JPH0485202A - Automatic warehouse - Google Patents

Abstract

PURPOSE:To raise efficiency of container loading and unloading operations by depositing container in a rack provided along each travelling passage of a multistage composition using a flatcar elevator, and by employing and allocating a large number of flatcars which are for picking out deposited containers and which are to be arranged to self-propeller in one direction. CONSTITUTION:An elevator 5 lifts up a flatcar 21 to a travelling passage 4 of a rack 2 where a container 3 is to be deposited and once stops. A gangboard 41 of the travelling passage 4 is laid down and the flatcar 21 self-propellers over the travelling passage 4 from the left side to the right side by virtue of its built-in DC motor. While self-propellering, the flatcar 21 counts the number of racks 2 its passes and finally specifies and stops at the rack 2 where the container 3 is to be deposited. When a sprocket 61a, 61b is turned anticlockwise successively to the state of having the container 3 held above a dog 63, the dog 63 gets in between the openings at the bottom of the rack 2 and, simultaneously, the container 3 also gets into the rack 2.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention stores containers for storing and transporting goods individually on a plurality of shelves provided vertically and horizontally, and then takes them out to a loading and unloading work position of the containers. This invention relates to an automated warehouse configured to transport.

[Prior Art] Some automatic warehouses are configured so that articles can be stored in one of a plurality of fixed shelves arranged vertically and horizontally, and taken out as needed. In this type of automated warehouse,
Storing and unloading of articles, in other words, loading and unloading of articles, was carried out using a stacker crane that moved vertically and laterally.

However, stacker cranes are large and heavy, and the energy required to drive the stacker crane is large compared to the amount of work required to load and unload articles, resulting in poor energy efficiency.

Furthermore, since the stacker crane is heavy, high-speed operation and high-cycle operation are difficult, resulting in poor work efficiency. Moreover, the stacker crane can basically only be used for loading and unloading work, and some stacker cranes are equipped with two forks, but even with this configuration, only two items can be loaded and unloaded in one operation. I can only put in and take out.

If a large number of articles are to be taken in and out at once using large pallets as in the past, an automated warehouse using a stacker crane may be used. However, in recent years, there has been a trend toward high-mix, low-volume production, and when taking into account the import, storage, and removal of small-sized items of other types, automated warehouses with the above structure have reduced the throughput at one time and are unable to process at high speed. becomes impossible.

Therefore, in order to increase the processing capacity, rails (traveling paths) for the trolleys to run on each of the multi-tiered fences (storage sheds) are provided, and the trolleys that run on these rails are arranged to store the goods to be stored. An automated warehouse has been proposed in which items are transported to each trolley using an elevator. An example of this type of automated warehouse is also disclosed in Japanese Utility Model Application No. 64-21110. However, according to the inventor's studies, it has become clear that the automated warehouse with the above structure has problems that should be further improved.

[Problem to be solved by the invention] In other words, one cart is arranged for one shelf for storing articles, so when processing instructions are concentrated on a certain shelf,
The overall processing capacity is determined by the processing capacity of that section for carrying in and out of articles, making it difficult to process other shelves and reducing the overall processing capacity.

- Since only one trolley is placed for each shelf,
If either the retrieval command or the storage command is skewed (this is likely to be the case depending on the time of day), the bogie will always travel one way to the elevator in an empty state, and the running speed of the bogie will be reduced. Even if you went faster, there was a limit, and there was a limit to how far you could shorten this free running time.

- If the number of tanks in a stage is increased, the travel time of the trolley (half of the tank is empty) becomes longer and the processing capacity is reduced, so there is a limit to the increase in the number of species.

In addition, in such conventional automated warehouses, the elevator has a structure that raises and lowers the platform, so either the elevator is empty when it is going up or when it is going down, making it impossible to increase the throughput.

The present invention solves the above-mentioned problems, and its purpose is to store articles of other types and small quantities in fences with high efficiency.
That is, the object of the present invention is to provide an automatic warehouse for carrying in and taking out goods, and a method for carrying in and out of articles using this automatic warehouse.

