WO2019021708A1

WO2019021708A1 - Automated warehouse system and automated warehouse system control method

Info

Publication number: WO2019021708A1
Application number: PCT/JP2018/023794
Authority: WO
Inventors: 椿　達雄
Original assignee: 村田機械株式会社
Priority date: 2017-07-24
Filing date: 2018-06-22
Publication date: 2019-01-31
Also published as: JPWO2019021708A1; TWI745604B; JP6809612B2; TW201908225A

Abstract

[Problem] To be able to suppress a decrease in the number of articles in stock and to prevent deterioration of space efficiency inside a factory building while allowing a ceiling carrier to be driven into an automated warehouse. [Solution] This automated warehouse system 100 comprises: a ceiling carrier 10 that is configured such that a lift drive unit 17 can move laterally with respect to a main unit 12; and an automated warehouse 20 that is disposed on the side of the ceiling carrier 10 travel route; wherein the automated warehouse system 100 comprises an in-storeroom traveling rail 30 constituting an alternative path for the ceiling carrier 10 in an upper portion of a crane route 25 in the automated warehouse 20.

Description

Automatic warehouse system and control method of automatic warehouse system

The present invention relates to an automatic warehouse system and a control method of the automatic warehouse system.

2. Description of the Related Art In a semiconductor manufacturing plant or the like, an automatic warehouse system is used which stores articles such as a FOUP for containing a semiconductor wafer or a reticle Pod for containing a reticle. The automatic warehouse system includes an overhead carriage traveling on a track laid on a ceiling, and an automatic warehouse disposed to the side of a traveling route of the ceiling carriage, and is for transferring articles in the automatic warehouse. The crane is arrange | positioned (for example, refer patent document 1). In the automatic warehouse system described in Patent Document 1, a crane travels in the automatic warehouse along a lower rail disposed on a floor surface, and articles are placed on a plurality of shelves disposed on the side in the traveling direction. To deliver In addition, the overhead transport vehicle can be loaded on the shelf of the automatic warehouse along the rails disposed on the ceiling, and directly delivers articles between the top of the shelf.

Patent No. 3669057 gazette

The automatic warehouse system described in Patent Document 1 enables loading of a ceiling carriage into the automatic warehouse and avoids interference between the crane and the ceiling carriage, but the ceiling of the shelf is ceilinged. In order for the transport vehicle to travel, it was necessary to lower the shelf by that amount. As a result, the number of stored items in the automated warehouse has been reduced. In addition, when the overhead transport vehicle travels above the shelf, the overhead transport vehicle above the shelf does not interfere with the overhead transport vehicle traveling on a main road (rail) disposed to the side of the shelf. The trunk line must be placed at a distance from the shelf (automatic warehouse). For this reason, the space for arrange | positioning a trunk line may become large and the space efficiency of a factory building interior may be deteriorated.

The present invention makes it possible to control the reduction of the number of articles stored while enabling the loading of a ceiling carriage into an automatic warehouse, and also capable of preventing the deterioration of space efficiency in a factory building. An object of the present invention is to provide a control method of a warehouse system and an automatic warehouse system.

An automatic warehouse system according to the present invention includes an overhead transportation vehicle in which an elevating drive unit is provided so as to be movable laterally with respect to a main body, and an automatic warehouse disposed laterally of a traveling route of the ceiling transportation vehicle. An automatic storage system includes an in-storage traveling rail on which an overhead transport vehicle can be inserted above a crane passage of the automatic storage.

In addition, the intra-compartment traveling rail may also be used as a traveling rail of a crane of an automatic warehouse. In addition, the automated warehouse may have an area where the overhead transport vehicle can enter and an area where the overhead transport vehicle can not enter, and may be provided with an entrance for storing articles dedicated to cranes in the area where the overhead transport vehicle can not enter. In addition, the traveling route of the overhead transportation vehicle may include a trunk line passing the side of the automatic warehouse and a branch line branched from the trunk line and connected to the storage rail in the storage area. In addition, the branch line has a branch line for entering the overhead transportation carriage into the storage rail by branching from the trunk line, and a return branch wire for branching the overhead transportation carriage from the storage rail for storage into the storage rail and returning to the trunk line. You may

Further, the branch line may be connected to the in-house traveling rail across the end in the direction along the trunk line of the crane passage of the automatic warehouse. In addition, the branch line may have a standby position where the overhead transportation vehicle can stand by at a position not interfering with the overhead transportation vehicle traveling on the main line and the crane traveling on the crane path. In addition, the overhead transportation vehicle has a transportation vehicle control unit that regulates the entrance to the storage traveling rail when the crane is present below the storage traveling rail, and the automatic warehouse is configured to carry the ceiling transportation vehicle on the storage traveling rail There may be a warehouse control which restricts the crane from entering below the in-house travel rails when there is a.

According to the control method of an automatic warehouse system according to the present invention, an overhead transportation vehicle in which a lift drive unit is provided so as to be movable laterally with respect to a main body, and an automatic warehouse located laterally of a traveling route of the overhead transportation vehicle. A control method of the automatic warehouse system, and when the overhead transportation vehicle gets into the in-house traveling rail provided above the crane passage of the automatic warehouse, a crane of the automatic warehouse is below the in-chamber traveling rail. It restricts entry, and when a crane exists below the traveling rail in the storage, regulates that the overhead transportation vehicle gets into the traveling rail in the storage.

