) stages of storage shelves 22 that are vertically layered. The present embodiment has a three-stage storage shelf 22. The N storage shelves 22 stacked in layers are referred to as storage shelves 20. The first storage shelf 22 closest to the floor Lg is simply referred to as “first tier”, the second storage shelf 22 is simply referred to as “second tier”, and the third storage shelf 22 is referred to as “second tier”. Is sometimes simply referred to as “third stage”.

  Each storage shelf 22 includes a plurality of (for example, six) storage rows 24 arranged in the X-axis direction, and each storage row 24 includes a plurality of storage sections 26 connected in the Y-axis direction. The storage unit 26 is a unit for storing the load 12. The frontage of each storage row 24 on the second rail 44 side is the frontage of the storage shelf 22 and functions as an entrance for the first truck 14 to enter and exit.

  The first rail 40 is a traveling path on which the first truck 14 travels. The first rail 40 extends in the Y-axis direction in each storage row 24. The second rail 44 is a rail on which the second carriage 16 runs. The second rail 44 extends in the X-axis direction so as to cross each storage row 24. The second rail 44 of the present embodiment is provided at a position close to the frontage of the storage row 24. The first rail 40 and the second rail 44 are simply referred to as rails. The first rail 40 is supported on a first support member 42 extending in the X-axis direction. The second rail 44 is supported on a cross beam 46 extending in the Y-axis direction. The first support member may be supported on the cross beam 46.

(1st truck)
Next, the first carriage 14 will be described with reference to FIGS. FIG. 5 is a plan view schematically showing an example of the first truck 14. FIG. 6 is a front view of the first truck 14. The first carriage 14 travels along the first rail 40 in the Y-axis direction in the storage row 24 to transport the load 12. The first truck 14 puts the load 12 in and out of the storage unit 26. The first carriage 14 travels on the second carriage 16 in the Y-axis direction to get on and off the second carriage 16.

  The first truck 14 mainly includes a vehicle body 14b, a mounting table 14c, a lift mechanism 14d, and a plurality of (for example, four) wheels 14f. The vehicle body 14b has a substantially rectangular parallelepiped profile that is flat in the vertical direction. A motor (not shown) for driving a plurality of wheels 14f, a control circuit (not shown) for controlling the motor, and a battery 14g are mounted inside the vehicle body 14b. The first truck 14 is configured to drive a motor by the electric power of the battery 14g. The battery is a secondary battery such as a rechargeable lithium ion battery. The battery 14g of the present embodiment is charged by the second truck 16 while being mounted on the second truck 16.

  The mounting table portion 14c is a portion that lifts and holds the load 12. The lift mechanism 14d is a mechanism that raises and lowers the mounting table 14c. In FIG. 6, the mounting table 14c in the ascending state is shown by a broken line, and the mounting table 14c in the down state is shown by a solid line. The lift mechanism 14d raises the mounting table 14c, and can lift the load 12 from the mounting surface of the storage unit 26. The lift mechanism 14d can lower the mounting table 14c to lower the load 12 on the mounting surface of the storage unit 26. The plurality of wheels 14f can roll on the first rail 40 and the second carriage 16.

(2nd bogie)
Next, the second carriage 16 will be described with reference to FIGS. FIG. 7 is a plan view schematically showing an example of the second carriage 16. FIG. 8 is a front view of the second truck 16 and shows a state where the first truck 14 is mounted. FIG. 9 is a side view of the second carriage 16. The second carriage 16 runs on the second rail 44 in the X-axis direction. The second carriage 16 transports the first carriage 14 in an empty state or a state in which the load 12 is mounted.

  The second truck 16 includes a base 16a, a truck mounting portion 16c, a first end cover 16d, a second end cover 16e, a plurality of (for example, four) wheels 16f, a current collecting unit 38, Mainly. The base 16a is a base on which the components of the second carriage 16 are mounted. The base 16a is a plate-like member extending in the X-axis direction and the Y-axis direction below the second carriage 16. The first end cover 16d is provided on the base 16a at one end of the second carriage 16 in the X-axis direction. The second end cover 16e is provided on the base 16a at the other end of the second carriage 16 in the X-axis direction. The carriage mounting portion 16c is provided on the base 16a at the center of the second carriage 16 in the X-axis direction. Therefore, the carriage mounting portion 16c is disposed between the first end cover 16d and the second end cover 16e.