[Means for Solving the Problems] The object of the present invention is to provide a multi-stage trolley running path on which a large number of self-propelled trolleys for loading and unloading containers for storing and transporting articles travel only in a fixed direction; a plurality of container storage shelves disposed along the trolley running path provided in the trolley and capable of transporting the containers in and out in a lateral direction with respect to the transportation direction of the trolley by the self-propelled trolley; A bogie lifter that is provided with a plurality of pedestals capable of holding the self-propelled bogies at intervals corresponding to the spacing between the upper and lower tiers of the bogie running path, and is capable of simultaneously distributing a plurality of the self-propelled bogies on the running path, and the bogies. The lift machine is a cart that is equipped with a plurality of bases that hold the self-propelled carts at intervals that match the vertical spacing of the cart running path on the opposite side of the cart transport path, and is capable of simultaneously withdrawing a plurality of the self-propelled carts. A lowering machine, the bogie lowering machine, and the bogie raising machine are connected at the lowest position, and the self-propelled bogie discharged from the bogie lowering machine is transported to the bogie rising machine while supplying self-propelled energy. and a standby trolley running path that constitutes a loading and unloading position for the container, and a large number of the self-propelled trolleys are provided on the bogie running path and are configured to run only in one direction. Achieved by warehouse.

That is, according to the automatic warehouse of the present invention configured as described above, a self-propelled trolley that carries a container into a desired shelf or a self-propelled trolley that carries out a container from a desired shelf is moved to a shelf to which the trolley should go. A large number of bogies can be arranged continuously or simultaneously on a running path for bogies provided along the fence (the same level of fences may be used). While traveling, each traveling trolley temporarily stops at a position corresponding to the desired fence, performs a predetermined task such as storing or placing the container on a shelf, and then moves to the trolley lowering machine by itself. The descending machine transports the containers one after another to the track where they are loaded and unloaded.

Therefore, the self-propelled trolley can perform the specified work without reciprocating on the bogie running path, and it is possible to run a plurality of self-propelled trolleys in a chain on one bogie running path. It is no longer necessary to wait for the cart to reciprocate over a certain section, and the storage and unloading operations can be performed simultaneously on a plurality of travel routes, so the efficiency of loading and unloading containers can be greatly improved.

[Embodiment] Hereinafter, an embodiment of an automated warehouse to which the present invention is applied will be described with reference to the drawings. In addition, in explaining the example, the first
The overall structure of the automatic warehouse will be explained with reference to FIGS. 4 to 4, and then the detailed structure and the method of loading and unloading articles will be sequentially explained. Note that Figure 1 is a perspective view of the automated warehouse, and Figure 2 is a perspective view of the automated warehouse.
The figure is a side view of the automated warehouse, FIG. 3 is a plan view of a desired tier of the automated warehouse, and FIG. 4 is a plan view of the lowest tier of the automated warehouse.

In the automated warehouse 1, reference numeral 2 denotes a large number of shelves serving as storage units, and containers 3 containing articles are stored at 112, as shown in FIGS. 1 and 2 as appropriate. In this embodiment, the rows of shelves 2 are provided in an eight-tier stacked structure, and the front surface of each column 2, in other words, the front surface of the opening for storing (carrying in) and taking out containers 3. A bogie running path 4 (hereinafter simply referred to as a running path) is provided.

In this embodiment, a lifting machine 5 for distributing a bogie 21 (to be described later) onto the running path 4 is provided at one end of the running path 4, for example, on the left end side in each figure, and a hoist 5 is provided at the other end of the running path 4, for example, on the right end side. A descending machine 6 is provided for withdrawing. Although a part of the running path 4 is shown in FIG. 1 for convenience of illustration, in reality, as shown in FIG.
It is designed to bridge the gap. Further, the ascending machine 5 and the descending machine 6 may be installed in opposite positions. The configurations of the traveling path 4, the ascending machine 5, and the descending machine 6 will be explained in detail later with reference to the drawings.

By the way, at the bottom of the automated warehouse 1, there is a waiting trolley running path 7 (hereinafter simply a running path 7), which is configured so that it does not face the shelves 2, except in FIG. )
is provided. This traveling path 7 is provided for a purpose different from that of the traveling path 4, and is used to charge the battery of the self-propelled cart 21, which will be described later, and also to provide a location for loading and unloading containers by hand or machinery. Running trolley 2
1 standby position.

Next, column 2, traveling path 4, and cart 21 will be explained with reference to FIGS. 5 to 7.

As shown in FIGS. 5 and 6, the shelf 2 and the running path 4 are
It is positioned with a step of height H. This height H
is set by the structure of the fence 2 and the trolley 21, and has an important meaning as will be explained later in the storing and taking out operations of the container 3, but the structure will only be explained here.