According to the automatic warehouse system and the control method of the automatic warehouse system according to the present invention, the overhead conveyance vehicle can be located above the shelf by using the space used as the crane passage of the automatic warehouse also as the passage of the overhead conveyance vehicle. The reduction in the number of stored articles can be suppressed as compared to the case of moving. In addition, since the overhead transportation vehicle enters the in-storage traveling rail disposed in the crane passage, there is no need to arrange the trunk line away from the automatic warehouse, preventing an increase in space for arranging the trunk line. , You can avoid the deterioration of space efficiency inside the factory building.

In addition, when the inside traveling rail is also used as a traveling rail of a crane of an automatic warehouse, the structure can be simplified and the installation cost can be reduced. In addition, when the automatic warehouse has an area where the overhead transportation vehicle can enter and an area where the overhead transportation vehicle can not enter, the overhead transportation vehicle is provided with an entrance and exit for articles dedicated to cranes in the area where the overhead transportation vehicle can not enter. Even when existing in the storage rails, the operation of the crane can be permitted in the area where the overhead transport vehicle can not enter, and the delivery efficiency of articles can be improved by delivering articles using the crane dedicated entry and exit port It can be done. In addition, when the traveling route of the overhead transportation vehicle includes a trunk line passing the side of the automatic warehouse and a branch line branched from the trunk line and connected to the traveling rail inside the storage space, the overhead transportation vehicle is By entering the branch line, it is possible to easily enter the storage rail. In addition, the branch line has an entrance branch line for branching the overhead transportation vehicle into the storage rail by branching from the trunk line, and a return branch line for the ceiling transportation carriage to branch from the storage rail for storage and return to the trunk line. In this case, since the branch line entering the storage rail and the branch line returning to the trunk line are distinguished, the overhead transportation vehicle entering the storage rail can be smoothly returned to the trunk line.

In addition, when the branch line is connected to the in-house traveling rail across the end in the direction along the trunk line of the crane passage of the automatic warehouse, the space required for arranging the branch line in the shelf is reduced. be able to. If the overhead transport vehicle has a standby position where the overhead transport carriage can stand by at a position where the branch line does not interfere with the overhead transport carriage traveling on the trunk line and the crane traveling on the crane path, When it is not necessary to enter immediately, and when the overhead carriage can not immediately return to the main line, it is possible to prevent other overhead carriages and cranes traveling on the main line from interfering with the travel as needed. It is possible to stand by at the branch line, and it is possible to suppress the reduction of the transport efficiency. In addition, the overhead transportation vehicle has a transportation vehicle control unit that regulates entry into the storage traveling rail when there is a crane below the storage traveling rail, and the automatic warehouse is a ceiling transportation vehicle on the storage traveling rail In the case where there is a warehouse control unit that restricts the approach of the crane below the traveling rail in the case where there is a, the interference between the crane and the overhead transportation vehicle can be suppressed.

It is a perspective view showing an example of the automatic warehouse system concerning this embodiment. It is a top view which shows typically an example of the automatic warehouse system concerning this embodiment. It is a side view showing typically an example of the automatic warehouse system concerning this embodiment. It is a figure which shows an example of the overhead conveyance vehicle in an automatic warehouse. It is a figure which shows an example of the crane in an automatic warehouse. It is a flowchart which shows an example of the control method of the automatic warehouse system which concerns on this embodiment, (A) shows operation | movement of a ceiling conveyance vehicle, (B) has shown operation | movement of an automatic warehouse. It is a figure which shows the one aspect | mode of operation | movement of an automatic warehouse system, (A) is operation | movement of a ceiling conveyance, (B) has shown the operation | movement of the crane of an automatic warehouse. (A) And (B) is a figure which shows typically the structure of the automatic warehouse system which concerns on another example. (A) And (B) is a figure which shows typically the structure of the automatic warehouse system which concerns on another example. (A) And (B) is a figure which shows typically the structure of the automatic warehouse system which concerns on another example. It is a figure which shows typically the standby position of a ceiling conveyance vehicle.

Hereinafter, embodiments will be described with reference to the drawings. In each of the following drawings, directions in the drawings will be described using an XYZ coordinate system. In this XYZ coordinate system, the vertical direction is taken as the Z direction, and the horizontal direction is taken as the X direction and the Y direction. The X direction is, for example, the traveling direction of an overhead transportation vehicle and a crane, which will be described later, and the Y direction is, for example, the transfer direction of the overhead transportation vehicle and the crane, which will be described later. In each of the X, Y, and Z directions, the same side as the arrow is appropriately referred to as the + side (eg, + X side), and the opposite side is referred to as the −X side (eg, −X side).

FIG. 1 is a perspective view schematically showing an example of an automatic warehouse system 100 according to the present embodiment. FIG. 2 is a plan view of the automatic warehouse system 100. As shown in FIG. FIG. 3 is a side view of the automated warehouse system 100. 2 and 3 are simplified with respect to FIG. As shown in FIGS. 1 to 3, the automatic warehouse system 100 is installed, for example, in a building such as a semiconductor manufacturing factory, and stores an article M such as a FOUP accommodating a semiconductor wafer or a reticle Pod accommodating a reticle. Here, an example in which the article M is a FOUP will be described, but the article M may be other than the FOUP. The automatic warehouse system 100 is also applicable to facilities other than the semiconductor manufacturing field, and the article M may be various articles handled by the facility in which the automatic warehouse system 100 is installed. The automated warehouse system 100 includes an overhead transportation vehicle 10, an automated warehouse 20, and an intra-chamber traveling rail 30.