(Bogie mounting part)
The bogie mounting portion 16c is a portion for mounting the first bogie 14, and has a pair of guide portions 16j for guiding the first bogie 14. The pair of guide portions 16j are spaced apart from each other on the upper surface of the base 16a so as to sandwich the space in which the first carriage 14 is mounted in the X-axis direction. The cross section of each guide portion 16j when viewed from the front has an angular laterally U-shape. The carriage mounting portion 16c is recessed downward from the end covers at both ends of the second carriage 16 in the X-axis direction, and the second carriage 16 has a substantially concave shape when viewed from the front.

(First end cover)
The first end cover 16d includes a motor 16k for driving the wheels 16f on the base 16a, a gear device 16g for transmitting the rotation of the motor 16k to the wheels 16f, and a control circuit (not shown) for controlling the motor 16k. And two casings 16f on one end side. The first end cover 16d is configured to cover these elements at least from above. The first end cover 16d is provided with an operation section 16p including an operation switch for operating the operation of the second carriage. For example, the operation unit 16p is provided with, as operation switches, a power switch (not shown) for switching the operation between start and stop, and an emergency stop button (not shown).

  The upper surface of the first end cover 16d has a high position 16h and a low position configured at a position lower than the high position 16h. The high position portion 16h is a portion that protrudes upward at the center of the first end cover 16d in the Y-axis direction. The low position portion includes a first low position portion 16m and a second low position portion 16n provided at both ends of the first end cover 16d in the Y-axis direction. The first low position 16m and the second low position 16n are portions that are recessed downward from the high position 16h. Therefore, the high position portion 16h is sandwiched between the first low position portion 16m and the second low position portion 16n in the Y-axis direction. The low position will be described later.

(2nd end cover)
The second end cover 16e functions as a casing on the base 16a for housing the two wheels 16f at the other end. The second end cover 16e is configured to cover the wheel 16f at least from above. In the present embodiment, the height of the second end cover 16e is higher than the height of the carriage mounting portion 16c and lower than the height of the first end cover 16d.

  The wheels 16f are for traveling on the second rail 44. The two wheels 16f on the first end cover 16d side are drive wheels driven by the motor 16k, and the two wheels 16f on the second end cover 16e are driven wheels not driven by the motor.

  Although two wheels 16f may be driven by one motor, in the present embodiment, two motors 16k are provided for each of the two wheels 16f. The two motors 16k are arranged near each wheel 16f so as to be separated from each other in the Y-axis direction. The motor 16k is disposed horizontally below the first end cover 16d such that the longitudinal direction extends in the X-axis direction. The gear device 16g changes the direction of the rotation shaft and transmits the rotation of the motor 16k to the wheels 16f. Since the motor 16k is arranged near the wheel 16f, the transmission mechanism is simplified, and the size of the first end cover 16d can be reduced.

The power collection unit 38 is supplied with power by contacting the power supply unit 34 (see also FIG. 1). The second carriage 16 receives power from the power supply unit 34 via the power collection unit 38. The second carriage 16 is configured to drive the motor 16k with the received electric power. The second truck 16 can charge the battery of the first truck 14 with the received power.
The above is the description of the entire configuration of the automatic warehouse system 100.

(Comparative example)
Next, a comparative example of the second carriage will be described. The second carriage 216 of the comparative example was devised in the process of inventing the second carriage 16 of the present embodiment. FIG. 10 is a side view showing the periphery of the second carriage 216 according to the comparative example. This figure shows the second carriage 216 arranged on the traveling path 47. The second carriage 216 does not have a low position portion, and differs from the second carriage 16 of the present embodiment in that the arrangement of the motor 16k is different, and the other configuration is the same. Therefore, a duplicate description will be omitted, and differences will be mainly described.

