TWI745604B - Automatic warehouse system and control method of automatic warehouse system - Google Patents

Automatic warehouse system and control method of automatic warehouse system Download PDF

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TWI745604B
TWI745604B TW107124302A TW107124302A TWI745604B TW I745604 B TWI745604 B TW I745604B TW 107124302 A TW107124302 A TW 107124302A TW 107124302 A TW107124302 A TW 107124302A TW I745604 B TWI745604 B TW I745604B
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transport vehicle
warehouse
automatic warehouse
overhead transport
crane
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TW201908225A (en
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椿達雄
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日商村田機械股份有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical

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Abstract

本發明一邊可供高架搬送車朝向自動倉庫內駛入，一邊可抑制物品之保管數之減少，而且，可防止工廠廠房內之空間效率變差。 The present invention can allow the overhead transport vehicle to drive into the automatic warehouse, while suppressing the reduction in the number of articles stored, and can prevent the space efficiency in the factory building from deteriorating.

本發明之自動倉庫系統100具備有：高架搬送車10，其升降驅動部17被設置為可相對於本體部12進行橫向移動；及自動倉庫20，其係配置於高架搬送車10之移行路徑之側方；且於自動倉庫20之起重機通路25之上方具備有可供高架搬送車10駛入之庫內移行軌道30。 The automatic warehouse system 100 of the present invention is provided with: an overhead transport vehicle 10, the lifting drive part 17 of which is arranged to be laterally movable with respect to the main body part 12; Side; and above the crane passage 25 of the automatic warehouse 20, there is an in-store moving rail 30 that can be driven by the overhead transport vehicle 10.

Description

自動倉庫系統及自動倉庫系統之控制方法 Automatic warehouse system and control method of automatic warehouse system

本發明係關於自動倉庫系統、及自動倉庫系統之控制方法。 The present invention relates to an automatic warehouse system and a control method of the automatic warehouse system.

於半導體製造工廠等中，使用將收容半導體晶圓之前開式晶圓盒(FOUP；Front Opening Unified Pod)或收容光罩之光罩匣等物品加以保管之自動倉庫系統。自動倉庫系統具備有：高架搬送車，其於被鋪設於天花板之軌道上移行；及自動倉庫，其係配置於高架搬送車之移行路徑之側方；且於自動倉庫內配置有用以移載物品之起重機(例如參照專利文獻1)。於專利文獻1所記載之自動倉庫系統中，起重機沿著被配置於地板面之下側軌道而於自動倉庫內移行，對被配置於移行方向之側方之複數個棚架部進行物品之交接。又，高架搬送車可沿著被配置於天花板之軌道駛入自動倉庫之棚架部上方，並於與棚架部之最上部之間直接進行物品之交接。 In semiconductor manufacturing plants, etc., an automatic warehouse system is used to store items such as FOUP (Front Opening Unified Pod) for storing semiconductor wafers or reticle boxes for storing photomasks. The automatic warehouse system is equipped with: an overhead transfer vehicle, which moves on the track laid on the ceiling; and an automatic warehouse, which is arranged on the side of the moving path of the overhead transfer vehicle; and is arranged in the automatic warehouse to transfer items The crane (for example, refer to Patent Document 1). In the automatic warehouse system described in Patent Document 1, a crane moves in the automatic warehouse along a rail arranged below the floor surface, and transfers articles to a plurality of scaffolds arranged on the side of the moving direction . In addition, the overhead transport vehicle can drive along the track arranged on the ceiling to enter the top of the scaffolding part of the automatic warehouse, and directly transfer items between it and the uppermost part of the scaffolding part.

[先前技術文獻] [Prior Technical Literature] [專利文獻] [Patent Literature]

[專利文獻1]日本專利第3669057號公報 [Patent Document 1] Japanese Patent No. 3669057

專利文獻1所記載之自動倉庫系統雖可供高架搬送車駛入自動倉庫內，並且避免起重機與高架搬送車之干涉，但由於高架搬送車於棚架部上方移行，因此必須使棚架部降低相應之高度。其結果，於自動倉庫中，會使物品之保管數減少。又，於高架搬送車在棚架部之上方移行之情形時，為了使棚架部上方之高架搬送車與在被配置於該棚架部側方之幹線(軌道)上移行之高架搬送車不產生干涉，必須將幹線與棚架部(自動倉庫)隔開距離地加以配置。因此，存在有用以配置幹線之空間會擴大，而使工廠廠房內之空間效率變差。 Although the automatic warehouse system described in Patent Document 1 allows the overhead transport vehicle to enter the automatic warehouse and avoids interference between the crane and the overhead transport vehicle, since the overhead transport vehicle moves above the scaffolding part, the scaffolding part must be lowered The corresponding height. As a result, in an automatic warehouse, the number of items kept in storage is reduced. Also, when the overhead transport vehicle moves above the scaffolding part, in order to make the overhead transport vehicle above the scaffolding part different from the overhead transport vehicle that moves on the trunk line (track) arranged on the side of the scaffolding part. If interference occurs, the trunk line must be placed at a distance from the scaffolding part (automated warehouse). Therefore, the space available for arranging the trunk lines will expand, and the space efficiency in the factory buildings will deteriorate.