FIG. 4 is a view showing an example of the overhead conveyance vehicle 10 in the automated warehouse 20. As shown in FIG. The overhead conveyance vehicle 10 includes, as shown in FIG. 4, a traveling unit 11, a main unit 12, a transfer unit 13, and a conveyance vehicle control unit 14. The traveling unit 11 travels along a track R, which is a traveling route of the overhead transport vehicle 10. The track R is suspended from the ceiling C of the building. The traveling unit 11 travels on the track R by a driving device such as an electric motor or a linear motor. The traveling and stopping of the traveling unit 11 are controlled by the carrier control unit 14.

The track R has a trunk line R1 and a branch line R2 as shown in FIGS. 1 to 3. The trunk line R1 extends along the X direction along the side (+ Y side) of the automatic warehouse 20. In FIG. 1, in order to facilitate understanding of the positional relationship inside the automatic warehouse 20, a part of the trunk line R1 is shown in a disconnected state. The branch line R2 is disposed branched from the trunk line R1 and is connected to the inside traveling rail 30 described later. With this configuration, the overhead conveyance vehicle 10 can easily enter the storage rail 30 by entering the branch line R2 from the trunk line R1.

The branch line R2 has an entry branch line R2a and a return branch line R2b. The entry branch line R2a is an entry route for the overhead transport vehicle 30 to enter the storage rail 30 by branching from the trunk line R1. The return branch line R2b is a return route for the overhead transport vehicle 10 to branch from the storage rail 30 and return to the trunk line R1. As described above, since the branch line (R2a) in which the overhead transport vehicle 10 enters the inside traveling rail 30 and the branch line (R2b) in which the overhead transport vehicle 10 returns to the trunk line R1 are distinguished, traveling in the storage by the overhead conveyance vehicle 10 Entry to the rail 30 and return to the trunk line R1 can be smoothly performed by traveling in one direction.

The entry branch line R2a is connected to the storage rail 30 across the end 25a on the -X side of the crane passage 25 of the automatic warehouse 20 described later. The return branch line R2b is connected to the trunk line R1 across the shelf portion 22 on the + Y side of the automatic warehouse 20 described later from the storage rail 30.

As shown in FIG. 4, the main body 12 of the overhead transport vehicle 10 is attached to the traveling unit 11 in a suspended state, and moves integrally with the traveling unit 11. The main body 12 is capable of containing an article M. The transfer unit 13 is provided on the main body 12 and has a holding unit 15 for holding the article M and a moving mechanism 16 for moving the holding unit 15.

The holding unit 15 holds the article M in a suspended state by gripping the flange of the article M. The holding portion 15 is, for example, a chuck having a claw portion that can be opened and closed in the horizontal direction, and makes the claw portion enter below the flange portion of the article M and raises the holding portion 15 to hold the article M. The holding portion 15 is connected to a hanging member such as a wire or a belt. A plurality of, for example, four suspending members are provided. The operation of the holding unit 15 is controlled by the carrier control unit 14.

The moving mechanism 16 has an elevation drive unit 17 that raises and lowers the holding unit 15 in the vertical direction, and a side projection mechanism 18 that moves the elevation drive unit 17 laterally to the side of the track R. The raising and lowering drive unit 17 is, for example, a hoist, and lowers the holding unit 15 by feeding out the above-mentioned suspension member, and raises the holding unit 15 by winding up the hanging member. The elevation driving unit 17 is controlled by the transport vehicle control unit 14 to lower or raise the holding unit 15 at a predetermined speed. In addition, the elevation driving unit 17 is controlled by the carriage control unit 14 to hold the holding unit 15 at a target height.

The side projection mechanism 18 has, for example, a plurality of movable plates arranged to overlap in the vertical direction. The plurality of movable plates can slide relative to each other, and the lowermost movable plate can be projected (laterally extended) to the side in the traveling direction of the traveling portion 11. A lift drive unit 17 is attached to the lowermost movable plate. The side projection mechanism 18 has a guide (not shown) for guiding the movable plate, a driving unit (not shown) for moving the movable plate, and the like. The operation of the crossing mechanism 18 is controlled by the carrier control unit 14.

In addition, the transfer unit 13 may have a rotation unit between the movable plate and the elevation drive unit 17. The rotation unit can rotate the elevation drive unit 17 around an axis in the vertical direction. With this configuration, the elevating drive unit 17 and the holding unit 15 can be rotated, and the article M held by the holding unit 15 can be rotated about an axis in the vertical direction. Note that the transfer unit 13 may or may not include the rotating unit.

The carrier control unit 14 is provided, for example, in the main body unit 12. The conveyance vehicle control unit 14 receives an instruction such as the movement destination of the overhead conveyance vehicle 10 or the conveyance destination of the article M from the higher-level control device (not shown), and operates the ceiling conveyance vehicle 10 according to this instruction. In addition, the transport vehicle control unit 14 receives information and the like that hinder the traveling of the overhead transport vehicle 10 from the host control device or the warehouse control unit 24 described later. For example, when the conveyance vehicle control unit 14 receives, from the warehouse control unit 24, information indicating that a crane 23 described below is present below the storage traveling rail 30, the overhead conveyance vehicle 10 enters the storage traveling rail 30. Regulate the

The automated warehouse 20 is installed on a floor F such as a building so as to be located on the side along the trunk line R1 of the track R which is the traveling path of the overhead transport vehicle 10, as shown in FIGS. There is. The automated warehouse 20 has a wall 21, a shelf 22, a crane 23, and a warehouse control unit 24. The automatic warehouse 20 stores a plurality of articles M in an inner space surrounded by the wall 21. In the automated warehouse 20, a first area 20A to which the overhead transport vehicle 10 can enter and a second area 20B to which the overhead transport vehicle 10 can not enter are set. The first area 20A is set on the -X side of the automatic warehouse 20. The second area 20B is set on the + X side of the automatic warehouse 20. Even when the overhead conveyance vehicle 10 is present in the first area 20A, in the second area 20B, operation of a crane 23 described later is permitted.

