JP6863263B2 - Goods storage equipment - Google Patents

Description

In the present invention, a plurality of storage and transporting units are installed side by side in the vertical direction, and each of the plurality of storage and transporting units travels along a traveling path and transports the articles to the storage shelves. Concerning a transport trolley and an article storage facility equipped with.

A conventional example of such an article storage facility is described in Japanese Patent Application Laid-Open No. 03-267204 (Patent Document 1). The article storage facility of Patent Document 1 includes a storage shelf (shelf 4), a transport trolley (picker 6), a warehousing lift 12 and a warehousing lift 17 in each of the plurality of storage transport units. The transport trolley transports articles from the warehousing platform 12 to the storage shelf, and transports the articles from the storage shelf to the warehousing platform 17.

Japanese Unexamined Patent Publication No. 03-267204

In such an article storage facility, maintenance work is performed on the transport trolley while the transport trolley is on the travel route, but the travel routes on which the transport trolley travels are lined up in the vertical direction and around the travel route. Since there is a storage shelf in the store, it is difficult to perform maintenance work and it takes time to perform the work, and it may be necessary to stop the running of the transport trolleys in the vicinity other than the transport trolley that is the target of the maintenance work. In some cases, the operating efficiency of the dolly was reduced.

Therefore, it is desired to realize an article storage facility that facilitates maintenance work on the transport carriage and can suppress a decrease in the operating efficiency of the facility.

In view of the above, the first characteristic configuration of the article storage facility is that a plurality of storage and transport units are installed side by side in the vertical direction, and each of the plurality of storage and transport units is along a storage shelf for storing articles and a traveling route. It is equipped with a transport trolley that travels and transports goods to the storage shelf.
A storage unit provided with a plurality of holding units for holding the transport trolley, a transport device for transporting the transport trolley between the plurality of traveling paths and the plurality of holding portions, and a control unit for controlling the transport trolley. A determination unit for determining whether or not maintenance work is required for each of the transport trolleys is further provided, and the transport trolley determined by the determination unit as requiring maintenance work is used as the first state trolley for maintenance work. The transport trolley for which the determination unit has not determined is required is used as the second state trolley, the holding portion for which the transport trolley is not held is used as the first state holding unit, and the second state trolley is held. With the holding unit as the second state holding unit, the control unit conveys the first state trolley from the target traveling route, which is the traveling route in which the first state trolley exists, to the first state holding unit. After that, the transport device is controlled so as to transport the second state carriage from the second state holding unit to the target traveling path .
The transport carriage has a master carriage and a slave carriage connected to the master carriage, and the traveling route includes a first traveling route on which the master carriage travels and the slave carriage separated from the master carriage. At least one of the plurality of holding portions is an area adjacent to the master trolley holding area for holding the master trolley and the master trolley holding area, including a second traveling route on which the trolley travels. The child carriage holding area for holding the separated child carriage is provided, and the child carriage holding area is the child carriage between the master carriage held in the parent carriage holding area and the child carriage holding area. The point is that it is equipped with a rail that guides the transfer of.

According to this configuration, the transport trolley that is determined by the determination unit to require maintenance work is transported from the target travel path to the first state holding unit, and the transport trolley that does not require maintenance work due to the completion of maintenance work or the like. Is transported from the second state holding unit to the target traveling route. Therefore, it is possible to immediately transport the article by another transport trolley after taking out the transport trolley that requires maintenance work from the target traveling route. Therefore, it is possible to suppress the stoppage of the article transporting work in a short time, and it is possible to suppress the decrease in the operating efficiency of the article storage facility. Further, by taking out the transport trolley that requires maintenance work from the target travel route and transporting it to the first storage unit, it is possible to perform maintenance work on the transport trolley outside the travel route. Therefore, the efficiency of maintenance work on the transport carriage can be improved.
Further, according to this configuration, the transport carriage can transport the article along both the first travel path and the second travel path. Since the holding unit can separately hold the master carriage and the slave carriage separated from the master carriage, maintenance work can be efficiently performed on both the master carriage and the slave carriage. ..

In view of the above, the second characteristic configuration of the article storage facility is that a plurality of storage transport units are installed side by side in the vertical direction, and each of the plurality of storage transport units is a storage shelf for storing articles and along a traveling route. An article storage facility provided with a transport trolley that travels along a traveling route to transport articles to the storage shelf and a work trolley that allows workers to board the trolley, and holds the work trolley. The transport trolley and the work trolley are located between a storage unit having a plurality of holding portions including a holding portion and a second holding portion for holding the transport trolley, and the plurality of traveling paths and the plurality of the holding portions. A transport device for transporting the transport device, a control unit for controlling the transport device, and a determination unit for determining whether or not maintenance work is required for each of the transport carts are further provided, and the determination that maintenance work is necessary. The transport trolley determined by the unit is used as the first state trolley, the transport trolley for which the determination unit has not determined that maintenance work is required is defined as the second state trolley, and the holding unit in which the transport trolley is not held. With the first state holding unit, the holding unit holding the second state trolley as the second state holding unit, and the control unit using the first state trolley as the traveling in which the first state trolley is present. The point is to control the transport device so that the second state carriage is transported from the second state holding unit to the target travel route after being transported from the target travel route, which is a route, to the first state holding unit. ..

According to this configuration, the transport trolley that is determined by the determination unit to require maintenance work is transported from the target travel path to the first state holding unit, and the transport trolley that does not require maintenance work due to the completion of maintenance work or the like. Is transported from the second state holding unit to the target traveling route. Therefore, it is possible to immediately transport the article by another transport trolley after taking out the transport trolley that requires maintenance work from the target traveling route. Therefore, it is possible to suppress the stoppage of the article transporting work in a short time, and it is possible to suppress the decrease in the operating efficiency of the article storage facility. Further, by taking out the transport trolley that requires maintenance work from the target travel route and transporting it to the first storage unit, it is possible to perform maintenance work on the transport trolley outside the travel route. Therefore, the efficiency of maintenance work on the transport carriage can be improved.

In view of the above, the third characteristic configuration of the article storage facility is that a plurality of storage transport units are installed side by side in the vertical direction, and each of the plurality of storage transport units is a storage shelf for storing articles and along a traveling route. An article storage facility including a transport trolley for traveling and transporting articles to the storage shelf, a storage unit provided with a plurality of holding portions for holding the transport trolley, and a plurality of the traveling routes. Further, a transport device for transporting the transport carriage between the holding portions, a control unit for controlling the transport device, and a determination unit for determining whether or not maintenance work is required for each of the transport carriages. In preparation, the transport trolley determined by the determination unit to require maintenance work is designated as the first state trolley, and the transport trolley not determined by the determination unit to require maintenance work is designated as the second state trolley. The holding unit in which the transport carriage is not held is used as the first state holding unit, the holding unit in which the second state carriage is held is used as the second state holding unit, and the control unit is the first state carriage. Is transported from the target travel route, which is the travel route in which the first state carriage exists, to the first state holding unit, and then the second state carriage is transported from the second state holding unit to the target travel route. To control the transport device,
The determination unit determines the failure prediction of the transport carriage on the travel path, determines that the transport carriage that meets the preset failure prediction determination conditions is the first state carriage that requires maintenance work, and the above-mentioned The failure prediction determination conditions are that the index regarding the number of times the transport carriage has overrun with respect to the target stop position on the travel path is equal to or greater than the first set value, and that the power stored by the transport carriage in the power storage device is used. The point is that the index relating to the amount of decrease in the charge amount of the power storage device with respect to the travel amount of the transport carriage is at least one of the third set value or less when traveling in use.