本發明之目的在於提供一種自動倉庫系統及自動倉庫系統之控制方法，該自動倉庫系統一邊可供高架搬送車駛入自動倉庫內，一邊可抑制物品保管數之減少，而且，可防止工廠廠房內之空間效率變差。 The object of the present invention is to provide an automatic warehouse system and a control method of the automatic warehouse system. The automatic warehouse system can allow overhead transport vehicles to drive into the automatic warehouse while suppressing the reduction in the number of items stored and preventing the factory buildings The space efficiency becomes worse.

本發明之自動倉庫系統具備有：高架搬送車，其升降驅動部被設置為可相對於本體部進行橫向移動；及自動倉庫，其係配置於高架搬送車之移行路徑之側方；且於自動倉庫之起重機通路之上方具備有可供高架搬送車駛入之庫內移行軌道。 The automatic warehouse system of the present invention is provided with: an overhead transport vehicle, the lifting drive part of which is set to be horizontally movable relative to the main body; and an automatic warehouse, which is arranged on the side of the moving path of the overhead transport vehicle; Above the crane passage of the warehouse, there is a moving track in the warehouse that can be driven by the overhead transport vehicle.

又，庫內移行軌道亦可兼用為自動倉庫之起重機之移行軌道。又，自動倉庫亦可具有高架搬送車可進入之區域、及高架搬送車無法進入之區域，且於無法進入之區域具備有起重機專用之物品出入庫口。又，高架搬送車之移行路徑亦可包含有通過自動倉庫之側方之幹線、及自幹線分支而被連接於庫內移行軌道之支線。又，支線亦可具有自幹線分支而用以供高架搬送車進入庫內移行軌 道之進入用支線、及自庫內移行軌道分支而用以供高架搬送車返回幹線之返回用支線。 In addition, the moving track in the warehouse can also be used as the moving track of the crane of the automatic warehouse. In addition, the automatic warehouse may also have an area where the overhead transport vehicle can enter, and an area where the overhead transport vehicle cannot enter, and in the inaccessible area, it has a special entry and exit port for cranes. In addition, the moving path of the overhead transport vehicle may also include a trunk line passing through the side of the automatic warehouse, and a branch line branching from the trunk line and connected to the moving track in the warehouse. In addition, the branch line may also have an entry branch line branching from the main line for the overhead transport vehicle to enter the moving track in the warehouse, and a return branch line for the overhead transport vehicle to return to the main line.

又，支線亦可跨越自動倉庫之起重機通路之沿著幹線之方向的端部被連接於庫內移行軌道。又，支線亦可於不與在幹線上移行之高架搬送車、及在起重機通路上移行之起重機產生干涉之位置，具有可供高架搬送車進行待機之待機位置。又，高架搬送車亦可具有於起重機存在於庫內移行軌道之下方之情形時限制高架搬送車朝向庫內移行軌道之進入之搬送車控制部，且自動倉庫具有於高架搬送車存在於庫內移行軌道之情形時限制起重機朝庫內移行軌道之下方進入之倉庫控制部。 In addition, the branch line can also be connected to the moving rail in the warehouse across the end of the crane passage of the automatic warehouse along the direction of the main line. In addition, the branch line can also have a standby position where the overhead transport vehicle can stand by at a position that does not interfere with the overhead transport vehicle moving on the main line and the crane moving on the crane path. In addition, the overhead transfer vehicle may also have a transfer vehicle control unit that restricts the entry of the overhead transfer vehicle toward the moving track in the warehouse when the crane exists under the moving track in the warehouse, and the automatic warehouse has the overhead transfer vehicle existing in the warehouse In the case of moving rails, the control section of the warehouse that restricts the crane to enter under the moving rails in the warehouse.