The wall portion 21 is provided so as to surround the shelf portion 22 and divides the inside and the outside of the automatic warehouse 20. The wall portion 21 is provided in, for example, a rectangular shape when viewed from above. In FIG. 1, the end portions on the + X side and the −X side of the crane passage 25 which is a moving space of the crane 23 described later are opened, but may be closed by the wall portion 21. When the ends on the + X side and the −X side of the crane passage 25 are closed by the wall portion 21, the operator enters the automatic warehouse 20 in one or both of the wall portions 21 on the + X side and the −X side. A door may be provided.

The shelf 22 is capable of mounting the article M thereon. The shelf 22 is supported by a frame (not shown) provided inside the wall 21 and is provided in a plurality of stages in the vertical direction (Z direction) in the automatic warehouse 20. In the present embodiment, such multiple tiers of shelf portions 22 are arranged in multiple rows in the X direction. Further, in the automatic warehouse 20, the racks 22 of a plurality of stages are arranged in two rows across a crane passage 25 described later. Moreover, the notch part which can pass the holding | maintenance part 39 of the crane 23 mentioned later to an up-down direction is formed in each of the some shelf part 22. As shown in FIG.

In the present embodiment, the shelf 22 has a step 22a. The stepped portion 22a is provided on the + Y side in the first area 20A where the overhead transport vehicle 10 can enter in the automated warehouse 20. The portion provided with the step 22a is lower in height from the floor F than the other portions. By providing the step 22a, interference between the overhead carriage 10 traveling on the return branch line R2b and the shelf 22 is avoided. In the present embodiment, the entry branch line R2a is connected to the in-storage traveling rail 30 from the end 25a on the -X side of the crane passage 25 of the automated warehouse 20. For this reason, it is possible to use the space above the step 22a except for the space where the overhead transport vehicle 10 travels the return branch line R2b.

A storage rack 26 is disposed in the space above the step 22a. The storage rack 26 is suspended from the ceiling C by, for example, a suspending member 26a. The storage rack 26 may be provided so as to stand up from the shelf 22 so as to be continuous with the shelf 22 in the vertical direction. The storage rack 26 can deliver and receive the articles M with the overhead transportation vehicle 10, and can deliver and receive the articles M with a crane 23, which will be described later. Therefore, the storage rack 26 can be used as a delivery port for delivering the article M between the overhead transportation vehicle 10 and the crane 23. As described above, since it is possible to arrange the storage rack 26 in the portion where the step 22a is provided, the reduction of the shelf 22 due to the step 22a can be compensated by the storage rack 26, and Can be secured.

In addition, as shown in FIG. 4, the overhead conveyance vehicle 10 can deliver the article M to the uppermost stage of the shelf 22 on the -Y side. However, when placing the article M on the shelf 22, the article M is rotated 180 degrees so that the lid of the article M faces the crane passage 25. Also in the uppermost stage of the shelf 22 on the -Y side, the overhead carriage 10 and the crane 23 can deliver the article M, and the uppermost stage of the shelf 22 can also be used as a delivery port.

FIG. 5 is a view showing an example of the crane 23. The crane 23 moves the article M in the horizontal direction and the vertical direction, and transfers the article M to, for example, any of the plurality of shelf portions 22 which are transfer locations. As shown in FIG. 5, the crane 23 includes two traveling units 31, a mast 32, a lifting platform 33, a transfer unit 34, and a lifting drive unit 35. The traveling unit 31 travels along the inside traveling rail 30. The traveling unit 31 has a configuration similar to that of the traveling unit 11 of the overhead conveyance vehicle 10, and travels the inside traveling rail 30 by a driving device such as an electric motor or a linear motor. The traveling and stopping by the traveling unit 31 are controlled by a control unit (not shown) provided in the crane 23.

The mast 32 is suspended from an upper support 37 mounted below the traveling unit 31 and guides the lift 33. The masts 32 are respectively provided on the front and rear sides in the traveling direction of the traveling unit 31. For attachment of the mast 32 to the upper support 37, for example, fastening members such as bolts and nuts may be used, or welding may be used.

The elevator 33 supports the article M by a transfer unit 34 described later, and is guided by the mast 32 to move up and down. The lift 33 is disposed between the two masts 32. The transfer unit 34 is mounted on the upper surface of the lift 33. When receiving the article M from the shelf 22, the transfer unit 34 extends the arm 38 to the article M placed on the shelf 22 and places the holder 39 below the bottom surface of the article M. . Subsequently, the transfer unit 34 picks up the article M by the holding unit 39 which passes through the notch of the shelf 22 as the elevator 33 moves upward. Subsequently, the transfer unit 34 arranges the article M (the holding unit 39) on the elevating platform 33 by the arm unit 38 contracting in a state where the article M is placed on the holding unit 39. In addition, when transferring the article M to the shelf 22, the transfer unit 34 extends the arm 38 in a state of being positioned with respect to the shelf 22, and brings the article M on the holding unit 39 above the shelf 22. Deploy. Subsequently, as the elevator 33 is lowered, the holder 39 passes the notch of the shelf 22 and delivers the article M from the holder 39 to the shelf 22.

The lift drive unit 35 lifts the lift 33 along the mast 32. The elevation drive unit 35 includes a suspending member 35a and a drive unit 35b. The suspending member 35a is, for example, a belt or a wire, and the lift 33 is suspended from the upper support 37 by the suspending member 35a. The driving unit 35b is provided on the upper support 37, and performs unwinding or winding of the suspending member 35a. The elevator 33 is guided by the mast 32 and descends when the drive unit 35 b feeds out the hanging member 35 a. In addition, when the drive unit 35b winds up the hanging member 35a, the elevator 33 is guided by the mast 32 and ascends.