According to this configuration, the transport trolley that is determined by the determination unit to require maintenance work is transported from the target travel path to the first state holding unit, and the transport trolley that does not require maintenance work due to the completion of maintenance work or the like. Is transported from the second state holding unit to the target traveling route. Therefore, it is possible to immediately transport the article by another transport trolley after taking out the transport trolley that requires maintenance work from the target traveling route. Therefore, it is possible to suppress the stoppage of the article transporting work in a short time, and it is possible to suppress the decrease in the operating efficiency of the article storage facility. Further, by taking out the transport trolley that requires maintenance work from the target travel route and transporting it to the first storage unit, it is possible to perform maintenance work on the transport trolley outside the travel route. Therefore, the efficiency of maintenance work on the transport carriage can be improved.
Further, according to this configuration, it is possible to appropriately determine a transport carriage that requires maintenance work according to preset failure prediction determination conditions. Then, the transport trolley that requires maintenance work can be transported from the target traveling route to the first state holding unit.
Further, according to this configuration, it is possible to predict in advance a failure that occurs relatively frequently in the transport carriage, and perform maintenance work on the transport carriage before the failure occurs. Therefore, it is possible to reduce the possibility that the transport carriage will stop due to a failure, and it is possible to suppress a decrease in the operating efficiency of the article storage facility.

Plan view of goods storage equipment II-II arrow view in FIG. III-III arrow view in FIG. IV-IV arrow view in FIG. Perspective view of the transport trolley Perspective view of work trolley Perspective view of work trolley Stacker crane perspective view Control block diagram Flow chart of control to transport the transport trolley Operation diagram of transport of transport trolley Operation diagram of transport of transport trolley Top view showing the storage unit of another embodiment Front view showing the storage unit of another embodiment

1. 1. Embodiment An embodiment of an article storage facility provided with a work cart will be described with reference to the drawings.
As shown in FIG. 1, the article storage equipment includes an automated warehouse 1 as a warehouse for storing the article W, an article transporter 2 for transporting the article W, and a work cart 3 (FIG. 4) in which an operator can push and pull. (See) and a stacker crane 4 as a transport device for transporting the work cart 3. In the present embodiment, the article W is composed of a pallet and a plurality of loads stacked on the pallet.

As shown in FIGS. 2 and 3, the automated warehouse 1 has a plurality of storage transport units 6 installed side by side in the vertical direction Z, and a first transport conveyor 7 installed for each of the plurality of storage transport units 6. It is provided with an elevating table 8 that can be raised and lowered, and a second conveyor 9. The transport unit including the plurality of first transport conveyors 7, the lifting platform 8, and the second transport conveyor 9 includes a transport unit for warehousing used when warehousing the article W in the automated warehouse 1 and an automated warehouse. A transport unit for warehousing used when warehousing the article W from 1 is provided.

[Storage and transport section]
The storage transport unit 6 includes a storage shelf 11 for storing the article W, a transport carriage 12 that travels along the travel path R and transports the article W, and a pair of first travels installed along the first direction X. It includes a rail 13 and a pair of second traveling rails 14 installed along the second direction Y. As shown in FIG. 1, the traveling path R includes the first traveling path R1 and the second traveling path R2, and the master carriage 18 of the transport carriage 12 travels on the pair of first traveling rails 13. It travels along one travel route R1, and the slave carriages 19 of the transport carriage 12 travel along the second travel route R2 by traveling on the pair of second travel rails 14. A plurality of storage shelves 11 are provided on both sides of the second direction Y with respect to the first traveling rail 13, and a plurality of storage shelves 11 are provided on both sides of the second direction Y in a state of being lined up in the first direction X. .. In the present embodiment, the second direction Y is a direction orthogonal to the first direction X in a plan view. Further, one side in the first direction X is referred to as the first side X1 in the first direction, and the opposite side is referred to as the second side X2 in the first direction. Further, one side in the second direction Y is referred to as the first side Y1 in the second direction, and the opposite side is referred to as the second side Y2 in the second direction.

As shown in FIG. 5, the pair of first traveling rails 13 are installed at the same height with each other at intervals in the second direction Y. Further, the pair of second traveling rails 14 are installed at the same height as each other in a state of being spaced apart from each other in the first direction X. Only one pair of first traveling rails 13 is provided. A pair of second traveling rails 14 are provided for each of the plurality of storage shelves 11, and a plurality of sets are provided.

To add a description of the storage transport unit 6, the storage transport unit 6 includes a plurality of sets of a pair of beam materials 15 installed along the second direction Y. The pair of beam materials 15 include a base portion 15A extending in the vertical direction Z, a first extending portion 15B extending inward in the first direction X from the lower end portion of the base portion 15A, and an outer side of the first direction X from the upper end portion of the base portion 15A. It is provided with a second extending portion 15C extending to.
The second traveling rail 14 is formed by each of the pair of first extending portions 15B in the pair of beam materials 15, and the storage shelf 11 is formed by the pair of second extending portions 15C in the pair of beam materials 15. There is. More specifically, the upper surface of the pair of second extending portions 15C is a mounting surface on which the article W on the storage shelf 11 is placed.

Both ends of the article W stored in the storage shelf 11 in the first direction X are supported from below by the second extending portion 15C of the pair of beam members 15. The pair of second traveling rails 14 are located between the pair of second extending portions 15C in the first direction X and at a height lower than that of the pair of second extending portions 15C (storage shelves 11). positioned.

[Corridor]
The automated warehouse 1 is provided with a corridor 16 on which workers can walk. As the corridor 16, the first step corridor 16A for the worker to walk between the pair of first traveling rails 13 and the worker walking outside the second direction Y with respect to the first traveling rail 13. There are a second corridor 16B and a third corridor 16C. The first step corridor 16A is installed so as to be located between the pair of first traveling rails 13. The second corridor 16B is installed so as to be adjacent to the first side X1 in the first direction with respect to the storage transport unit 6 and adjacent to the first side Y1 in the second direction with respect to the first traveling rail 13.
The third corridor 16C is installed so as to be adjacent to the first side X1 in the first direction with respect to the storage transport unit 6 and adjacent to the second side Y2 in the second direction with respect to the first traveling rail 13. The second corridor 16B and the third corridor 16C are arranged so that workers can transfer to and from the first step corridor 16A.
In the present embodiment, since the distance between the first traveling rails 13 adjacent to the vertical direction Z is equal to or greater than the distance at which the operator can walk, the distance between the plurality of storage and transporting units 6 arranged in the vertical direction Z is increased. A corridor 16 is installed. In the present embodiment, the walking interval of the worker is the average height of an adult male.

A fixed fence 29 is erected at the edge of the first side X1 in the first direction and the edge of the first side Y1 in the second direction of the second corridor 16B. Further, a fixed fence 29 is erected at the edge of the first side X1 in the first direction and the edge of the second side Y2 in the second direction of the third corridor 16C. Further, at the edge of the first step corridor 16A on the first side X1 in the first direction, a moving fence 30 that can move in the vertical direction Z is erected.

The moving fence 30 is configured to be movable between a closed position and an open position moved upward from the closed position. The closed position is a position where the height of the lower end of the moving fence 30 is higher than the upper end of the transport trolley 12 and lower than the upper end of the work trolley 3, and when the moving fence 30 is in the closed position, the transport trolley 12 is the moving fence 30. Although it can pass under the moving fence 30, the work trolley 3 cannot pass under the moving fence 30. The opening position is such that the height of the lower end of the moving fence 30 is higher than the upper end of the transport trolley 12 and the upper end of the work trolley 3, and when the moving fence 30 is in the open position, both the transport trolley 12 and the work trolley 3 are opened. Can pass under the moving fence 30. A first detection unit S1 for detecting that the moving fence 30 is in the closed position is provided with respect to the moving fence 30.