That is, the running path 4 has a pair of power idle rails lla.

11b is provided, and is configured to guide and run the trolley 21 shown in FIGS. 6 and 7. Trolley 2
1 is configured to be self-propelled by a motor powered by a rechargeable battery. Outside the cart 21, there is a working section that protrudes from the lower part of the shelf 2 and stores and takes out the containers 3 on the fence 2. 22a, 22b, a fixing part 23 for positioning the container 3 in the front-rear direction during transportation, and a rail l.
Four wheels 24, etc. corresponding to la and llb are provided. In addition, when the shelf 2 is provided only on one side of the running path 4 as in this embodiment, the working part 22a side is used, so the following explanation will explain storage and retrieval by the working part 22a side. . The height H is set to a height at which the working parts 22a and 22b can run on the running path 4 in a state of protruding from the lower part of the canopy 2, and at which the container 3 can be stored and taken out with respect to the predetermined fence 2. It is set.

Next, the structures of the ascending machine 5 and the descending machine 6 will be explained with reference to FIGS. 8 to 11.

Since the ascending machine 5 and the descending machine 6 basically have the same structure, the structure of the ascending machine 5 will be explained.

In this lift 5, a pair of facing chains 31a, 31b are hooked between gears 32a, 32b which are biased to rotate in the direction of arrow A. And a pair of chains 31a,
31b is provided with pedestals 33 on which the carts 21 are placed at intervals corresponding to the heights of the respective running paths 4 and 7. Since the pair of chains 31a and 31b are driven at high speed, the cart 21 placed on the lowest pedestal 33 from the running path 7 rises at high speed to the desired position on the running path 4, and the pedestal 33 moves along the running path. It is stopped at the position where it connects to 4.

The height h between each pedestal 33 and the height h between the running paths 4.7 of each stage are made the same as described above, and the stopping position of the pedestal 33 is controlled. However, a slight positional deviation may occur between the pedestal 33 and the travel path 4 when the vehicle is stopped. Therefore, in this embodiment, in order to allow the positional shift, a gangplank 41 is provided on the running path 4, and the trolley 21 is moved to the base 33.
In addition, a spanning plate 42 is provided on the running path 7 so that the trolley 21 can smoothly move from the running path 7 to the pedestal 33.

That is, at one end of each running path 4, a rotary plunger 44 is provided.
When the gangplank 41 is attached and each pedestal 33 is positioned and controlled so as to communicate with each running path 4 and stopped,
The gang plate 41 corresponding to the pedestal 33 on which the truck 21 is placed is rotated by the rotary plunger 43 as shown in FIG. As a result, a bridge is temporarily built between the pedestal 33 on which the truck 21 is to be moved and the running path 4, and the truck 21 can be moved smoothly. At this time, regardless of the presence or absence of the trolley 21, the other gangplank 4
However, from the viewpoint of power saving etc., the pedestal 3 on which the trolley 21 is not placed is shown in FIG. 10.
As for No. 3, no bridging is done.

In addition, the gangplank 42 provided on the running path 7 collapses in the running direction due to its own weight applied by the self-propelled truck 21, and
After crossing, it is configured to be pulled back to its original position by a spring 44.

Therefore, even if there is a vertical positional deviation between each pedestal 33 and each running path 4.7, the carriage 21 can be smoothly moved from the running path 7 to the pedestal 33, and from the pedestal 33 to each running path. The move to 4 will also be carried out smoothly.

Here, referring to the descending machine 6, as mentioned above, it basically has the same structure as the ascending machine 5, and the only difference is that the movement direction of the pedestal 33 is from top to bottom. and,
A gangplank is provided between each running path 4 and the pedestal 33, but in this embodiment, the trolley 21 is set to run from the left to the right, so the running path 4 is explained with reference to FIG. 11. Provide a gangplank that is the same as the gangplank 42 of the structure,
If the same connecting board as the connecting board 41 described in FIGS. 9 and 10 is provided for the running path 7, the movement of the cart 21 between each rail and the descending machine 6 will be facilitated.

Next, storing and taking out articles in the automated warehouse 1 will be explained. The articles to be stored are stored in a container 3 made of plastic or the like and having a predetermined size. The loading operation is carried out in the left area A of the running route 7, and the loading operation is extremely simple and requires only placing the container 3 between the fixed parts 23 of the trolley 21 placed on the running route 7. It is done efficiently.