本發明之自動倉庫系統之控制方法係具備有升降驅動部被設置為可相對於本體部進行橫向移動之高架搬送車、及被配置於高架搬送車之移行路徑之側方之自動倉庫之自動倉庫系統之控制方法，其中，於高架搬送車駛入自動倉庫之起重機通路之上方所具備之庫內移行軌道之情形時，限制自動倉庫之起重機朝庫內移行軌道之下方進入，且於起重機存在於庫內移行軌道之下方之情形時，限制高架搬送車朝庫內移行軌道之駛入。 The control method of the automatic warehouse system of the present invention is an automatic warehouse equipped with an overhead transport vehicle with a lifting drive part set to be horizontally movable relative to the main body, and an automatic warehouse arranged on the side of the moving path of the overhead transport vehicle The control method of the system, in which the crane of the automatic warehouse is restricted from entering below the moving rail of the warehouse when the overhead transport vehicle enters the moving rail of the warehouse above the crane passage of the automatic warehouse, and the crane exists in In the situation under the moving track in the warehouse, restrict the entry of the overhead transport vehicle toward the moving track in the warehouse.

根據本發明之自動倉庫系統及自動倉庫系統之控制方法，藉由將作為自動倉庫之起重機通路來利用之空間亦作為高架搬送車之通路來利用，可相較於高架搬送車於棚架部上方移動之情形，抑制物品之保管數之減少。又，高架搬送車由於進入被配置於起重機通路之庫內移行軌道，因此無需將幹線與自動倉庫分開地配置，可防止用以配置幹線之空間擴大之情形，從而避免工廠廠房內 之空間效率變差之情形。 According to the automatic warehouse system and the control method of the automatic warehouse system of the present invention, the space used as the crane passage of the automatic warehouse is also used as the passage of the overhead transport vehicle, which can be compared with the overhead transport vehicle above the scaffolding part In the case of movement, restrain the reduction of the number of articles kept. In addition, because the overhead transport vehicle enters the moving track in the warehouse arranged in the crane passage, it is not necessary to arrange the trunk line and the automatic warehouse separately, which can prevent the space for the trunk line from expanding, thereby avoiding the change of the space efficiency in the factory building. Bad situation.

又，於庫內移行軌道兼作為自動倉庫之起重機之移行軌道來使用之情形時，可使構造簡化，而可降低設置成本。又，於自動倉庫具有高架搬送車可進入之區域、及高架搬送車無法進入之區域，且於無法進入之區域具備有起重機專用之物品出入庫口之情形時，即便於高架搬送車存在於庫內移行軌道時，在高架搬送車無法進入之區域亦可容許起重機之運轉，並使用起重機專用之出入庫口來進行物品之交接，藉此可提高物品之搬送效率。又，於高架搬送車之移行路徑包含通過自動倉庫之側方之幹線、及自幹線分支而被連接於庫內移行軌道之支線之情形時，高架搬送車藉由自幹線進入支線，而可容易地進入庫內移行軌道。又，於支線具有自幹線分支而用以供高架搬送車進入庫內移行軌道之進入用支線、及自庫內移行軌道分支而用以供高架搬送車返回幹線之返回用支線之情形時，由於進入庫內移行軌道之支線與返回至幹線之支線被區分，因此可使進入庫內移行軌道之高架搬送車順利地返回幹線。 In addition, when the moving rail in the warehouse is also used as the moving rail of the crane of the 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 transport vehicle can enter, and an area where the overhead transport vehicle cannot enter, and the inaccessible area has a crane-specific entry and exit point, even if the overhead transport vehicle exists in the warehouse When moving the track inside, the crane can also be allowed to operate in the area where the overhead transport vehicle cannot enter, and the special entry and exit port of the crane is used for the delivery of goods, thereby improving the transport efficiency of the goods. In addition, when the moving path of the overhead transport vehicle includes a trunk line that passes through the side of the automatic warehouse and a branch line that branches from the trunk line and is connected to the moving track in the warehouse, the overhead transport vehicle can easily enter the branch line from the trunk line. Enter the moving track in the library. In addition, when the branch line has a branch line from the main line for the overhead transport vehicle to enter the moving track in the warehouse, and the branch line for the overhead transport vehicle to return to the main line to return to the main line, because The branch line entering the moving track in the warehouse is distinguished from the branch line returning to the main line, so the overhead transport vehicle entering the moving track in the warehouse can smoothly return to the main line.