  The traveling path 47 of the second bogie is a substantially rectangular shape sandwiched between two vertical columns 20n spaced apart in the Y-axis direction between two cross beams 46 spaced apart in the Z-axis direction. Having a vertical cross section. The second carriage travels on the second rail 44 disposed on the cross beam 46 at the lower part of the traveling path 47. The first rail 40 is disposed on a first support member 42 supported by the cross beam 46. It is desirable that the end of the first rail 40 is close to the second bogie so that the first bogie 14 can be easily transferred from the first rail 40 to the second bogie. For this reason, the gap between the frontage of the storage shelf 22 and the second carriage is configured to be narrow. In FIG. 10, the frontage of the storage shelf 22 is a side portion of the vertical column 20n on the traveling path 47 side. A floor plate (not shown) is provided below the traveling path 47, and the worker 8 can move on the floor plate.

  For the maintenance of the storage shelf 22, etc., the worker 8 may move along the traveling path 47 of the second bogie in the extending direction (X-axis direction). In this case, as shown in FIG. 10, if the second carriage 216 is present in the middle of the traveling path 47, this may hinder the movement of the worker 8. As described above, since the gap between the vertical column 20n and the second carriage 216 is narrow, the worker 8 cannot pass through this gap. Further, the second carriage 216 does not have a structure (first and second low-position portions 16m and 16n) for the worker 8 to move over. For this reason, when the worker 8 tries to get over the second carriage 216, the worker 8 must take a considerably unreasonable posture. If the worker 8 takes an unreasonable posture on the second carriage 216, a safety problem may occur. For this reason, the worker 8 has to detour the path passing over the second carriage 216 and make a large turn around the storage shelf 22, which wastes labor and time.

  Based on a comparative example, the second carriage 16 of the present embodiment will be described. FIG. 11 is a side view showing the periphery of the second carriage 16. This figure shows the second carriage 16 arranged on the traveling path 47. The configuration of the traveling path 47 in FIG. 11 is the same as that of the traveling path 47 in FIG. In order to allow the worker 8 to easily pass between the second bogie 16 and the storage shelf 22, the present inventors have designed the second bogie 16 to have a passage recess ( Hereinafter, it is proposed to provide a “passage recess”. The passage recess may be a low position portion that is receded downward from a high position where the upper surface of the second carriage 16 is high. The passage recess only needs to allow the passage of the worker 8, and may be provided so as to face the frontage of the storage shelf 22. Further, there may be something interposed between the passage recess and the frontage of the storage shelf 22.

  However, in the second bogie 216 of the comparative example, the motor 16k for driving the wheels is arranged vertically, and the longitudinal direction of the motor 16k extends in the vertical direction. It was difficult to provide a passage recess having a shape through which the passage 8 could pass. Therefore, in the second truck 16 of the present embodiment, the motor 16k is arranged horizontally long, and the longitudinal direction of the motor 16k extends in the horizontal direction (X-axis direction). By arranging the motor 16k horizontally, the upper space of the motor 16k can be used as a passage recess. In the second bogie 16, a low position for the worker 8 to pass in the X-axis direction is provided above the motor 16k. Is provided.

(Passage recess)
With reference to FIGS. 7, 11, and 12, the passage recess of the second carriage 16 will be described. FIG. 12 is a diagram schematically illustrating the second carriage 16. FIG. 12A shows the second carriage 16 and its periphery in plan view. FIG. 12B shows a profile of a cross section taken along line AA of FIG. In particular, it can be said that this figure shows the outer shape of the second carriage 16 projected in the X-axis direction. In these figures, descriptions that are not important for the description are omitted. The second carriage 16 has a central portion 16b provided at the center in the X-axis direction, and a first end portion 16x and a second end portion 16y provided on both sides of the central portion 16b in the X-axis direction. In the present embodiment, the first end cover 16d is illustrated as the first end 16x, the second end cover 16e is illustrated as the second end 16y, and the bogie mounting portion 16c is illustrated as the center 16b. .

  In the first end 16x, the height of the end 16s in the X-axis direction at the first position in the Y-axis direction is greater than the height of the end 16u in the X-axis direction at a second position different from the first position in the Y-axis direction. Is also low. In the present embodiment, the first low position 16m on the upper surface of the first end cover 16d is illustrated as the end 16s, and the high position 16h is illustrated as the end 16u. According to this configuration, since the height of the end 16s is configured to be lower than the height of the end 16u, the end 16s can be used as a passage recess for the worker 8 to pass in the X-axis direction. .