What should be noted here is that while the truck 21 is on the running path 7, the battery provided in the truck 21 is charged by a power supply line (not shown). Then, the cart 21 loaded with the container 3 travels to the left (FIGS. 1, 2, and 4) along a pair of guide rails (not shown) provided on the running path 7, and Gangplank 4 explained in Figure 11
2 and rides on the pedestal 33 of the lifter 5 and stops.

At this time, the destination of the cart 21, in other words, the designation of the shelf 2 in which the container 3 is stored, is stored in a control device provided within the cart 21, for example. Furthermore, stopping when the robot runs on the pedestal 33 can be appropriately performed using a sensor (not shown).

When it is confirmed that the cart 21 is positioned on the pedestal 33, it is lifted upward by the lifter 5. However, when lifting multiple carts 21 at the same time, the carts 21 are paused every time the carts 21 are raised, and then the carts 21 are lifted up. 21 are loaded one after another onto the pedestal 33. In order to determine whether continuous loading is carried out on the lift machine 5 or not, for example, an appropriate sensor detects whether or not the carts 21 are lined up in a row on the running path 7 immediately in front of the lift machine 5. It can be configured to make decisions based on

Hereinafter, the storage of the container 3 by the truck 21 will be explained. The lifter 5 lifts the truck 21 to the running path 4 in the column 2 where the container 3 is to be stored, and then stops at the point -1. The method of selecting the shelf 2 where the container 3 is to be stored is, for example, by changing the bar code display of the container depending on the storage stage, and installing an optical sensor that can read this display at the lowest stage of the lift 5. , determine the distance to be lifted by reading the display when the container 3 gets on the lifter 5;
Alternatively, optical sensors can be installed at appropriate locations on the frame of the lift 5, corresponding to the heights of each stage.Of course, taking into account the time difference between when the sensor detects the display section and when the lift [15] stops, , installed in a position where it can be detected before the trolley 21 rises to the stop position).
can be appropriately stopped at a desired position. Next, the ninth
As described with reference to the figure, the gangplank 41 of the running path 4 is brought down, and the truck 21 is driven by the built-in DC motor from the left side to the right side on the running path 4. During this traveling, the trolley 21 counts the number of passing rows 2, finally identifies the shelf 2 on which the container 3 is to be stored, and stops.

Here, the counting function of the trolley 21 will be explained. A mirror dog 51 as shown in FIG. 12 is attached to the front surface of each 1I12, for example, at position X shown in FIG. The mirror dog 51 is provided with two reflective mirrors 52 and 53 having different lengths in the running direction of the truck 21. Two mirror reflection type photoelectric switches 54 and 55 are provided at positions facing the mirror dog 51 of the truck 21, as illustrated in FIG. The working part 22a of the running trolley 21 comes to sneak into the lower part of the column 2, but the positions where the photoelectric switches 54 and 55 are provided maintain the height facing the mirror dog 51. Therefore, trolley 2
1, the photoelectric switch 54.55 counts the reflection mirror 52.53. During this time, a timer is set for each dog 51 to prevent counting errors. The motor stops when a preset count is performed, but when stopping, first the power supply voltage of the motor is lowered corresponding to the reflection mirror 52 to decelerate the motor, and then the reflection mirror 52
3 is detected and stopped. By decelerating and stopping in this way, it is possible to reduce the deviation of the stop position due to inertia.

In this way, the cart 21 stops in front of the set shelf 2. However, at this point, the container 3 is loaded between the fixing parts 23 as shown in FIG.

Following this state, container 3 is placed on set shelf 2.
This storage operation will be explained with reference to FIGS. 13 to 15.

The working parts 22a and 22b include a pair of sprockets 61a,
The rack passes two chains (not shown) to 61b, and the dog 6 holds the container 3 between the chains with a predetermined friction.
3. The surface of the dog 63 is baked with urethane or the like. And working parts 22a, 22
Width w1 of b More specifically, the width of the dog 63 is set smaller than the width W of the lower opening of column 2. The top surface of the dog 63 is set to be slightly higher than the top surface S of the column 2, as shown in FIGS. It is set to be slightly smaller than the diameter of the container 3 so that it can be free.