又，於支線跨越自動倉庫之起重機通路之沿著幹線之方向的端部被連接於庫內移行軌道之情形時，可抑制為了於棚架部配置支線所需之空間。又，於支線在不與於幹線上移行之高架搬送車、及於起重機通路上移行之起重機產生干涉之位置具有可供高架搬送車進行待機之待機位置之情形時，可於高架搬送車無法立刻進入庫內移行軌道時、及高架搬送車無法立刻返回幹線時，可一邊避免在幹線上移行之其他高架搬送車及起重機之移行產生障礙，一邊視需要而於支線進行待機，從而可抑制搬送效率之降低。又，於高架搬送車具有在起重機存在於庫內移行軌道之下方之情形時限制 高架搬送車朝向庫內移行軌道之進入之搬送車控制部，且自動倉庫具有在高架搬送車存在於庫內移行軌道之情形時限制起重機朝庫內移行軌道之下方之進入之倉庫控制部之情形時，可抑制起重機與高架搬送車產生干涉之情形。 In addition, when the end of the branch line crossing the crane path of the automatic warehouse along the main line is connected to the moving rail in the warehouse, the space required for arranging the branch line in the scaffolding section can be suppressed. In addition, when the branch line does not interfere with the overhead transport vehicle moving on the main line and the crane moving on the crane path, there is a standby position for the overhead transport vehicle to wait. When entering the moving track in the warehouse, and when the overhead transport vehicle cannot return to the main line immediately, it can avoid obstacles caused by the movement of other overhead transport vehicles and cranes moving on the main line, while waiting on the branch line as needed, thereby suppressing the transport efficiency It is lowered. In addition, when the overhead transport vehicle has a transport vehicle control unit that restricts the entry of the overhead transport vehicle toward the transport track in the library when the crane exists under the moving rail in the warehouse, and the automatic warehouse has an overhead transport vehicle that moves inside the library In the case of rails, in the case of the warehouse control section that restricts the cranes to move under the rails in the warehouse, interference between the cranes and the overhead transport vehicles can be suppressed.

10‧‧‧高架搬送車 10‧‧‧Overhead transport vehicle

11、31‧‧‧移行部 11, 31‧‧‧ Migration Department

12‧‧‧本體部 12‧‧‧Main body

13、34‧‧‧移載部 13, 34‧‧‧Transfer Department

14‧‧‧搬送車控制部 14‧‧‧Transport Vehicle Control Department

15、39‧‧‧保持部 15, 39‧‧‧Retention Department

16‧‧‧移動機構 16‧‧‧Mobile mechanism

17、35‧‧‧升降驅動部 17, 35‧‧‧Lift drive unit

18‧‧‧橫向伸出機構 18‧‧‧Horizontal extension mechanism

20‧‧‧自動倉庫 20‧‧‧Automatic warehouse

20A‧‧‧第1區域 20A‧‧‧Region 1

20B‧‧‧第2區域 20B‧‧‧Section 2

21‧‧‧壁部 21‧‧‧Wall

22‧‧‧棚架部 22‧‧‧Scaffolding Department

22a‧‧‧段差部 22a‧‧‧Segment

23‧‧‧起重機 23‧‧‧Crane

24‧‧‧倉庫控制部 24‧‧‧Warehouse Control Department

25‧‧‧起重機通路 25‧‧‧Crane access

25a‧‧‧(起重機通路25之)-X側之端部 25a‧‧‧ (of crane passage 25)-the end of the X side

25b‧‧‧(起重機通路25之)+X側之端部 25b‧‧‧(The end of crane passage 25) +X side

26‧‧‧保管架 26‧‧‧Storage shelf

26a、35a‧‧‧垂吊構件 26a、35a‧‧‧Suspended components

27‧‧‧出入庫口 27‧‧‧Access

27a‧‧‧交接埠 27a‧‧‧Interface port

30‧‧‧庫內移行軌道 30‧‧‧Moving track inside the library

30a‧‧‧(庫內移行軌道30之)-X側之端部 30a‧‧‧(of the moving rail 30 in the library)-the end of the X side

30b‧‧‧(庫內移行軌道30之)+X側之端部 30b‧‧‧(Moving track 30 in the library) +X side end

30c、30d、42c、42d‧‧‧止動部 30c, 30d, 42c, 42d‧‧‧stop

30e、30f:連接位置 30e, 30f: connection location

32:桅桿 32: Mast

33:升降台 33: Lifting platform

35b:驅動部 35b: Drive section

37:上部支撐體 37: Upper support

38:臂部 38: Arm

40:下部連結體 40: Lower connector

41:輥 41: Roll

42:下側軌道 42: lower rail

42a:(下側軌道42之)-X側之端部 42a: (of the lower rail 42)-the end of the X side

42b:(下側軌道42之)+X側之端部 42b: (of the lower rail 42) + X side end

51、52:待機位置 51, 52: Standby position

100、100A、100B、100C:自動倉庫系統 100, 100A, 100B, 100C: automatic warehouse system

C:天花板部 C: Ceiling part

F:地板部 F: Floor

M:物品 M: Item

R:軌道 R: Orbit

R1:幹線 R1: Trunk

R2:支線 R2: branch line

R2a:進入用支線 R2a: branch line for entry

R2b:返回用支線 R2b: branch line for return

ST01~ST04:步驟 ST01~ST04: Steps

X、Y、Z:方向 X, Y, Z: direction

圖1係表示本實施形態之自動倉庫系統之一例之立體圖。 Fig. 1 is a perspective view showing an example of the automatic warehouse system of this embodiment.