  The second carriage 16 may be configured such that the height of the end 16u in the X-axis direction at the second position in the Y-axis direction is higher than the height of the central portion 16b in the X-axis direction at the second position in the Y-axis direction. Good. In this case, since the height of the end 16u is high, a mechanism for driving the second bogie 16 can be accommodated below the end 16u. By storing the drive mechanism in the end 16u, the height of the center 16b can be reduced.

  The height of both ends 16s and 16v in the X-axis direction at the first position in the Y-axis direction is equal to the height of at least one end 16u in the X-axis direction at the second position in the Y-axis direction. It may be configured lower. In this case, since the heights of both ends 16s and 16v are low, the portion from the end 16s to the end 16v of the second carriage 16 can be used as a passage through which the worker 8 passes in the X-axis direction. Become. In the present embodiment, a portion near the end of the second end cover 16e in the Y-axis positive direction is illustrated as the end 16v. The height of the end 16v is lower than the height of the end 16s.

  The first position in the Y-axis direction may be an end, and the second position in the Y-axis direction may be a center. In this case, since the height of the end portion 16s is configured to be lower than the height of the end portion 16u, a passage recess for the worker 8 can be provided on the end side of the second carriage 16 in the Y-axis direction.

  It is desirable that the height of the second end 16y be low so that the second end 16y does not prevent the passage of the worker 8. From this viewpoint, the height of the end 16w in the X-axis direction at the third position, which is the end opposite to the first position in the Y-axis direction, is lower than the height of the end 16u. It may be configured. In this case, since the end 16w is configured to be low, the possibility that the end 16w prevents the passage of the worker 8 can be reduced. In the present embodiment, a portion near the end in the negative Y-axis direction of the second end cover 16e is illustrated as the end 16w.

  It is desirable that the width of the end portion 16s be large in order to allow the passage of the worker 8. In this respect, the width W2 of the end 16s in the Y-axis direction may be wider than the gap W1 between the second carriage 16 and the frontage of the storage shelf 22. In this case, the worker 8 can pass through the end 16s more smoothly than when the width of the end 16s is narrow.

  In order to facilitate the passage of the worker 8, it is desirable that the width of the end portion 16s is large enough to allow one foot to pass over it. From this viewpoint, the width W2 in the Y-axis direction of the end 16s may be 100 mm or more. In order to make the passage of the worker 8 smoother, it is desirable that the width of the end portion 16s be large enough to allow both feet to pass thereover. From this viewpoint, the width W2 of the end 16s in the Y-axis direction may be 300 mm or more. The width W2 in the Y-axis direction of the first low position portion 16m of the present embodiment is set in a range of 380 to 390 mm. In addition, the width W2 in the Y-axis direction of the first low position portion 16m may be 600 mm or less.

  From the viewpoint of safety, when the worker 8 works near the traveling path 47, it is desirable that the worker 8 can stop the operation of the second carriage 16 in advance. It is desirable that the worker 8 can resume the operation of the second carriage 16 after the work is completed. Therefore, near the end 16u, an operation unit 16p including an operation switch for operating the operation of the second carriage 16 is provided. In this case, the worker 8 can perform a stop operation before performing the work, and can immediately perform a restart operation after the work is completed.

  In order to facilitate the passage of the worker 8, the end 16s is desirably used as a step for placing a foot. A reinforcing member 16z for placing a person's foot is provided at the end 16s. The reinforcing member 16z has such a strength that a human foot can be placed as a step. The reinforcing member 16z may be any as long as it can be used as a step. For example, the reinforcing member 16z may be made of a striped steel plate having a non-slip projection on the surface. The reinforcing member 16z may be provided on the entire end 16s or on a part thereof.