The elevation driving unit 35 is provided on the upper support 37, but is not limited to this configuration. The lifting drive unit 35 may be provided, for example, on the lifting platform 33. As a configuration in which the lifting and lowering drive unit 35 is provided on the lifting and lowering stand 33, for example, winding or unwinding is performed by a device (eg, a hoist or the like) mounted on the lifting and lowering stand 33 with a belt or wire suspended from the upper support 37. The elevator 33 may be moved up and down according to. In addition, an electric motor or the like for driving the pinion gear is mounted on the lift 33, a rack engaged with the pinion gear is formed on the mast 32, and the electric motor or the like is driven to rotate the pinion gear to raise or lower the lift 33 You may

The crane 23 also has a lower connecting body 40 and a roller 41. The lower connecting body 40 connects the lower portion of the mast 32. The roller 41 rotates around an axis along the Z axis. The rollers 41 are arranged side by side in the Y direction with the lower rail 42 interposed therebetween. The lower rail 42 guides the roller 41 to restrict the lower end of the crane 23 from swinging in the Y direction. As shown in FIG. 3, a stopper 42c is disposed at an end 42a of the lower rail 42 on the −X side. Further, a stopper 42 d is disposed at the end portion 42 b on the + X side of the lower rail 42. The

stoppers

42 c and 42 d restrict the movement of the crane 23 beyond the crane passage 25. In the present embodiment, since the stopper 30d is disposed at the + X side end 30b of the storage traveling rail 30 described later, the stopper 42d may not be provided.

In addition, as shown in FIG. 4, the automated warehouse 20 has an inlet / outlet 27 for articles M dedicated to the crane 23 in the second area 20B. The loading / unloading port 27 allows delivery of the article M by a worker or the like from the outside of the wall portion 21. Further, as shown by the one-dot chain line in FIG. 4, the delivery port 27a may be provided so as to protrude from the wall portion 21 and the article M may be transported between the loading / unloading opening 27 and the delivery port 27a. In the loading / unloading opening 27, even when the overhead transport vehicle 10 is present in the storage traveling rail 30, the article M can be delivered by the crane 23. With this configuration, delivery of the article M can be performed with the worker or the like regardless of the position of the overhead conveyance vehicle 10, and the transport efficiency of the article M can be improved.

The warehouse control unit 24 controls the operation of the automatic warehouse 20 including the operation of the crane 23. For example, the warehouse control unit 24 controls the crane 23 to transfer the article M of the shelf 22 to another shelf 22 (or the shelf 22 as a delivery port). In addition, when the overhead conveyance vehicle 10 exists in the intra-compartment traveling rail 30, the warehouse control unit 24 regulates the crane 23 from entering the first area 20A, and the intra-compartment traveling rail where the overhead conveyance vehicle 10 is present. Prevent entry below 30.

The storage rail 30 is disposed above the crane passage 25 of the automated warehouse 20 as shown in FIGS. 1 to 3. The in-house traveling rail 30 is disposed to extend along the crane passage 25 along the X direction. The storage rails 30 are provided from the first area 20A to the second area 20B of the automated warehouse 20. The overhead conveyance vehicle 10 can carry in the part provided in 1st area 20A in the storage rail 30 inside. In the storage rail 30, a portion provided in the first area 20 </ b> A is also used as a travel rail of the crane 23 of the automatic warehouse 20. When the intra-chamber traveling rail 30 is also used as a traveling rail of the crane 23 of the automatic warehouse 20, the structure can be simplified and the installation cost can be reduced.

In the storage rail 30, the end 30 a on the −X side is connected to the entry branch line R 2 a. A stopper 30 d is provided at an end 30 b on the + X side of the inside traveling rail 30. The stopper 30 d restricts the movement of the crane 23 out of the automated warehouse 20 beyond the crane passage 25. Further, the stopper 30d prevents the ceiling transport vehicle 10 from falling over the storage rail 30 and falling from the storage rail 30 when the ceiling transporter 10 erroneously enters the second area 20B. In addition, a return branch line R2b is connected to the storage rail 30 at a middle portion between the end 30a and the end 30b.

The operation of the automatic warehouse system 100 will be described. In the automated warehouse system 100, for example, the overhead transportation vehicle 10 holds the article M and travels along the trunk R1 of the track R to transport the article M to the transport destination. Hereinafter, the case where the conveyance destination of the article M by the overhead transportation vehicle 10 is the storage rack 26 of the automatic warehouse 20 will be described as an example.

FIG. 6 is a flowchart showing an example of the operation of the automatic warehouse system 100. FIG. 7 is a diagram showing an aspect of the operation of the automatic warehouse system 100. 6 (A) and 7 (A) are diagrams showing an operation when the overhead transport vehicle 10 transports the article M into the automated warehouse 20 in the automated warehouse system 100. FIG. Moreover, FIG. 6 (B) and FIG. 7 (B) are figures which show the one aspect | mode of operation | movement which the automatic storage 20 crane 23 transfers the article M. As shown in FIG.