圖2係示意性地表示本實施形態之自動倉庫系統之一例之俯視圖。 Fig. 2 is a plan view schematically showing an example of the automatic warehouse system of the present embodiment.

圖3係示意性地表示本實施形態之自動倉庫系統之一例之側視圖。 Fig. 3 is a side view schematically showing an example of the automatic warehouse system of the present embodiment.

圖4係表示自動倉庫中高架搬送車之一例之圖。 Fig. 4 is a diagram showing an example of an overhead transport vehicle in an automatic warehouse.

圖5係表示自動倉庫中起重機之一例之圖。 Fig. 5 is a diagram showing an example of a crane in an automatic warehouse.

圖6係表示本實施形態之自動倉庫系統之控制方法之一例的流程圖，圖6(A)表示高架搬送車之動作，而圖6(B)表示自動倉庫之動作。 Fig. 6 is a flowchart showing an example of the control method of the automatic warehouse system of this embodiment, Fig. 6(A) shows the operation of the overhead transport vehicle, and Fig. 6(B) shows the operation of the automatic warehouse.

圖7係表示自動倉庫系統之動作之一態樣之圖，圖7(A)表示高架搬送車之動作，而圖7(B)表示自動倉庫之起重機之動作。 Fig. 7 is a diagram showing one aspect of the operation of the automatic warehouse system, Fig. 7(A) shows the operation of the overhead transport vehicle, and Fig. 7(B) shows the operation of the crane of the automatic warehouse.

圖8(A)及(B)係示意性地表示另一例之自動倉庫系統之構成之圖。 8(A) and (B) are diagrams schematically showing the structure of another example of an automatic warehouse system.

圖9(A)及(B)係示意性地表示另一例之自動倉庫系統之構成之圖。 9(A) and (B) are diagrams schematically showing the structure of another example of an automatic warehouse system.

圖10(A)及(B)係示意性地表示另一例之自動倉庫系統之構成之圖。 10(A) and (B) are diagrams schematically showing the structure of another example of an automated warehouse system.

圖11係示意性地表示高架搬送車之待機位置之圖。 Fig. 11 is a diagram schematically showing the standby position of the overhead transport vehicle.

以下，一邊參照圖式一邊對實施形態進行說明。於以下各圖中，使用XYZ座標系統對圖中之方向進行說明。於該XYZ座標系統中，將鉛垂方向設為Z方向，並將水平方向設為X方向、Y方向。X方向例如為後述之高架搬送車及起重機之移行方向，而Y方向例如為後述之高架搬送車及起重機之移載方向。又，對於X、Y、Z方向之各方向，適當地將與箭頭之相同側稱為+側(例如+X側)，並將其相反側稱為-側(例如-X側)。 Hereinafter, the embodiment will be described with reference to the drawings. In the following figures, the XYZ coordinate system is used to illustrate the directions in the figure. In this XYZ coordinate system, the vertical direction is the Z direction, and the horizontal direction is the X direction and the Y direction. The X direction is, for example, the moving direction of the overhead transport vehicle and crane described later, and the Y direction is, for example, the moving direction of the overhead transport vehicle and crane described later. In addition, for each of the X, Y, and Z directions, the same side as the arrow is appropriately referred to as the + side (for example, the +X side), and the opposite side is referred to as the-side (for example, the -X side).