  It is desirable that the height of the end portion 16s be low to allow the passage of the worker 8. From this viewpoint, the height H1 of the end 16s (the height including the reinforcing member 16z) may be set to 400 mm or less from the lower surface of the second carriage 16 (in this example, the lower surface of the base 16a). In this case, it has been confirmed that the worker 8 can pass through the end 16s. In order to make the passage of the worker 8 smoother, the height of the end 16 s may be set to 350 mm or less from the lower surface of the second carriage 16. In this case, the passage becomes smooth. The height of the first low position portion 16m from the lower surface of the second carriage 16 in the present embodiment is set in a range of 320 mm to 340 mm. The height H2 of the end 16u may be set to 700 mm or less from the lower surface of the second carriage 16. In the present embodiment, the height of the high position portion 16h is set in a range of 580 mm to 620 mm from the lower surface of the second carriage 16. The height H1 of the end 16s may be 100 mm or more.

  The shape of the second carriage 16 in plan view is line-symmetric with respect to a line La extending in the X-axis direction by bisecting the range in the Y-axis direction. Further, the shape of the second carriage 16 in a side view is line-symmetric with respect to a line Lb extending in the Z-axis direction by dividing the range in the Y-axis direction into two equal parts. Therefore, the end 16t of the first end 16x on the opposite side to the end 16s in the Y-axis direction has a shape symmetric to the end 16s. That is, the width and height of the end 16t in the Y-axis direction are the same as those of the end 16s, and the reinforcing member 16z is also provided at the end 16t. The end 16t can be used as a passage recess similarly to the end 16s.

(Loading / unloading operation)
Next, the loading / unloading operation of the automatic warehouse system 100 thus configured will be described with reference to FIGS. The automatic warehouse system 100 carries a load 12 from outside the warehouse to a storage unit (not shown) by a forklift or the like. The automatic warehouse system 100 transports and stores the load 12 carried into the storage unit to a predetermined storage unit 26 by the first truck 14 and the second truck 16. The automatic warehouse system 100 transports the load 12 stored in the predetermined storage unit 26 to a delivery unit (not shown) by the first truck 14 and the second truck 16. The automatic warehouse system 100 carries out the load 12 conveyed to the warehouse to the outside of the warehouse by a forklift or the like.

  The above has been described based on the embodiments of the present invention. This embodiment is an exemplification, and it is understood by those skilled in the art that various modifications and changes are possible within the scope of the claims of the present invention, and such modifications and changes are also within the scope of the claims of the present invention. Is about to be done. Accordingly, the description and drawings herein should be treated as illustrative rather than limiting.

(Modification)
Hereinafter, modified examples will be described. In the drawings and description of the modified example, the same or equivalent components and members as those of the embodiment are denoted by the same reference numerals. A description overlapping with that of the embodiment will be omitted as appropriate, and a configuration different from the embodiment will be mainly described.

  In the description of the embodiment, an example in which the first low position portion 16m and the second low position portion 16n are provided on both sides of the high position portion 16h has been described, but the present invention is not limited to this. One of the first low position portion 16m and the second low position portion 16n may not be provided. In this case, the range of the high position portion 16h may be continuous to the end.

  In the description of the embodiment, an example is shown in which the first low position portion 16m and the second low position portion 16n are provided symmetrically, but the present invention is not limited to this. For example, the height and width of the second low position 16n may be different from those of the first low position 16m.

  In the description of the embodiment, an example is shown in which the frontage of the storage shelf 22 is defined by the vertical column 20n, but the present invention is not limited to this. A member that is different from the vertical column 20n and that defines the frontage may be provided on the side of the storage shelf 22 on the traveling path 47 side. For example, this other member may include a guide member or a handrail for facilitating the movement of the worker 8.

  In the description of the embodiment, the example in which the reinforcing member 16z is provided at the first end 16x has been described, but the present invention is not limited to this. The reinforcing member 16z may be provided at a location other than the first end 16x, such as the second end 16y or the center 16b.

  In the description of the embodiment, an example in which the bogie travels on a travel path having rails has been described, but the present invention is not limited to this. The bogie may travel on a travel path having no rail.

  In the description of the embodiment, an example in which the automatic warehouse system 100 includes the three-stage storage shelf 22 has been described, but the present invention is not limited to this. The automatic warehouse system may include two or less or four or more storage shelves.

  It is not essential to provide the first carts 14 in each row of each stage, and the first carts 14 may not be provided in each row.

  An elevating mechanism for elevating and lowering the load 12 between the storage shelves 22 in a plurality of stages may be provided.