Each operation | movement of the overhead conveyance vehicle 10 is controlled by the conveyance vehicle control part 14 with which the main-body part 12 is equipped. The traveling unit 11 of the overhead transportation vehicle 10 travels along the trunk line R1 of the track R according to an instruction of the transportation vehicle control unit 14. When the traveling unit 11 reaches a branch portion to the entry branch line R2a, as illustrated in FIG. 6, the transport vehicle control unit 14 determines whether the crane 23 exists in the first area 20A of the inside traveling rail 30. Is determined (step ST01). In step ST01, the transport vehicle control unit 14 communicates with, for example, the warehouse control unit 24, and acquires the position of the crane 23 in the X direction. The transport vehicle control unit 14 determines whether or not the crane 23 is present in the first area 20A based on the acquired position of the crane 23 in the X direction.

When it is determined that the crane 23 does not exist in the first area 20A by the conveyance vehicle control unit 14 (NO in step ST01), the conveyance vehicle control unit 14 receives information that the control unit of the overhead conveyance vehicle 10 can enter. Supply. Based on this information, as shown in FIG. 7A, the control unit of the ceiling transport vehicle 10 enters the entrance branch line R2a from the trunk line R1 and travels the entry branch line R2a to enter the storage compartment as shown in FIG. Control is made to enter the traveling rail 30 (step ST02).

In addition, when it is determined that the crane 23 is present in the first area 20A by the conveyance vehicle control unit 14 (YES in step ST01), the conveyance vehicle control unit 14 can not enter the control unit of the overhead conveyance vehicle 10 Supply. Based on this information, the control unit of the overhead conveyance vehicle 10 controls the overhead conveyance vehicle 10 to stand by at the trunk line R1, as shown in FIG. 7 (B). Thereafter, the overhead transportation vehicle 10 waits on the trunk line R1 until it is determined that the crane 23 does not exist in the first area 20A. The overhead transportation vehicle 10 may stand by at a position where it has entered the entrance branch line R2a from the trunk line R1. By waiting at a position where the overhead conveyance vehicle 10 has entered the entry branch line R2a, it is possible to suppress a decrease in the conveyance efficiency of the article M without causing a hindrance to the traveling of another overhead conveyance vehicle 10 traveling the trunk line R1. .

After entering the intra-chamber traveling rail 30, the overhead transport vehicle 10 moves along the intra-chamber traveling rail 30 to a position on the -Y side of the storage rack 26, and stops traveling. Thereafter, the side-by-side mechanism 18 causes the holding portion 15 to protrude in the + Y direction, and places the article M above the storage rack 26. Thereafter, the elevating drive unit 17 lowers the holding unit 15 to place the article M on the storage rack 26. After the article M is placed on the storage rack 26, the holding unit 15 releases the holding of the article M. Thereafter, the holding unit 15 is raised by the raising and lowering driving unit 17, and the holding unit 15 is accommodated in the main body unit 12 by the side-lifting mechanism 18. This series of operations completes the transport of the article M. After that, the overhead transportation vehicle 10 enters the return branch line R2b from the storage rail 30 and travels the return branch line R2b to return to the trunk line R1.

In the automated warehouse 20, the article M transported to the storage rack 26 by the overhead transportation vehicle 10 may be transferred to the rack 22 by the crane 23. Hereinafter, the transfer operation of the article M by the crane 23 of the automated warehouse 20 will be described.

FIG. 6B is a flow chart showing an example of the transfer operation of the article M by the crane 23 of the automatic warehouse 20 in the automatic warehouse system 100. In the following description, each operation of the automatic warehouse 20 is executed by an instruction of the warehouse control unit 24. In the automatic warehouse 20, the warehouse control unit 24 determines whether the overhead conveyance vehicle 10 exists in the first area 20A of the storage rail 30 (step ST03). In step ST03, for example, the warehouse control unit 24 communicates with the conveyance vehicle control unit 14 to acquire the position of the ceiling conveyance vehicle 10 in the X direction. The warehouse control unit 24 determines whether the overhead conveyance vehicle 10 is present in the first area 20A based on the acquired position of the overhead conveyance vehicle 10 in the X direction.

When it is determined by the warehouse control unit 24 that the overhead conveyance vehicle 10 is present in the first area 20A (YES in step ST03), the crane 23 stands by in the second area 20B or as shown in FIG. 7A. The operation such as transfer of another article M is continued in the second area 20B. Thereafter, the crane 23 does not enter the first area 20A until it is determined that the overhead conveyance vehicle 10 does not exist in the first area 20A. In addition, when it is determined by the warehouse control unit 24 that the overhead conveyance vehicle 10 does not exist in the first area 20A (NO in step ST03), the crane 23 moves in the storage traveling rail 30 as illustrated in FIG. 7B. And travel from the second area 20B to the first area 20A (step ST04).

As shown in FIG. 7B, the crane 23 moves into the first area 20A, moves along the storage rail 30 to a position on the -Y side of the storage rack 26, and stops traveling. Thereafter (or in parallel with the traveling operation), the lift drive unit 35 adjusts the height of the lift 33 to the height of the storage shelf 26 by raising or lowering the lift 33. Thereafter, the arm unit 38 is extended by the transfer unit 34, and the arm unit 38 is raised by the elevator 33, whereby the article M is scooped up and held by the holding unit 39. Thereafter, the arm unit 38 is contracted by the transfer unit 34, and the article M is moved onto the elevator 33. Thereafter, the crane 23 moves to the shelf 22 at the transfer destination, and places the article M on the shelf 22. This series of operations completes the transfer of the article M.

As described above, according to the automatic warehouse system 100 and the control method of the automatic warehouse system according to the present embodiment, since the crane passage 25 of the automatic warehouse 20 is also used as the passage of the overhead transport vehicle 10, the overhead transport vehicle 10 has a shelf The reduction in the number of stored articles M can be suppressed as compared with the case of moving the upper part of the part 22. In addition, since the overhead transport vehicle 10 enters into the storage rail 30, there is no need to arrange the trunk line R1 separately from the automated warehouse 20, and the space efficiency of the factory building interior is prevented from deteriorating. it can.