[Transportation trolley]
The transport carriage 12 includes a master carriage 18 traveling on the first traveling rail 13 along the first direction X, and a slave carriage 19 traveling on the second traveling rail 14 along the second direction Y. ing. The master trolley 18 is configured so that the child trolley 19 can be mounted. In the state where the child trolley 19 is mounted on the master trolley 18, the master trolley 18 is moved along the first direction X by moving the master trolley 18 along the first direction X. The child carriage 19 also moves along the first direction X integrally with the master carriage 18.

The main carriage 18 includes a first traveling wheel 21 that rolls on the first traveling rail 13, a conveyor 22 that supports the article W and conveys the article W in the second direction Y, a third traveling rail 23, and the like. It has. The master carriage 18 travels along the first traveling rail 13.

When the master carriage 18 is in a position corresponding to the second traveling rail 14, the third traveling rail 23 is connected to the second traveling rail 14. The fact that the third traveling rail 23 is connected to the second traveling rail 14 means that the positional relationship between the second traveling rail 14 and the third traveling rail 23 is aligned in a straight line, and the second traveling rail 14 and the third traveling rail 14 are connected. It indicates that the child carriage 19 has a positional relationship with the traveling rail 23 so that it can be transferred. That is, the state in which the master carriage 18 is in the position corresponding to the second traveling rail 14 is a state in which such a positional relationship is established.

In a state where the master trolley 18 is in a position corresponding to the first warehousing conveyor 7, the master trolley 18 can transport the article W from the first warehousing conveyor 7 onto the conveyor 22. Further, in a state where the master trolley 18 is in a position corresponding to the first transport conveyor 7 for warehousing, the master trolley 18 can transport the article W on the transport conveyor 22 to the first transport conveyor 7 for warehousing. ..

The child carriage 19 raises and lowers the second traveling wheel (not shown) that rolls on the second traveling rail 14 and the third traveling rail 23, the support base 27 that supports the article W from below, and the support base 27. It is equipped with an elevating device (not shown). The child carriage 19 travels along the second traveling rail 14. Then, in the state where the third traveling rail 23 is connected to the second traveling rail 14, the child carriage 19 moves from the third traveling rail 23 onto the second traveling rail 14 along the storage shelf 11. Run. Further, the child carriage 19 is mounted on the master carriage 18 by moving from the second traveling rail 14 onto the third traveling rail 23.

The support base 27 of the child carriage 19 is moved up and down to an ascending position and a lowering position by an elevating device. As for the ascending position, the upper surface of the support base 27 (the surface on which the article W is placed) is the upper surface of the second extending portion 15C (the surface on which the article W is placed) and the upper surface of the conveyor 22 (the surface on which the article W is placed). It is located above the surface). As for the lowering position, the upper surface of the support base 27 is located below the upper surface of the second extending portion 15C and the upper surface of the conveyor 22.

Therefore, when the child carriage 19 is on the second traveling rail 14, the article W supported by the support base 27 by moving the support base 27 from the ascending position to the descending position is moved to the pair of second extending portions 15C. It can be placed on the storage shelf 11 and stored in the storage shelf 11. Further, in the state where the child carriage 19 is on the second traveling rail 14, the support base 27 is moved from the descending position to the ascending position, so that the article W stored in the storage shelf 11 is moved by the support base 27 to the pair. (Ii) The article W can be supported by the support base 27 by lifting it from the extending portion 15C.

In the state where the child carriage 19 is on the third traveling rail 23, the article W supported by the support base 27 can be placed on the conveyor 22 by moving the support base 27 from the ascending position to the descending position. Further, in the state where the child carriage 19 is on the third traveling rail 23, the support base 27 is moved from the lower position to the upper position, so that the article W supported by the conveyor 22 is lifted by the support base 27. The article W can be supported by the support base 27.

When the article W is transported from the first warehousing conveyor 7 to the storage shelf 11 by the transport trolley 12, the article W is transported as follows. That is, the master trolley 18 on which the child trolley 19 is placed is moved to a position corresponding to the first conveyor 7 for warehousing, and the article W is moved in cooperation with the first conveyor 7 and the conveyor 22 of the master trolley 18. The first conveyor 7 is transferred to the conveyor 22 of the main carriage 18. Then, the master trolley 18 on which the child trolley 19 is placed is traveled to a position corresponding to the second traveling rail 14 of the storage shelf 11 for storing the article W. During or before and after the traveling of the master carriage 18, the support base 27 of the slave carriage 19 is raised to support the article W by the slave carriage 19, and the slave carriage 19 rides on the second traveling rail 14 from the third traveling rail 23. After the movement, the child carriage 19 is driven to a position where the article W is stored, and then the support base 27 is lowered to place the article W on the pair of beam materials 15 and the article W is stored in the storage shelf 11. To do.

When the article W is transported from the storage shelf 11 to the first transport conveyor 7 for delivery by the transport trolley 12 to the storage shelf 11, the article W is conveyed as follows. That is, after the child trolley 19 is moved directly under the article W to be delivered, the support pedestal 27 of the child trolley 19 is raised to support the article W by the child trolley 19. After that, the child carriage 19 is moved to the master carriage 18, and the master carriage 18 on which the slave carriage 19 is placed is moved to a position corresponding to the first transport conveyor 7 for delivery. During or before and after the traveling of the master carriage 18, the support base 27 of the slave carriage 19 is lowered to support the article W by the transport conveyor 22, and the first transport conveyor 7 and the transport conveyor 22 of the master carriage 18 cooperate with each other. The article W is transferred from the conveyor 22 of the main carriage 18 to the first conveyor 7.

As shown in FIG. 9, the transport trolley 12 is provided with a first inspection device A1 for detecting the overrun of the transport trolley 12, a second inspection device A2 for detecting the vibration of the transport trolley 12, and the transport trolley 12. A third inspection device A3 for detecting the charging state of the power storage device P and a trolley control device H1 are provided.

In the present embodiment, a reflector (not shown) is installed at a position corresponding to each of the plurality of second traveling rails 14 on the first traveling path R1, and the master carriage 18 is the first inspection device A1. (Ii) It is composed of a light emitting / receiving sensor that projects the detection light toward the reflector and receives the reflected light from the reflector in a state corresponding to the traveling rail 14. Therefore, in a state where the master carriage 18 is appropriately stopped at a position corresponding to the second traveling rail 14, the detection light projected by the first inspection device A1 is reflected by the reflector and reflected by the reflector. The reflected light is received by the first inspection device A1. On the other hand, when the master carriage 18 is stopped at a position corresponding to the second traveling rail 14, the detection light projected by the first inspection device A1 deviates from the reflector, so that the first inspection device A1 does not receive reflected light. In the trolley control device H1, when the main trolley 18 was driven to a position corresponding to the second traveling rail 14, the transport trolley 12 overrun depending on whether or not the first inspection device A1 received the reflected light. Whether or not it is determined.

Further, in the present embodiment, the second inspection device A2 is composed of a vibration sensor installed on the slave trolley 19 and detecting the vibration of the slave trolley 19. The second inspection device A2 detects the vibration of the slave trolley 19 when the master trolley 18 on which the slave trolley 19 is mounted travels, and the vibration of the slave trolley 19 when the slave trolley 19 travels.
Further, in the present embodiment, the third inspection device A3 is composed of a charge state detection sensor that detects the charge state of the power storage device P provided in the child carriage 19. The third inspection device A3 detects various states related to the charging state of the power storage device P. More specifically, it is preferable that the third inspection device A3 includes, for example, a voltage sensor that detects the voltage between the electrodes of the power storage device P, a current sensor that detects the charge / discharge current, and further, the power storage device P. It is also preferable to include a temperature sensor that detects the temperature. As a result, the third inspection device A3 acquires information such as the voltage of the power storage device P in each state, the relationship between the charge / discharge electric energy and the voltage, and the temperature of the power storage device P in each state. Can be done. In the present embodiment, the child carriage 19 is operated by the electric power of the power storage device P, and the master carriage 18 is operated by the electric power supplied from the feeding line (not shown) installed along the first traveling path R1. Operate.