Therefore, when the sprockets 61a and 61b are rotated counterclockwise after the container 3 is held on the dog 63 as shown in FIG. 6, the dog 63 is moved to the shelf 2 as shown in FIG. The container 3 enters between the lower openings, and at the same time, the container 3 also enters into the shelf 2. By continuing this operation, the dog 63 gradually moves downward and the container 3 is pushed into the shelf 2, as shown in FIG.
When the dog 63 is fully pushed in as shown in Figure 15,
moves to the lower surface of the working section 22. The dog 63 is higher than the upper surface S of column 2, but the other surfaces of the working part 22 are lower than the upper surface S. Therefore, after the container 3 is pushed into the shelf 2 and stored, the working part 22a does not come into contact with the shelf 2, and the trolley 21 becomes movable again. However, the position of the dog 63 is different from when the container 3 was loaded, and is located directly below the initial position.

The trolley 21 that stores the container 3 in this way is
Continue traveling toward the descending machine 6 (in the direction of arrow C). During this time, it is also possible to take out the container 3 from another shelf 2, but if this is not done, the spanning board provided on the running path 4 is pushed down by its own weight, and the container 3 is placed on the pedestal in the descending machine 6 by self-propelled. Get on board. Following the removal of the truck 21, the descending machine 6 performs a descending operation and stops at a position communicating with the travel path 7. The trolley 21 moves on the traveling path 7, and is in a standby state while being charged again if necessary.

Next, the operation of taking out the container 3 will be explained.

In this case, the truck 21 is placed in the elevator 5 in an empty state, but the dog 63 is located directly below the position shown in FIG. Lifting onto the travel path 4 by the lifter 5 and counting by the mirror dog 51 are performed in the same manner as in the case of storage. Then, the shelf 2 from which the container 3 is to be taken out is specified, the running is stopped, and the sprockets 61a and 61b are subsequently rotated clockwise.

The following explanation will be given with reference to FIGS. 13 to 15. By rotating the sprockets 61a and 61b clockwise, the dog 63 moves from the position directly below to the vicinity of the sprocket 61a as shown in FIG. . By continuing to drive the dog 63, the leading part of the dog 63 moves into the container 6.
3 and then pushes up the container 63 from below. Since the surface of the dog 63 is formed to have a high *S, the container 3 can be pulled up onto the dog 63 following the push-up, and finally taken out onto the dog 63 as shown in FIG. become a state.

At this point, although the working part 22a is located under the column 2, nothing comes into contact with the shelf 2, and the cart 2 can travel again. Thereafter, the withdrawal of the trolley 21 by the descending machine 6 and the self-propulsion to the traveling path 7 are performed in the same manner as described above. And trolley 2
The container 3 taken out by 1 is at the loading/unloading position B.
It is unloaded from the trolley 21 and transported to position A while being charged again in preparation for the next operation as needed.

The running path 7 serves as a receiving/shipping station, the charging function, and also as a standby position for the cart 21 (outside of the positions A and B).

In this way, since the negative travel path 7 can be used for loading and unloading the containers 3, work efficiency can be greatly improved.

Since it has a relatively long waiting area, it is possible, for example, to have three carts waiting in front of the lift machine 5, and to sequentially load the previous carts onto the lift machine 5. Moreover, the cart 21 discharged from the descender 6 can also be kept on standby according to the progress of the work, making it easier to improve work efficiency and adjust the work.

The configuration of the automated warehouse 1 and the storage and retrieval work of the containers 3 have been explained above, but the work is not performed only by one trolley 21, but by distributing the trolleys 21 to each traveling path 4. , can be performed for each truck 21 at the same time. Furthermore, storage and removal of containers 3 for different columns 2 can be performed in parallel.

When storing containers 3 on a plurality of shelves 2 at the same time, carts 21 corresponding to the number of types desired to be stored are sent to the elevator 5 in order from the upper stage. In this embodiment, since the Enoki 2 is provided in 8 stages, if a maximum of 8 carts 21 are sent to the lift machine 5 in sequence, the 8 carts 21 can simultaneously move on the traveling path 4. Thus, each cart 21 performs the positioning and storage with respect to a preset shelf 2.

The same applies to taking out the container 3, and a maximum of eight carts 21 can be stored in the descending machine 6.

Although one embodiment of the present invention has been described above, the overall structure of the automated warehouse 1 is not limited to the above structure.