In the above embodiment, the entry branch R2a is described as being connected to the in-house traveling rail 30 across the end 25a of the crane passage 25 of the automated warehouse 20 by way of example. It is not limited. FIGS. 8A and 8B schematically show the configuration of an automatic warehouse system 100A according to another example.

In the automatic warehouse system 100A, as shown in FIG. 8A, the entry branch line R2a is connected from the trunk line R1 to an intermediate position of the storage rail 30. Further, in the automated warehouse system 100A, the return branch R2b is connected to the traveling rail 30 in the cold storage across the end 25b on the + X side of the crane passage 25 of the automated warehouse 20. Therefore, in the automated warehouse system 100A, the + X side of the automated warehouse 20 is the first area 20A where the overhead carriage 10 can enter, and the -X side of the automated warehouse 20 is the second area 20B where the overhead carriage 10 can not approach .

As shown in FIG. 8A, a stopper 30c is disposed at the end 30a of the traveling rail 30 on the −X side. The stopper 30 c prevents the crane 23 from jumping out of the −X side of the automated warehouse 20. Further, as shown in FIG. 8B, in the lower rail 42 of the crane 23, a stopper 42c is disposed at the end 42a on the -X side as in the embodiment described above, and the end 42b on the + X side The stopper 42d is disposed on the As shown in FIG. 8A, the stopper 30c is disposed at the end 30a of the traveling rail 30 on the −X side, so the stopper 42c may be omitted.

As described above, in the automated warehouse system 100A, the return branch R2b is connected to the traveling rail 30 inside the warehouse across the end 25b of the crane passage 25 of the automated warehouse 20 on the + X side. With this configuration, the space available in the shelf 22 of the automated warehouse 20 for disposing the return branch R2b can be reduced.

FIGS. 9A and 9B schematically show the configuration of an automatic warehouse system 100B according to another example. In the automatic storage system 100B, as shown in FIG. 9A, the entry branch line R2a is connected from the trunk line R1 to the connection position 30e of the storage traveling rail 30. Further, in the automatic warehouse system 100A, the return branch line R2b extends from the connection position 30f of the storage traveling rail 30 and is connected to the trunk line R1. The connection position 30e is a position on the −X side with respect to the central portion in the X direction of the storage rail 30 in the storage. The connection position 30 f is a position on the + X side with respect to the central portion in the X direction of the storage rail 30.

The connection position 30e and the connection position 30f are disposed across the central portion of the storage rail 30 in the X direction. In this automatic warehouse system 100B, the area between the connection position 30e and the connection position 30f is the first area 20A to which the overhead transport vehicle 10 can enter. The first area 20A includes the central portion of the automatic warehouse 20 in the X direction. In addition, in the automatic warehouse system 100B, the two areas on the −X side from the connection position 30e and on the + X side from the connection position 30f become the second area 20B in which the overhead transport vehicle 10 can not enter.

As shown in FIG. 9A,

stoppers

30c, 30c are disposed at the

X-direction end portions

30a, 30b of the storage rail 30. As shown in FIG. Further, as shown in FIG. 9B, the lower rails 42 of the crane 23 are provided with

stoppers

42c and 42c at the

end portions

42a and 42b, respectively, as in the above-described embodiment. In addition, since the

stoppers

30c, 30c are disposed on the storage traveling rail 30, the

stoppers

42c, 42c may be omitted.

As described above, in the automatic warehouse system 100B, the entry branch R2a is connected from the trunk line R1 to the connection position 30e of the storage rail 30 and the return branch R2b branches from the connection position 30f of the storage rail 30. Connected to the main line R1. In this configuration, the transfer destination (storage rack 26) of the article M transferred from the overhead transport vehicle 10 to the automatic warehouse 20 is disposed at the central portion of the automatic warehouse 20 in the X direction. By this configuration, the distance traveled by the crane 23 between the storage rack 26 and the shelf 22 is shortened as a whole.

FIGS. 10A and 10B schematically show the configuration of an automatic warehouse system 100C according to another example. In the automatic warehouse system 100C, as shown in FIG. 10A, the entry branch line R2a and the return branch line R2b are arranged at two points of the −X side end and the + X side end of the automatic warehouse 20. That is, the entry branch R2a and the return branch R2b are disposed at the position shown in FIG. 2 and the position shown in FIG. Therefore, in the automated warehouse system 100C, the -X side end and the + X side end of the automated warehouse 20 become the two first areas 20A to which the overhead transport vehicle 10 can enter, and the central portion of the automated warehouse 20 in the X direction is It becomes the 2nd area 20B which the overhead conveyance vehicle 10 can not approach.

As shown in FIG. 10A, the stoppers are not disposed at the

X-direction end portions

30a and 30b of the storage rails 30. Therefore, as shown in FIG. 10B, the lower rail 42 of the crane 23 has a stopper 42c at the end portion 42a on the -X side and a stopper 42d at the end portion 42b on the + X side. . In this configuration, the transfer destinations (the storage racks 26) of the articles M transferred from the overhead conveyance vehicle 10 can be provided at two positions on the + X side and the −X side of the automatic warehouse 20. In addition, different overhead conveyance vehicles 10 can enter each of the two first areas 20A, and as a result, articles M can be efficiently conveyed from the ceiling conveyance vehicle 10 to the automatic warehouse 20.