[Working trolley]
The work trolley 3 includes a first trolley 31 that moves on the first traveling rail 13 and a second trolley 32 that moves on the second traveling rail 14. The first carriage 31 is provided with a third rail 34, and the second carriage 32 is configured to be mounted on the first carriage 31 by transferring from the second traveling rail 14 to the third rail 34. The first traveling rail 13 corresponds to the first rail installed along the first direction X, and the second traveling rail 14 corresponds to the second rail installed along the second direction Y.

In addition to the third rail 34, the first carriage 31 includes a first regulation unit 35 that regulates the movement of the first carriage 31 at a predetermined position, and a plurality of rolling first carriages 31 on the first traveling rail 13. The first wheel 36, the operation unit 37 for the operator to push and pull the first carriage 31, the third rail 34, the first regulation unit 35, the first wheel 36, and the operation unit 37 are supported. It includes a main body 38.
When the first carriage 31 is in a position corresponding to the second traveling rail 14, the third rail 34 is connected to the second traveling rail 14. The fact that the third rail 34 is connected to the second traveling rail 14 means that the positional relationship between the second traveling rail 14 and the third rail 34 is such that the second traveling rail 14 and the third rail 34 are in a straight line. Indicates that the second trolley 32 can be transferred between the second traveling rail 14 and the third rail 34. That is, the state in which the first carriage 31 is in the position corresponding to the second traveling rail 14 is a state in which such a positional relationship is established.

The first regulation unit 35 is oscillatingly connected to the first main body unit 38 along the axial direction along the first direction X. The first regulation unit 35 swings the third rail 34 with respect to the first main body 38 at a position continuous with the second travel rail 14, so that the tip of the first regulation unit 35 becomes the second travel rail. Engage with the rail 39 that supports 14. By engaging the first regulation unit 35 with the support column 39 in this way, the first regulation state is set in which the movement of the first carriage 31 is restricted at the position where the third rail 34 is continuous with the second traveling rail 14. Then, by swinging the first regulation unit 35 to release the engagement of the first regulation unit 35 with the support column 39, the first regulation release state is set in which the restriction on the movement of the first carriage 31 is released. In this way, the first regulation unit 35 is configured to be switchable between the first regulation state and the first regulation release state. The first carriage 31 is a pair of a first regulating portion 35 that engages with a support 39 on the first side Y1 in the second direction and a first regulating portion 35 that engages a support 39 on the second side Y2 in the second direction. The first regulation section 35 of the above is provided.

The first wheel 36 is arranged outside the boarding platform 43 in a plan view in a state where the second carriage 32 is mounted on the first carriage 31. To add an explanation, the first carriage 31 is located on the first side Y1 in the second direction with respect to the boarding platform 43 in a plan view in a state where the second carriage 32 is mounted on the first carriage 31. Two pairs of the first wheels 36, the wheels 36 and the first wheels 36 located on the second side Y2 in the second direction with respect to the boarding platform 43 in a plan view, are provided. Then, one pair of the two pairs of the first wheels 36 is located on the first side X1 in the first direction with respect to the boarding platform 43 in a plan view, and the remaining pair is located in the first direction with respect to the boarding platform 43 in a plan view. It is located on the second side X2.

The operation unit 37 is connected to the end of the first direction second side X2 in the first main body 38, and is provided at the end of the first direction second side X2 in the first carriage 31. Further, the operation unit 37 extends upward from the first main body unit 38, and the upper end of the operation unit 37 is located at a height that is easy for an operator moving in the corridor 16 to operate. This height may be, for example, the waist height of an adult male.

The second carriage 32 includes a second regulation unit 41 that regulates the movement of the second carriage 32 at an arbitrary position on the second traveling rail 14 and the third rail 34, and the second traveling rail 14 and the third rail 34. Supports a plurality of second wheels 42 that roll on, a boarding platform 43 on which an operator can board, a rail section 44, a second regulating section 41, a second wheel 42, a boarding platform 43, and a rail section 44. It is provided with a second main body portion 45.

The second regulation unit 41 holds the first operation unit 47 and the second operation unit (not shown) and the second carriage 32 that the operator moves in the vertical direction Z on the second traveling rail 14 or the third rail 34. It is provided with a holding portion (not shown). The second regulation unit 41 pushes the first operation unit 47 from the ascending position to the descending position, so that the second carriage 32 is held by the holding unit on the second traveling rail 14 or the third rail 34. In this way, by holding the second carriage 32 on the second traveling rail 14 or the third rail 34 by the holding portion, the second carriage 32 can be held at arbitrary positions on the second traveling rail 14 and the third rail 34. It will be in the second regulation state that regulates movement. Then, by operating the second operation unit, the first operation unit 47 is moved from the descending position to the ascending position, so that the second regulation release state is set in which the restriction on the movement of the second carriage 32 is released.
In this way, the second regulation unit 41 is configured to be switchable between the second regulation state and the second regulation release state.

The second wheel 42 is arranged outside the boarding platform 43 in a plan view. To add an explanation, the second carriage 32 has a second wheel 42 located on the first side Y1 in the second direction with respect to the boarding platform 43 in a plan view, and a second wheel 42 in the second direction with respect to the boarding platform 43 in a plan view. It is provided with two pairs of second wheels 42 located on the side Y2 and a pair of second wheels 42. Two of the two pairs of the second wheels 42 are located on the first side X1 in the first direction with respect to the boarding platform 43 in a plan view, and the remaining two wheels are the first wheels with respect to the boarding platform 43 in a plan view. It is located on the second side X2 in one direction.

In the illustrated example, the second carriage 32 includes two pairs of auxiliary wheels 46 that roll on the second traveling rail 14 and the third rail 34 in addition to the second wheels 42. The two pairs of auxiliary wheels 46 are located within the width of the boarding board 43 in the second direction Y. Two of the two pairs of auxiliary wheels 46 are located on the first side X1 in the first direction with respect to the boarding platform 43 in a plan view, and the remaining two wheels are first with respect to the boarding platform 43 in a plan view. It is located on the second side X2 in the direction.

The fence portion 44 is erected from the side periphery of the boarding platform 43. The fence portion 44 is configured so that the frame members constituting the fence portion 44 can be disconnected from each other, and the fence portion 44 can be boarded by oscillatingly connecting the frame material to the second main body portion 45. It may be configured to be foldable on the table 43.

[Stacker crane]
As shown in FIGS. 1, 4 and 8, the stacker crane 4 transports the transport trolley 12 and the work trolley 3 between the storage transport unit 6 and the storage unit 50. To add an explanation, the storage unit 50 includes a single or a plurality of first holding units 50A for holding the work trolley 3, and a plurality of second holding units 50B for holding the transport trolley 12. The stacker crane 4 conveys the work trolley 3 between the plurality of first traveling paths R1 and the single or plurality of first holding portions 50A, and also conveys the plurality of first traveling paths R1 and the plurality of second holding portions 50B. The transport trolley 12 is transported to and from. In the present embodiment, as shown in FIG. 4, the storage unit 50 includes only one first holding unit 50A and two second holding units 50B.

As shown in FIG. 8, the stacker crane 4 includes a traveling carriage 51 traveling along the second direction Y, an elevating body 53 that moves up and down in the vertical direction Z along a mast 52 erected on the traveling carriage 51, and the like. It is provided with a fourth rail 54 supported by the elevating body 53.
In the state where the elevating body 53 is in the position corresponding to the first traveling path R1, the fourth rail 54 and the first traveling rail 13 are connected, and the transport carriage 12 and the work carriage 3 are the fourth rail 54 and the first traveling rail. You can transfer to and from 13.
Further, in a state where the elevating body 53 is in a position corresponding to the first holding portion 50A, the fourth rail 54 and the rail provided in the first holding portion 50A are connected, and the work cart 3 is connected to the fourth rail 54. It can be transferred to and from the rail provided in the first holding portion 50A.
Further, in a state where the elevating body 53 is in a position corresponding to the second holding portion 50B, the fourth rail 54 and the rail provided in the second holding portion 50B are connected, and the transport carriage 12 is connected to the fourth rail 54. It can be transferred to and from the rail provided in the second holding portion 50B.