圖1係示意性地表示本實施形態之自動倉庫系統100之一例之立體圖。圖2係自動倉庫系統100之俯視圖。圖3係自動倉庫系統100之側視圖。再者，圖2及圖3相對於圖1簡化地加以表示。如圖1至圖3所示，自動倉庫系統100例如被設置於半導體製造工廠等之廠房內，將收容半導體晶圓之FOUP或收容光罩之光罩匣等之物品M加以保管。此處，雖對物品M為FOUP之例子進行說明，但物品M亦可為FOUP以外者。又，自動倉庫系統100亦可於半導體製造領域以外之設備中加以應用，物品M亦可為設置有自動倉庫系統100之設備所處理之各種物品。自動倉庫系統100具備有高架搬送車10、自動倉庫20、及庫內移行軌道30。 FIG. 1 is a perspective view schematically showing an example of the automatic warehouse system 100 of this embodiment. FIG. 2 is a top view of the automatic warehouse system 100. As shown in FIG. FIG. 3 is a side view of the automatic warehouse system 100. As shown in FIG. Furthermore, FIG. 2 and FIG. 3 are simplified and shown with respect to FIG. 1. As shown in FIGS. 1 to 3, the automated warehouse system 100 is installed in, for example, a factory building such as a semiconductor manufacturing plant, and stores items M such as FOUP for accommodating semiconductor wafers or reticle cassettes for accommodating photomasks. Here, although an example in which the article M is FOUP is described, the article M may be something other than FOUP. In addition, the automatic warehouse system 100 can also be applied to equipment outside the semiconductor manufacturing field, and the article M can also be various articles handled by the equipment provided with the automatic warehouse system 100. The automatic warehouse system 100 includes an overhead transport vehicle 10, an automatic warehouse 20, and an in-storage moving rail 30.

圖4係表示自動倉庫20內高架搬送車10之一例之圖。如圖4所示，高架搬送車10具備有移行部11、本體部12、移載部13、及搬送車控制部14。移行部11沿著作為高架搬送車10之移行路徑之軌道R移行。軌道R自廠房之天花板部C被垂吊而配置。移行部11藉由電動馬達或線性馬達等之驅動裝置而於軌道R 上移行。移行部11之移行及停止係由搬送車控制部14所控制。 FIG. 4 is a diagram showing an example of the overhead transport vehicle 10 in the automatic warehouse 20. As shown in FIG. As shown in FIG. 4, the overhead transport vehicle 10 includes a transfer unit 11, a main body 12, a transfer unit 13, and a transfer vehicle control unit 14. The moving part 11 moves along a track R written as a moving path of the overhead transport vehicle 10. The rail R is arranged by being suspended from the ceiling part C of the factory building. The moving part 11 moves on the rail R by a driving device such as an electric motor or a linear motor. The moving and stopping of the moving part 11 is controlled by the conveying vehicle control part 14.

如圖1至圖3所示，軌道R具有幹線R1、及支線R2。幹線R1以沿著X方向延伸之狀態而沿著自動倉庫20之側方(+Y側)被配置。再者，於圖1中，為了容易掌握自動倉庫20內部之位置關係，以將幹線R1之一部分切斷之狀態來表示。支線R2自幹線R1分支而被配置，且被連接於後述之庫內移行軌道30。藉由該構成，高架搬送車10可藉由自幹線R1進入支線R2，而容易地進入庫內移行軌道30。 As shown in FIGS. 1 to 3, the track R has a trunk line R1 and a branch line R2. The trunk line R1 is arranged along the side (+Y side) of the automated warehouse 20 in a state of extending in the X direction. Furthermore, in FIG. 1, in order to easily grasp the positional relationship within the automated warehouse 20, it is shown in a state where a part of the trunk line R1 is cut off. The branch line R2 is branched from the main line R1 and is arranged, and is connected to the in-store traveling rail 30 described later. With this configuration, the overhead transport vehicle 10 can easily enter the traveling rail 30 in the warehouse by entering the branch line R2 from the main line R1.

支線R2具有進入用支線R2a、及返回用支線R2b。進入用支線R2a係自幹線R1分支而用以供高架搬送車10進入庫內移行軌道30之進入路徑。返回用支線R2b係自庫內移行軌道30分支而用以供高架搬送車10返回幹線R1之返迴路徑。如此，由於供高架搬送車10進入庫內移行軌道30之支線(R2a)與供高架搬送車10返回幹線R1之支線(R2b)被區分，因此可藉由單向之移行順利地進行高架搬送車10朝向庫內移行軌道30之進入、及朝向幹線R1之返回。 The branch line R2 has an entry branch line R2a and a return branch line R2b. The entry branch line R2a is branched from the main line R1 and is used for the entry path of the overhead transport vehicle 10 into the traveling rail 30 in the warehouse. The return branch line R2b branches from the traveling rail 30 in the warehouse and is used for the return path of the overhead transport vehicle 10 to return to the main line R1. In this way, since the branch line (R2a) for the overhead transport vehicle 10 to enter the moving rail 30 in the warehouse and the branch line (R2b) for the overhead transport vehicle 10 to return to the main line R1 are distinguished, the overhead transport vehicle can be moved smoothly in one direction. 10 Enter the moving rail 30 toward the library and return toward the main line R1.