Further, in addition to the configuration of the above-described automatic warehouse system 100, the ceiling transport vehicle 10 stands by at a position where it does not interfere with the overhead transport vehicle 10 traveling on the trunk line R1 and the crane 23 traveling the in-chamber travel rail 30 in the branch line R2. A possible waiting position may be set. FIG. 11 is a view schematically showing the standby position of the overhead transport vehicle 10. As shown in FIG. As shown in FIG. 11, in the automatic warehouse system 100, a standby position 51 is provided on the entry branch line R2a. In addition, a standby position 52 is provided on the return branch line R2b. With this configuration, when the overhead conveyance vehicle 10 enters the storage traveling rail 30 and when the ceiling conveyance vehicle 10 returns to the trunk line R1, the other overhead conveyance carriage 10 traveling on the trunk line R1 and the storage traveling rail 30 It is possible to stand by as necessary while avoiding any trouble in traveling of the crane 23 traveling on the road, and it is possible to suppress a decrease in the transportation efficiency of the articles M.

As mentioned above, although embodiment was described, this invention is not limited to the description mentioned above, A various change is possible in the range which does not deviate from the summary of this invention. In the above-described embodiment, the crane 23 moves along both the traveling rail 30 and the lower rail 42, but the lower rail 42 may be omitted. Further, in the above-described embodiment, the crane 23 is a so-called suspension crane, and the configuration in which the traveling rail 30 travels is used as an example, but the present invention is not limited to this configuration. For example, the crane 23 may be configured to travel using only the lower rail 42, for example, without using the intra-chamber travel rail 30. Further, in the above-described embodiment, one crane 23 is disposed in the automatic warehouse 20. However, the present invention is not limited to this configuration, and two or more cranes 23 may be disposed in one automatic warehouse 20.

In the embodiment described above, the crane 23 of the automated warehouse 20 can also enter the trunk line R1 from the storage rail 30 via the branch line R2 and travel on the trunk line R1. The traveling unit 11 of the overhead conveyance vehicle 10 and the traveling unit 31 of the crane 23 have the same or substantially the same configuration, and the traveling unit 31 can travel on the trunk line R1. As a result, the crane 23 can self-propelled from the automated warehouse 20 to another automated warehouse 20 or a maintenance area via the trunk line R1. In addition, the contents of Japanese Patent Application No. 201-142647, which is a Japanese patent application, and all documents cited in the present specification are incorporated as part of the description of the text as far as the laws and regulations permit.

M: article R: track R1: main line R2: branch line R2a: entry line R2b: return branch line 10: overhead transportation vehicle 11, 31: traveling unit 12 ...

Main body

13, 34 ... Transfer unit 14 ...

Carrier control unit

15, 39 ... Holding unit 16 ... Moving

mechanism

17, 35 ... Lifting drive unit 18 ... Horizontal Dispensing mechanism 20: Automatic warehouse 20A: First area 20B: Second area 21: Wall part 22: Shelf part 23: Crane 24: Warehouse control part 25: ... Crane passage 26: Storage shelf 27: Entry and exit port 30: In-

storage travel rail

30c, 30d, 42c, 42d: Stopper 50:

Standby position

100, 100A, 100B, 100C ... Automatic warehouse system

Claims

An overhead transport vehicle in which a lift drive unit is provided so as to be movable laterally with respect to the main unit;
An automated warehouse system comprising: an automated warehouse disposed to the side of a traveling path of the overhead transport vehicle.
An automatic warehouse system, comprising: an intra-chamber traveling rail on which the overhead transportation vehicle can be loaded above a crane passage of the automatic warehouse.
The automatic warehouse system according to claim 1, wherein the in-compartment traveling rail is also used as a traveling rail of a crane of the automatic warehouse.
The automatic warehouse has an area to which the overhead transport vehicle can enter and an area to which the overhead transport vehicle can not enter, and the entrance / exit port for articles dedicated to the crane is provided in the area to which the overhead transport vehicle can not enter. The automatic warehouse system according to claim 2.
The traveling route of the overhead transportation vehicle includes a main line passing through the side of the automatic warehouse, and a branch line branched from the main line and connected to the in-storage traveling rail. The automated warehouse system according to any one of the preceding claims.
The branch line is a branch line for branching from the trunk line and a branch line for entering the overhead transport vehicle into the storage rail, and a return path for the ceiling transport vehicle to branch from the storage rail for storage and return to the trunk line The automatic warehouse system according to claim 4, having a branch line.
The automatic warehouse system according to claim 4 or 5, wherein the branch line is connected to the in-house traveling rail across an end in a direction along the trunk line of the crane passage of the automatic warehouse.
The said branch line has a standby position where the overhead conveyance vehicle can stand by at a position which does not interfere with the overhead conveyance vehicle which travels the trunk line and the crane which travels the crane passage. The automated warehouse system according to any one of the preceding claims.
The overhead transport vehicle has a transport vehicle control unit that restricts the access to the storage traveling rail when the crane is present below the storage traveling rail.
8. The automatic warehouse according to claim 1, further comprising: a warehouse control unit configured to restrict the crane from entering below the storage rail when the overhead transportation vehicle is present in the storage rail. Automatic warehouse system according to any one of the above.
An overhead transport vehicle in which a lift drive unit is provided so as to be movable laterally with respect to the main unit;
A control method of an automatic warehouse system, comprising: an automatic warehouse disposed to the side of a traveling path of the overhead transport vehicle.
In the case where the overhead transportation vehicle is mounted on the in-house traveling rail provided above the crane passage of the automatic warehouse, the entrance of the crane in the automatic warehouse below the in-housing traveling rail is restricted.
The control method of the automatic warehouse system which controls that the overhead transportation vehicle gets into the in-house traveling rail when the crane is present under the in-chamber traveling rail.