The transport control device H2 that controls the stacker crane 4 is supported by the fourth rail 54 by traveling the traveling carriage 51 and raising and lowering the elevating body 53 based on a command from an operation terminal (not shown). 12 and the work cart 3 are transported. The transport control device H2 is operated in an open state in which the opening of the moving fence 30 is detected by the first detection unit S1 or in a detection state in which the presence of an operator is detected in the storage unit 50 by the second detection unit S2. Even if there is a command from the terminal, the stacker crane 4 is maintained in the stopped state, and after the open state and the detection state are resolved, the stacker crane 4 is operated based on the command from the operation terminal (not shown). Let me.

A case where the work cart 3 is used in the storage and transport unit 6 will be described.
When the work trolley 3 is used, by designating the first holding portion 50A by operating the operation terminal, the elevating body 53 moves to the position corresponding to the first holding portion 50A under the control of the transport control device H2. The stacker crane 4 operates to connect the fourth rail 54 and the rail provided in the first holding portion 50A. With the stacker crane 4 operated in this way, the operator of the first holding portion 50A operates the work trolley 3 to move the work trolley 3 from the first holding portion 50A to the elevating body 53.

Next, by designating one of the plurality of storage and transport units 6 by operating the operation terminal, the elevating body 53 is positioned corresponding to the first traveling path R1 of the storage and transport unit 6 under the control of the transport control device H2. The stacker crane 4 operates so as to move to, and the fourth rail 54 and the first traveling rail 13 are connected to each other. With the stacker crane 4 operated in this way, the worker in the corridor 16 operates the work trolley 3 to move the work trolley 3 from the elevating body 53 to the first traveling path R1. At this time, the operator pulls the operation unit 37 of the work trolley 3 from the corridor 16 side, and moves the work trolley 3 to the first direction second side X2.

After that, the worker in the corridor 16 moves the work trolley 3 along the first traveling path R1, moves the work trolley 3 to a position corresponding to an arbitrary second traveling rail 14, and causes the second traveling rail 14 to move. It is connected to the third rail 34. Then, the worker in the corridor 16 gets on the boarding platform 43, moves the second carriage 32 from the first carriage 31 to an arbitrary position on the second traveling route R2 along the second traveling route R2, and performs the second traveling. Work is performed on the child carriage 19 and the article W located on the route R2. After the work is performed, the work trolley 3 is moved to the first holding portion 50A by reversing the above procedure.

Next, a case where maintenance work is performed on the transport carriage 12 will be described.
As shown in FIG. 9, the article storage facility is provided with a transport control device H2 for controlling the stacker crane 4 and the transport carriage 12. The transport control device H2 is configured to enable wireless communication of information with the stacker crane 4 and the transport carriage 12. Further, detection information transmitted from the first detection unit S1 and the second detection unit S2 is input to the transport control device H2.

The trolley control device H1 of the transport trolley 12 transmits overrun information indicating that the transport trolley 12 has overrun when the transport trolley 12 overruns to the transport control device H2. Further, the carriage control device H1 of the transfer carriage 12 transmits the vibration information detected by the second inspection device A2 and the charging state information detected by the third inspection device A3 to the transfer control device H2.

The transport control device H2 determines the failure prediction of the transport trolley 12 on the travel path R, and determines that the transport trolley 12 that meets the preset failure prediction determination conditions is the first state trolley 12A that requires maintenance work. In addition, the transport control device H2 presets the number of times the transport trolley 12 overruns the target stop position on the travel path R based on the overrun information transmitted from the trolley control device H1. When the value exceeds the first set value, it is determined that maintenance work is required for the transport carriage 12. Further, when the vibration generated in the transport trolley 12 becomes equal to or more than a preset second set value based on the vibration information transmitted from the trolley control device H1, the transport control device H2 performs maintenance work on the transport trolley 12. Is judged to be necessary.
Here, it is preferable that the vibration value to be compared with the second set value is, for example, an average value within a preset measurement time. Further, when the index regarding the amount of decrease in the charge amount of the power storage device P becomes equal to or less than the preset third set value, the transport control device H2 is based on the charge state information transmitted from the trolley control device H1. It is determined that maintenance work is required for No. 12. Here, as an index regarding the amount of decrease in the charge amount of the power storage device P, it is preferable that the index is related to the amount of decrease in the full charge amount, and more specifically, the amount of full charge due to the deterioration of the power storage device P, that is, the chargeable amount. It is preferable that it is an index showing the degree of decrease. As such an index, for example, it is preferable to use the voltage of the power storage device P in the fully charged state, the amount of electric power charged from the reference charged state to the fully charged state, and the like.

As described above, in the present embodiment, the transport control device H2 corresponds to the control device H that controls the stacker crane 4, and the carriage control device H1 and the transport control device H2 require maintenance work for each of the transport carriages 12. A determination unit D for determining whether or not it is present is configured. The failure prediction determination conditions are that the index regarding the number of times the transport carriage 12 overruns the target stop position on the travel path is equal to or greater than the first set value, and the index regarding the travel vibration of the transport carriage 12 is set second. The index relating to the value or more and the amount of decrease in the charge amount of the power storage device P with respect to the travel amount of the transport trolley 12 when the transport trolley 12 travels using the electric power stored in the power storage device P is the third set value or less. It is a condition that one of the above is satisfied.

As shown in FIG. 11, the transport trolley 12 determined by the determination unit D to require maintenance work is set as the first state trolley 12A, and the transport trolley 12 not determined by the determination unit D to require maintenance work is designated as the first state trolley 12A. As the second state trolley 12B, the transport control device H2 transports the first state trolley 12A from the target travel path RT, which is the travel path R in which the first state trolley 12A exists, to the first state holding unit 50BA. The stacker crane 4 and the first state carriage 12A are controlled so as to convey the two-state carriage 12B from the second state holding unit 50BB to the target traveling route RT.

As shown in FIG. 11, the transport control device H2 determines whether or not maintenance work is required for each of the plurality of transport carts 12 in the automated warehouse 1. Further, for each of the pair of second holding portions 50B, the second holding portion 50B in which the transport carriage 12 is not held is designated as the first state holding portion 50BA, and the second holding portion 50B in which the transport carriage 12 is held is designated as the first holding portion 50B. The two state holding unit is 50BB.

In the illustrated example, of the pair of second holding portions 50B arranged in the second direction Y, the second holding portion 50B on the first side Y1 in the second direction is the first state holding portion 50BA in which the transport carriage 12 is not held. In this case, the stacker crane 4 conveys the first state carriage 12A to the second holding portion 50B, which is the first state holding portion 50BA. Then, the first state carriage 12A conveyed to the second holding portion 50B on the first side Y1 in the second direction becomes the second state carriage 12B due to the maintenance work, and the second state carriage 12B is the stacker crane 4 It is conveyed to the second holding portion 50B on the second side Y2 in the second direction by a forklift or a forklift. The second holding portion 50B of the second side Y2 in the second direction to which the second state trolley 12B has been moved is the second state holding portion 50BB, and the transport trolley held by the second state holding portion 50BB. Reference numeral 12 denotes a second state carriage 12B.