再者，進入用支線R2a跨越後述之自動倉庫20之起重機通路25之-X側之端部25a被連接於庫內移行軌道30。返回用支線R2b自庫內移行軌道30跨越後述之自動倉庫20之+Y側之棚架部22被連接於幹線R1。 In addition, the end 25a on the -X side of the crane passage 25 of the automatic warehouse 20 described later across the branch line R2a for entry is connected to the in-room traveling rail 30. The return branch line R2b crosses the +Y-side scaffold part 22 of the automatic warehouse 20 mentioned later from the inside moving rail 30 of the warehouse, and is connected to the trunk line R1.

如圖4所示，高架搬送車10之本體部12以被垂吊之狀態被安裝於移行部11，而與移行部11一體地移動。本體部12可收容物品M。移載部13係設置於本體部12，且具有保持物品M之保持部15、及使保持部15移動之移動機構16。 As shown in FIG. 4, the main body portion 12 of the overhead transport vehicle 10 is attached to the traveling portion 11 in a suspended state, and moves integrally with the traveling portion 11. The main body 12 can store the article M. The transfer part 13 is provided in the main body part 12 and has a holding part 15 for holding the article M and a moving mechanism 16 for moving the holding part 15.

保持部15藉由把持物品M之凸緣部，而將物品M以垂吊之狀態加以保持。保持部15例如為具有可沿著水平方向開閉之爪部的夾頭，藉由使爪部進入物品M之凸緣部之下方，並使保持部15上升，來保持物品M。保持部15與線索或帶等之垂吊構件相連接。垂吊構件設置有數根，例如設置有4根。保持部15之動作係由搬送車控制部14所控制。 The holding part 15 holds the article M in a hanging state by gripping the flange part 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. The claw portion enters below the flange portion of the article M and the holding portion 15 is raised to hold the article M. The holding part 15 is connected to a hanging member such as a clue or a belt. There are several hanging members, for example, four. The operation of the holding unit 15 is controlled by the transport vehicle control unit 14.

移動機構16具有使保持部15沿著鉛垂方向升降之升降驅動部17、及使升降驅動部17沿著軌道R之側方進行橫向移動之橫向伸出機構18。升降驅動部17例如為吊車，藉由將上述垂吊構件捲出而使保持部15下降，而且，藉由將垂吊構件捲取而使保持部15上升。升降驅動部17係由搬送車控制部14所控制，而以既定之速度使保持部15下降或上升。又，升降驅動部17係由搬送車控制部14所控制，而將保持部15保持於目標之高度。 The moving mechanism 16 has an up-and-down drive unit 17 that moves the holding portion 15 up and down in the vertical direction, and a lateral extension mechanism 18 that moves the up-and-down drive unit 17 laterally along the side of the rail R. The lifting drive part 17 is, for example, a crane, and the holding part 15 is lowered by winding out the above-mentioned hanging member, and the holding part 15 is raised by winding up the hanging member. The up-and-down driving part 17 is controlled by the transport vehicle control part 14, and lowers or raises the holding part 15 at a predetermined speed. In addition, the up-and-down drive unit 17 is controlled by the transport vehicle control unit 14 and keeps the holding unit 15 at a target height.

橫向伸出機構18具有例如沿著上下方向重疊地被配置之複數個可動板。複數個可動板可相互地滑動，且可使最下層之可動板朝移行部11之移行方向之側方突出(橫向伸出)。於最下層之可動板安裝有升降驅動部17。橫向伸出機構18具有導引可動板之未圖示之導件、及使可動板移動之未圖示之驅動部等。橫向伸出機構18之動作係由搬送車控制部14所控制。 The lateral extension mechanism 18 has, for example, a plurality of movable plates arranged so as to overlap in the vertical direction. A plurality of movable plates can slide mutually, and the movable plate of the lowermost layer can protrude (extend laterally) to the side of the traveling direction of the traveling portion 11. A lift driving part 17 is installed on the movable plate of the lowermost layer. The lateral extension mechanism 18 has a guide (not shown) for guiding the movable plate, a driving part (not shown) for moving the movable plate, and the like. The movement of the lateral extension mechanism 18 is controlled by the transport vehicle control unit 14.

又，移載部13亦可於上述可動板與升降驅動部17之間具有轉動部。轉動部可使升降驅動部17繞上下方向之軸旋轉。藉由該構成，可使升降驅動部17及保持部15旋轉，而可使被保持於保持部15之物品M繞上下方向之軸旋轉。再者，移載部13是否具備有轉動部為任意，亦可不具備有轉動部。 Moreover, the transfer part 13 may have a rotation part between the said movable plate and the up-and-down driving part 17. The rotating part can rotate the up-and-down driving part 17 around an axis in the up-and-down direction. With this structure, the up-and-down drive part 17 and the holding part 15 can be rotated, and the article M held by the holding part 15 can be rotated about the axis|shaft in the up-down direction. In addition, whether the transfer part 13 is provided with a rotation part is arbitrary, and may not be provided with a rotation part.