For example, as shown in FIG. 16, it is possible to have a structure in which fences 2 are provided on both sides of the - running path 4. In this configuration, since the working parts 22a and 22b of the cart 21 are provided on both sides as shown in FIG. 7, containers 3 can be stored and taken out from the shelves 2 on both sides in the same manner as described above. In FIG. 16, for example, each traveling path 4 is configured so that a trolley 21 can travel from the front to the back, and columns 2 are provided on both sides of the traveling path 4 so as to face each other. The running path 4 shown in this embodiment is made up of a pair of L-shaped members fixed so as to protrude from the reinforcing member 71 of the shelf 2. 2a,? 2b
It has an extremely simple structure that does not require a special frame or mount for the running road, making it possible to significantly reduce costs.

In addition to the above structure, a structure using a reinforcing member 73 is also possible, as shown in the third running path 4 from the top. Also,
A passage may be formed by expanded metal 74 on the surface of the running path 4. In the automated warehouse l having such a configuration, the left and right shelves 2 can be connected at appropriate positions by the reinforcing members 73, so that the strength can be improved, and the earthquake resistance can be improved. In addition, by extending expanded metal 74 every several stages to form a passageway, shelf management and warehouse maintenance become easier.

[Effects of the Invention] As explained above, the automatic warehouse according to the present invention stores containers on shelves provided along each traveling route using a bogie lifter for each of the traveling routes configured in multiple stages. Alternatively, a large number of carts are used to take out the stored containers, and the structure is configured so that the carts are self-propelled in one direction. This eliminates the need for the carts to waste time traveling to a designated column and returning. In addition, it is possible to use the lowermost running path as a loading/unloading station for containers, and to place multiple carts on the rails corresponding to predetermined shelves, either consecutively or in some cases simultaneously. Not only is there no need to go back and forth on the running path, containers can be carried in and out of each stage at the same time, and it is also possible to run multiple self-propelled trolleys in a row on a single bogie running track. This greatly improves the efficiency of container loading and unloading operations.

[Brief explanation of the drawing]

Figures 1 to 15 illustrate an embodiment of an automatic warehouse to which the present invention is applied, and the storage and retrieval of articles. Figure 1 is a perspective view of the automatic warehouse, and Figure 2 is a side view of the automatic warehouse. Figure 3 is a plan view of the desired stage of the automated warehouse, Figure 4 is a plan view of the lowest stage of the automated warehouse, Figure 5 is a perspective view of the main part of the running route, and Figure 6 is the main part of the running route. Figure 7 is a perspective view of the truck, Figure 8 is a structural diagram of the lift, Figures 9 to 11 are explanatory diagrams showing alignment between the pedestal and the running path, Figure 12 is position detection FIGS. 13 to 15 are explanatory diagrams showing storage and retrieval of containers, and FIG. 16 is a sectional view showing another example of an automated warehouse. Reference numeral 1 in the figure... Automatic warehouse 2... Fence 3... Container 4.7... Running path 5... Ascending machine 6... Descending machine 11a, llb... Guide rail 21. ...Dolly 22a, 22b...Working part 23...Fixed part 24...Wheel 33...Pedestal 63...Dog A, B...Incoming/shipping station. 5 7 Figure 9 Figure 8 / Figure 12 ■-゛5～-1 Figure 14 Figure 15

Claims (1)

[Claims] (1) A multi-stage trolley running path for moving a large number of self-propelled trolleys for transporting and unloading containers for storing and transporting goods in only one direction, and a multi-stage trolley running path arranged along the a plurality of container storage shelves capable of transporting the containers in and out in a lateral direction with respect to the conveyance direction of the cart by a self-propelled cart; and a plurality of container storage shelves provided at one end of the container storage racks, the space matching the interval between the upper and lower stages of the cart running path. a bogie lifting machine that is equipped with a plurality of pedestals that can hold the self-propelled bogies at intervals and can simultaneously deploy a plurality of the self-propelled bogies on a running road; A bogie lowering machine that is equipped with a plurality of pedestals that hold the self-propelled bogies at intervals that correspond to the vertical spacing of the bogie running path and is capable of withdrawing a plurality of self-propelled bogies at the same time; the bogie lowering machine and the bogie rising machine; is connected at the lowest position, supplies self-propelled energy to the self-propelled cart discharged from the cart lowering machine and transports it to the cart lifter, and also serves as a loading and unloading position for the container. What is claimed is: 1. An automated warehouse comprising a truck running path, wherein a large number of said self-propelled carts are provided on said truck running path and configured to run only in one direction.