As shown in FIG. 10, the transport control device H2 determines whether or not maintenance work is required for each transport carriage 12 (S1). Then, when there is a transport carriage 12 determined to require maintenance work (S1: Yes), the first control for transporting the transport carriage 12 to the first state holding unit 50BA as the first state carriage 12A is executed. (S2). After that, the second control of transporting the second state carriage 12B in the second state holding unit 50BB from the second state holding unit 50BB to the target traveling path RT is executed (S3).

In the first control (S2), the transport control device H2 transmits unloading information to the stacker crane 4 and the first state trolley 12A, and operates the stacker crane 4 and the first state trolley 12A that have received the unloading information. Specifically, as shown by the arrow (1) in FIG. 11, the stacker crane 4 and the first state carriage 12A are moved so as to convey the first state carriage 12A on the target traveling path RT to the first state holding unit 50BA. Make it work.
Further, in the second control (S3), after executing the first control, the stacker crane 4 and the second state carriage 12B in the second state holding unit 50BB are operated. Specifically, as shown by the arrow (2) in FIG. 11, the stacker crane 4 and the second state carriage 12B are moved so as to convey the second state carriage 12B in the second state holding portion 50BB to the target travel path RT. Make it work.

In the present embodiment, as shown in FIG. 4, the storage unit 50 is provided with a compartment 56 for partitioning the plurality of compartments E, and the plurality of holding portions 50A and 50B are installed in different compartments E. In addition, a second detection unit S2 is provided as a detection unit for detecting the entry of an operator into each of the plurality of compartments E. In the present embodiment, the compartment 56 is composed of a frame for supporting the rail provided in the holding portion. Further, an area sensor is used as the second detection unit S2. Then, with the holding units 50A and 50B installed in the section E where the intrusion of the operator is detected by the second detection unit S2 as the target holding unit 50C, the transport control device H2 uses the stacker crane 4 to enter the target holding unit 50C. The transport of the first state carriage 12A and the transport of the second state carriage 12B from the target holding portion 50C by the stacker crane 4 are prohibited.

In addition, in the transport control device H2, the opening state in which the opening of the moving fence 30 is detected by the first detection unit S1 and the presence of an operator in the storage unit 50 by the second detection unit S2 are detected. In the detection state, the first control and the second control are interrupted to keep the stacker crane 4 stopped, and after the open state and the detection state are resolved, the stacker crane 4 is operated to perform the first control and the second control. (Ii) Resume control. In this way, in the detection state in which the presence of the worker in the storage unit 50 is detected by the second detection unit S2, the first control and the second control are interrupted, so that the stacker crane 4 transfers the target holding unit 50C to the target holding unit 50C. The first state trolley 12A is not transported and the second state trolley 12B is not transported from the target holding portion 50C by the stacker crane 4. In FIG. 12, the second state holding section 5 0 BB indicates the state in which the subject holding section 50C.

2. Other Embodiments Next, other embodiments of the article storage facility will be described.

(1) In the above embodiment, the compartments 56 that partition the plurality of compartments E are configured by the frame material, but as shown in FIGS. 13 and 14, for example, the compartments 56 that partition the plurality of compartments E are formed by the fence 57. It may be configured. In the illustrated example, one first holding portion 50A, a second holding portion 50B on the first side Y1 in the second direction, and a second holding portion 50B on the second side Y2 in the second direction are partitioned by a fence 57. A door 58 for opening and closing an entrance / exit for an operator to enter / exit is provided in a part of the fence 57.

(2) In the above embodiment, each of the plurality of second holding portions 50B is provided with only an area capable of holding the transport carriage 12 including the master carriage 18 and the slave carriage 19 or the master carriage 18 alone. As shown in 13 and FIG. 14, at least one of the plurality of second holding portions 50B is a master trolley holding area E1 for holding the master trolley 18 and an area adjacent to the master trolley holding area E1. It is also preferable to include a child carriage holding area E2 for holding the child carriage 19 separated from the above.
Specifically, one of the pair of second holding portions 50B includes a master trolley holding area E1 and a child trolley holding area E2 adjacent to the master trolley holding area E1 in a plan view. A fifth rail 59 on which the first traveling wheel 21 of the master carriage 18 rolls is provided in the master carriage holding area E1, and a sixth traveling wheel on which the second traveling wheel of the slave carriage 19 rolls in the slave carriage holding area E2. It is equipped with a rail 60. The fifth rail 59 is installed along the first direction X, and in a state where the elevating body 53 of the stacker crane 4 is in a position corresponding to the fifth rail 59, the fifth rail 59 and the fourth rail 54 of the elevating body 53 The master trolley 18 can be transferred to and from the fifth rail 59 of the master trolley holding area E1. Further, the sixth rail 60 is a child between the third traveling rail 23 of the master carriage 18 and the sixth rail 60 of the slave carriage holding area E2 in a state where the master carriage 18 is in a position corresponding to the sixth rail 60. The dolly 19 can be transferred. By the way, in the master trolley holding area E1, the master trolley 18 is held in a state where the master trolley 18 is supported by the fifth rail 59, and in the child trolley holding area E2, the child trolley 19 is supported by the sixth rail 60. Hold the dolly 19.

(3) In the above embodiment, the second detection unit S2 is configured by the area sensor, but the second detection unit S2 may be configured by a switch operated by an operator who has entered the compartment E.
When the compartment 56 is provided with the door 58, it may be configured by a sensor (for example, a limit switch) that detects the open / closed state of the door 58.

(4) In the above embodiment, the plurality of second holding portions 50B do not have a function of raising and lowering the transport carriage 12, but at least one of the plurality of second holding portions 50B has a function of raising and lowering the transport carriage 12. You may. For example, as shown in FIG. 14, it is preferable to include a holding body 61 that supports and holds the main carriage 18 of the transport carriage 12 from below, and an elevating device 62 that raises and lowers the holding body 61. The holding body 61 moves up and down between the lowering position and the ascending position by ascending and descending by the elevating device 62. The holding body 61 in the descending position is located below the master carriage 18 supported by the fifth rail 59, and the holding body 61 rises from the descending position to the ascending position to raise the master carriage 18 to the fifth rail. It can be lifted from 59.

(5) The first inspection device A1, the second inspection device A2, and the third inspection device A3 in the above embodiment may be appropriately changed. Specifically, for example, the first inspection device A1 is configured by a distance sensor that measures the distance from the reference position of the transport carriage 12, and is from the first inspection device A1 and the reference position when stopped at the target stop position. If the difference from the distance to the target stop position is greater than or equal to the set value, it may be determined that the vehicle has overrun. Further, the second inspection device A2 may be provided on the master trolley 18 so as to detect the vibration of the master trolley 18. Further, the third inspection device A3 may be configured to detect the charging state based on, for example, the amount of power consumption with respect to the mileage of the slave carriage 19.

(6) The configurations disclosed in each of the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. With respect to other configurations, the embodiments disclosed herein are merely exemplary in all respects. Therefore, various modifications can be made as appropriate without departing from the gist of the present disclosure.

3. 3. Outline of the above-described embodiment The outline of the article storage facility described above will be described below.

As a first aspect, in the article storage facility, a plurality of storage transport units are installed side by side in the vertical direction, and each of the plurality of storage transport units travels along a travel path with a storage shelf for storing articles. Equipped with a transport trolley that transports goods to the storage shelves,
A storage unit provided with a plurality of holding units for holding the transport trolley, a transport device for transporting the transport trolley between the plurality of traveling paths and the plurality of holding portions, and a control unit for controlling the transport trolley. A determination unit for determining whether or not maintenance work is required for each of the transport trolleys is further provided, and the transport trolley determined by the determination unit as requiring maintenance work is used as the first state trolley for maintenance work. The transport trolley for which the determination unit has not determined is required is used as the second state trolley, the holding portion for which the transport trolley is not held is used as the first state holding unit, and the second state trolley is held. With the holding unit as the second state holding unit, the control unit conveys the first state trolley from the target traveling route, which is the traveling route in which the first state trolley exists, to the first state holding unit. After that, the transport device is controlled so as to transport the second state carriage from the second state holding unit to the target traveling path .
The transport carriage has a master carriage and a slave carriage connected to the master carriage, and the traveling route includes a first traveling route on which the master carriage travels and the slave carriage separated from the master carriage. At least one of the plurality of holding portions is an area adjacent to the master trolley holding area for holding the master trolley and the master trolley holding area, including a second traveling route on which the trolley travels. The child carriage holding area for holding the separated child carriage is provided, and the child carriage holding area is the child carriage between the master carriage held in the parent carriage holding area and the child carriage holding area. that it has a rail to guide the Noriutsuri of.