  It is not essential that the number of the storage units 26 in the storage column 24 be uniform. The number of the storage units 26 constituting the storage row 24 may be large or small depending on the unevenness of the wall of the building accommodating the storage shelf unit 22.

  It is not essential that the number of storage rows 24 stacked vertically be made uniform. As for the number of rows of the storage row 24, an area having a large number of rows and an area having a small number of rows may be provided according to the height of the ceiling of the building accommodating the storage shelf 22.

  It is not essential that the load 12 include a pallet. The automatic warehouse system may handle loads that do not include pallets.

  Instead of a forklift, the load 12 may be loaded and unloaded by another type of transfer device such as a transfer device equipped with a crane.

  Each of these modified examples has the same operation and effect as the embodiment.

  Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiment generated by the combination has the effects of the combined embodiment and the modified example.

  12 ··· Load, 14 ··· 1st bogie, 16 ··· 2nd bogie, 16b ··· Central portion, 16p ··· Operation part, 16s, 16u ··· End, 16x ··· First end, 16y ··· 2nd end, 16z .. reinforcement member, 22 .. storage shelf, 40 .. first rail, 44 .. second rail, 47 .. running path, 100 .. automatic warehouse system.

Claims (13)

An automatic warehouse system having a storage shelf capable of storing loads,
A first carriage that carries a load and moves in a first direction;
A second truck that carries the first truck and moves in a second direction that intersects the first direction, near the frontage of the storage shelf;
With
In the second carriage, the height of the end in the second direction at the first position in the first direction is the height of the end in the second direction at a second position different from the first position in the first direction. An automatic warehouse system characterized by being configured lower.   The second carriage is configured such that the height of the end in the second direction at the second position in the first direction is higher than the height of the central portion in the second direction at the second position in the first direction. The automatic warehouse system according to claim 1, wherein:   In the second carriage, the height of both ends in the second direction at the first position in the first direction is higher than the height of at least one end in the second direction at the second position in the first direction. The automatic warehouse system according to claim 1, wherein the automatic warehouse system is configured to be low.   4. The automatic warehouse system according to claim 1, wherein the first position in the first direction is an end, and the second position in the first direction is a center. 5.   In the second carriage, the height of the end in the second direction at a third position, which is an end opposite to the first position in the first direction, is equal to the height of the second end in the second position in the first direction. The automatic warehouse system according to claim 4, wherein the automatic warehouse system is configured to be lower than the heights of the ends in two directions.   The width in the first direction of the end in the second direction at the first position in the first direction is wider than a gap between the second bogie and the frontage of the storage shelf. The automatic warehouse system according to any one of claims 1 to 5, wherein:   The automatic warehouse system according to claim 6, wherein the width in the first direction at the end in the second direction at the first position in the first direction is 300 mm or more.   8. An operation unit including an operation switch for operating an operation of the second bogie is provided at an end of the second direction at the second position in the first direction. Automatic warehouse system described in Crab.   The automatic member according to any one of claims 1 to 8, wherein a reinforcing member for placing a person's foot is provided at an end in the second direction at the first position in the first direction. Warehouse system.   The height of the end in the second direction at the first position in the first direction is set to be 400 mm or less from the lower surface of the second bogie. Automatic warehouse system. An automatic warehouse system having a storage shelf capable of storing loads,
A first carriage that carries a load and moves in a first direction;
A second truck that carries the first truck and moves in a second direction that intersects the first direction, near the frontage of the storage shelf;
With
An automatic warehouse system, wherein the second carriage is provided with a concave portion for allowing a person to pass in the second direction. In an automatic warehouse having a first truck that moves in a storage shelf in a first direction with a load, a truck for the automatic warehouse that carries the first truck and moves in a second direction intersecting the first direction And
The height of the end in the second direction at the first position in the first direction is lower than the height of the end in the second direction at a second position different from the first position in the first direction. A trolley characterized by being. In an automatic warehouse having a first truck that moves in a storage shelf in a first direction with a load, a truck for the automatic warehouse that carries the first truck and moves in a second direction intersecting the first direction And
A carriage provided with a concave portion for allowing a person to pass in the second direction.

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