As a second aspect, in the article storage facility, a plurality of storage transport units are installed side by side in the vertical direction, and each of the plurality of storage transport units travels along a travel path with a storage shelf for storing articles. An article storage facility including a transport trolley for transporting articles to a storage shelf and a work trolley that allows workers to board by traveling along a travel route, the first holding portion for holding the work trolley and the said. A storage unit provided with a plurality of holding units including a second holding unit for holding the transport trolley, and a transport device for transporting the transport trolley and the work trolley between the plurality of traveling paths and the plurality of the holding portions. A control unit that controls the transport device and a determination unit that determines whether or not maintenance work is required for each of the transport carriages are further provided, and the determination unit determines that maintenance work is necessary. The transport trolley is set as the first state trolley, the transport trolley for which the determination unit has not determined that maintenance work is required is set as the second state trolley, and the holding portion where the transport trolley is not held is held in the first state. The holding unit in which the second state trolley is held is used as a unit, and the control unit uses the first state trolley as a target traveling route in which the first state trolley is present. After transporting from the route to the first state holding unit, the transport device is controlled so as to transport the second state carriage from the second state holding unit to the target traveling route.

As a third aspect, in the article storage facility, a plurality of storage transport units are installed side by side in the vertical direction, and each of the plurality of storage transport units travels along a travel path with a storage shelf for storing articles. An article storage facility including a transport carriage for transporting articles to a storage shelf, a storage unit provided with a plurality of holding portions for holding the transport carriage, a plurality of the traveling paths, and a plurality of the holding portions. A transport device for transporting the transport trolley, a control unit for controlling the transport trolley, and a determination unit for determining whether or not maintenance work is required for each of the transport trolleys are further provided for maintenance work. The transport trolley determined by the determination unit to be necessary is designated as the first state trolley, and the transport trolley not determined by the determination unit to require maintenance work is designated as the second state trolley, and is held by the transport trolley. The holding unit that is not held is used as the first state holding unit, the holding unit that holds the second state trolley is used as the second state holding unit, and the control unit uses the first state trolley as the first state. The transport device so as to transport the second state trolley from the second state holding unit to the target travel route after being transported from the target travel route, which is the travel route in which the trolley is present, to the first state holding unit. Control and
The determination unit determines the failure prediction of the transport carriage on the travel path, determines that the transport carriage that meets the preset failure prediction determination conditions is the first state carriage that requires maintenance work, and the above-mentioned The failure prediction determination conditions are that the index regarding the number of times the transport carriage has overrun with respect to the target stop position on the travel path is equal to or greater than the first set value, and that the power stored by the transport carriage in the power storage device is used. It includes at least one of the fact that the index relating to the amount of decrease in the charge amount of the power storage device with respect to the travel amount of the transport carriage is equal to or less than the third set value in the case of traveling by using.

According to these configurations, the transport trolley determined to require maintenance work by the determination unit is transported from the target travel path to the first state holding unit, and the maintenance work is completed, so that maintenance work is not required. The dolly is transported from the second state holding unit to the target traveling route. Therefore, it is possible to immediately transport the article by another transport trolley after taking out the transport trolley that requires maintenance work from the target traveling route. Therefore, it is possible to suppress the stoppage of the article transporting work in a short time, and it is possible to suppress the decrease in the operating efficiency of the article storage facility. Further, by taking out the transport trolley that requires maintenance work from the target travel route and transporting it to the first storage unit, it is possible to perform maintenance work on the transport trolley outside the travel route. Therefore, the efficiency of maintenance work on the transport carriage can be improved.
Further, according to the first aspect, the article can be transported along both the first traveling path and the second traveling path by the transport carriage. Since the holding unit can separately hold the master carriage and the slave carriage separated from the master carriage, maintenance work can be efficiently performed on both the master carriage and the slave carriage. ..
Further, according to the third aspect, it is possible to appropriately determine the transport carriage that requires maintenance work according to the preset failure prediction determination conditions. Then, the transport trolley that requires maintenance work can be transported from the target traveling route to the first state holding unit. In addition, it is possible to predict in advance a failure that occurs relatively frequently in the transport trolley, and perform maintenance work on the transport trolley before the failure occurs. Therefore, it is possible to reduce the possibility that the transport carriage will stop due to a failure, and it is possible to suppress a decrease in the operating efficiency of the article storage facility.

Here, it is preferable that the storage unit is provided with a partition body for partitioning a plurality of compartments, and the first holding portion and the second holding portion are installed in the compartments different from each other.

Further, a detection unit for detecting the entry of an operator into each of the plurality of the compartments is provided, and the holding unit installed in the compartment detected by the detection unit is used as a target holding unit, and the control unit is described. It is preferable that the transport device does not transport the first state carriage to the target holding portion and the transport device does not transport the second state carriage from the target holding portion.

Further, the storage unit is provided with a compartment for partitioning a plurality of compartments, and the plurality of holding portions are installed in the compartments different from each other, and a detection unit for detecting the entry of an operator into each of the plurality of compartments is provided. The holding unit provided in the section detected by the detection unit is used as the target holding unit, and the control unit transports the first state carriage to the target holding unit by the transport device and the above-mentioned It is preferable not to transport the second state carriage from the target holding portion by the transport device.

According to this configuration, when the detection unit detects that an operator has entered the section, the holding part installed in the section is used as the target holding part, and the first state of the transport device to the target holding part is set. The dolly is not transported, and the second state dolly is not transported from the target holding portion by the transport device. Therefore, the safety of maintenance work in the storage unit can be enhanced.

Further, the determination unit determines the failure prediction of the transport carriage on the travel path, and determines that the transport carriage that meets the preset failure prediction determination conditions is the first state carriage that requires maintenance work. Suitable.

According to this configuration, it is possible to appropriately determine a transport carriage that requires maintenance work according to preset failure prediction determination conditions. Then, the transport trolley that requires maintenance work can be transported from the target traveling route to the first state holding unit.

Further, the failure prediction determination condition is that the index regarding the number of times the transport carriage has overrun with respect to the target stop position on the travel path is equal to or greater than the first set value, and the index regarding the travel vibration of the transport carriage is the first. (Ii) The third set value is an index relating to the set value or more, and the amount of decrease in the charge amount of the power storage device with respect to the travel amount of the transport trolley when the transport trolley travels using the electric power stored in the power storage device. It is preferable that it is at least one of the following.

According to this configuration, it is possible to predict in advance a failure that occurs relatively frequently in the transport carriage, and perform maintenance work on the transport carriage before the failure occurs. Therefore, it is possible to reduce the possibility that the transport carriage will stop due to a failure, and it is possible to suppress a decrease in the operating efficiency of the article storage facility.

Further, the transport carriage has a master carriage and a slave carriage connected to the master carriage, and the travel route is separated from the first travel route on which the master carriage travels and the master carriage. At least one of the plurality of holding portions including a second traveling path on which the child carriage travels is a master carriage holding area for holding the master carriage and an area adjacent to the master carriage holding area and said to be the parent. It is preferable to include a child carriage holding area for holding the child carriage separated from the carriage.

According to this configuration, the transport carriage can transport the article along both the first travel path and the second travel path. Since the holding unit can separately hold the master carriage and the slave carriage separated from the master carriage, maintenance work can be efficiently performed on both the master carriage and the slave carriage. ..

Further, it is preferable that at least one of the plurality of the holding portions includes a holding body for holding the transport carriage and an elevating device for raising and lowering the holding body.

According to this configuration, the transport trolley transported to the holding body can be raised and lowered to a height at which maintenance work can be easily performed by the elevating device, so that maintenance work for the transport trolley can be efficiently performed.

The technique according to the present disclosure can be used for an article storage facility in which a plurality of storage transport units including storage shelves and transport carts are installed side by side in the vertical direction.

3: Stacker crane (conveyor)
6: Storage transport unit 11: Storage shelf 12: Transport trolley 12A: First state trolley 12B: Second state trolley 18: Parent trolley 19: Child trolley 50: Storage unit 50B: Second holding unit (holding unit)
50BA: First state holding part 50BB: Second state holding part 50C: Target holding part 56: Section body D: Judgment part E: Section E1: Parent trolley holding area E2: Child trolley holding area H: Control unit R: Travel route R1: First travel route R2: Second travel route S2: Second detection unit (detection unit)
W: Article Z: Vertical direction

Claims (10)

Multiple storage and transport units are installed side by side in the vertical direction,
Each of the plurality of storage and transporting units is an article storage facility including a storage shelf for storing articles and a transport trolley that travels along a traveling route and transports articles to the storage shelves.
A storage unit provided with a plurality of holding units for holding the transport trolley, a transport device for transporting the transport trolley between the plurality of traveling paths and the plurality of holding portions, and a control unit for controlling the transport trolley. Further, a determination unit for determining whether or not maintenance work is required for each of the transport carriages is provided.
The transport trolley determined by the determination unit to require maintenance work is designated as the first state trolley, and the transport trolley not determined by the determination unit to require maintenance work is designated as the second state trolley. The holding portion in which the trolley is not held is used as the first state holding portion, and the holding portion in which the second state trolley is held is used as the second state holding portion.
The control unit transports the first state trolley from the target traveling route, which is the traveling route in which the first state trolley is present, to the first state holding unit, and then holds the second state trolley in the second state. The transport device is controlled so as to transport from the unit to the target traveling route .
The transport trolley has a master trolley and a child trolley connected to the master trolley.
The traveling route includes a first traveling route on which the master trolley travels and a second traveling route on which the child trolley separated from the master trolley travels.
At least one of the plurality of holding portions is a master trolley holding area for holding the master trolley and an area adjacent to the master trolley holding area for holding the slave trolley separated from the master trolley. And with
An article storage facility in which the child carriage holding area is provided with a rail for guiding the transfer of the child carriage between the master carriage held in the master carriage holding area and the child carriage holding area. Multiple storage and transport units are installed side by side in the vertical direction,
Each of the plurality of storage and transporting units includes a storage shelf for storing articles, a transport trolley that travels along a travel path and transports articles to the storage shelf, and an operator that travels along the travel path. It is an article storage facility equipped with a work cart that can be boarded.
Between a storage portion having a plurality of holding portions and a second holding portion for holding the transport carriage and the first holding portion for holding the work vehicles, a plurality of the traveling path and a plurality of said holding portion The transport trolley and the transport trolley for transporting the work trolley, a control unit for controlling the transport trolley, and a determination unit for determining whether or not maintenance work is required for each of the transport trolleys are further provided.
The transport trolley determined by the determination unit to require maintenance work is designated as the first state trolley, and the transport trolley not determined by the determination unit to require maintenance work is designated as the second state trolley. The holding portion in which the trolley is not held is used as the first state holding portion, and the holding portion in which the second state trolley is held is used as the second state holding portion.
The control unit transports the first state trolley from the target traveling route, which is the traveling route in which the first state trolley is present, to the first state holding unit, and then holds the second state trolley in the second state. An article storage facility that controls the transport device so as to transport the vehicle from the unit to the target travel path. The article storage facility according to claim 2, wherein the storage unit includes a compartment that partitions a plurality of compartments, and the first holding portion and the second holding portion are installed in different compartments. Detector is provided for detecting the entry of a worker for each of the compartments of the multiple,
The holding unit installed in the section detected by the detection unit is used as the target holding unit.
The third aspect of claim 3, wherein the control unit does not transport the first state carriage to the target holding unit by the transport device and transport the second state carriage from the target holding unit by the transport device. Goods storage equipment. Multiple storage and transport units are installed side by side in the vertical direction,
Each of the plurality of storage and transporting units is an article storage facility including a storage shelf for storing articles and a transport trolley that travels along a traveling route and transports articles to the storage shelves.
A storage unit provided with a plurality of holding units for holding the transport trolley, a transport device for transporting the transport trolley between the plurality of traveling paths and the plurality of holding portions, and a control unit for controlling the transport trolley. Further, a determination unit for determining whether or not maintenance work is required for each of the transport carriages is provided.
The transport trolley determined by the determination unit to require maintenance work is designated as the first state trolley, and the transport trolley not determined by the determination unit to require maintenance work is designated as the second state trolley. The holding portion in which the trolley is not held is used as the first state holding portion, and the holding portion in which the second state trolley is held is used as the second state holding portion.
The control unit transports the first state trolley from the target traveling route, which is the traveling route in which the first state trolley is present, to the first state holding unit, and then holds the second state trolley in the second state. The transport device is controlled so as to transport from the unit to the target traveling route .
The determination unit determines the failure prediction of the transport trolley on the travel path, determines that the transport trolley that meets the preset failure prediction determination conditions is the first state trolley that requires maintenance work.
The failure prediction determination conditions are that the index regarding the number of times the transport carriage has overrun with respect to the target stop position on the travel path is equal to or greater than the first set value, and that the electric power stored by the transport carriage in the power storage device. An article storage facility including at least one of the third set value or less as an index relating to a decrease in the charge amount of the power storage device with respect to the travel amount of the transport carriage when traveling using the above. The storage unit includes a partition body for partitioning a plurality of compartments, and the plurality of holding portions are installed in the compartments different from each other.
A detector for detecting the intrusion of a worker into each of the plurality of sections is provided.
The holding unit installed in the section detected by the detection unit is used as the target holding unit.
Claim 1 or 5 in which the control unit does not transport the first state carriage to the target holding unit by the transport device and transport the second state carriage from the target holding unit by the transport device. Goods storage equipment described in. The determination unit performs a failure prediction determination of the transport carriage on the travel path, and determines that the transport carriage that meets the preset failure prediction determination conditions is the first state carriage that requires maintenance work. The article storage facility according to any one of 1 to 4. The failure prediction determination conditions are that the index regarding the number of times the transport carriage has overrun with respect to the target stop position on the travel path is equal to or greater than the first set value, and the index regarding the travel vibration of the transport carriage is second set. The index relating to the value or more and the amount of decrease in the charge amount of the power storage device with respect to the travel amount of the transport trolley when the transport trolley travels using the electric power stored in the power storage device is the third set value or less. The article storage facility according to claim 7 , which is at least one of the above. The transport trolley has a master trolley and a child trolley connected to the master trolley.
The traveling route includes a first traveling route on which the master trolley travels and a second traveling route on which the child trolley separated from the master trolley travels.
At least one of the plurality of holding portions is a master trolley holding area for holding the master trolley and an area adjacent to the master trolley holding area for holding the slave trolley separated from the master trolley. The article storage facility according to any one of claims 2 to 5, further comprising. The article storage facility according to any one of claims 1 to 9 , wherein at least one of the plurality of holding portions includes a holding body for holding the transport carriage and an elevating device for raising and lowering the holding body. ..

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