搬送車控制部14例如被設置於本體部12。搬送車控制部14自未圖示之上位控制裝置接受高架搬送車10之移動目的地或物品M之搬送目的地等之指示，並根據該指示使高架搬送車10動作。又，搬送車控制部14自上位控制裝置或後述之倉庫控制部24接收會成為高架搬送車10之移行之障礙的資訊等。例如，搬送車控制部14於自倉庫控制部24接收到在庫內移行軌道30之下方有後述之起重機23存在之資訊之情形時，限制高架搬送車10朝向庫內移行軌道30之進入。 The transport vehicle control unit 14 is provided in the main body 12, for example. The transport vehicle control unit 14 receives instructions from a higher-level control device not shown on the moving destination of the overhead transport vehicle 10 or the transport destination of the article M, and operates the overhead transport vehicle 10 in accordance with the instructions. In addition, the transport vehicle control unit 14 receives information that may become an obstacle to the movement of the overhead transport vehicle 10 from a higher-level control device or a warehouse control unit 24 described later. For example, when the transfer vehicle control unit 14 receives information from the warehouse control unit 24 that there is a crane 23 below the interior moving rail 30, it restricts the entry of the overhead transfer vehicle 10 toward the interior moving rail 30.

如圖1至圖3所示，自動倉庫20以位於沿著作為高架搬送車10之移行路徑之軌道R之幹線R1之側方之方式，被設置於廠房等之地板部F。自動倉庫20具有壁部21、棚架部22、起重機23、及倉庫控制部24。自動倉庫20將複數個物品M保管於由壁部21所包圍之內側空間。於自動倉庫20設定有高架搬送車10可進入之第1區域20A、及高架搬送車10無法進入之第2區域20B。第1區域20A係設定於自動倉庫20之-X側。第2區域20B係設定於自動倉庫20之+X側。即便在高架搬送車10存在於第1區域20A時，於第2區域20B中，亦容許後述之起重機23之運轉。 As shown in FIGS. 1 to 3, the automated warehouse 20 is installed on the floor part F of a factory building or the like so as to be located on the side of the trunk line R1 of the rail R along the traveling path of the overhead transport vehicle 10. The automated warehouse 20 has a wall part 21, a scaffold part 22, a crane 23, and a warehouse control part 24. The automated warehouse 20 stores a plurality of articles M in the inner space surrounded by the wall 21. In the automatic warehouse 20, a first area 20A in which the overhead transport vehicle 10 can enter, and a second area 20B in which the overhead transport vehicle 10 cannot enter are set. The first area 20A is set on the -X side of the automated warehouse 20. The second area 20B is set on the +X side of the automated warehouse 20. Even when the overhead transport vehicle 10 exists in the first area 20A, the operation of the crane 23 described later is allowed in the second area 20B.

壁部21以包圍棚架部22之方式被設置，而區隔自動倉庫20之內外。壁部21例如於自上方觀察之情形時被設置為矩形狀。再者，於圖1中，作為後述之起重機23之移動空間之起重機通路25之+X側及-X側之端部雖被開啟，但亦可藉由壁部21所封閉。於起重機通路25之+X側及-X側之端部由壁部21所封閉之情形時，亦可於壁部21之+X側及-X側之任一者或雙方設置用以供作業者進入自動倉庫20內之門。 The wall 21 is provided in such a way as to surround the shelf 22 and separates the inside and outside of the automatic warehouse 20. The wall 21 is provided in a rectangular shape when viewed from above, for example. Furthermore, in FIG. 1, although the ends of the crane passage 25 which is the moving space of the crane 23 described later, on the +X side and -X side are opened, they may be closed by the wall 21. When the ends of the crane passage 25 on the +X side and -X side are closed by the wall 21, it can also be installed on either or both of the +X side and -X side of the wall 21 for operation The person enters the door of the automatic warehouse 20.

棚架部22可載置物品M。棚架部22係由被設置於壁部21之內側之未圖示之框架所支撐，且沿著自動倉庫20內之上下方向(Z方向)設置有複數段。於本實施形態中，如此之複數段之棚架部22係沿著X方向配置有複數列。又，複數之段棚架部22係於自動倉庫20內隔著後述之起重機通路25配置有2列。又，於複數個棚架部22之各者，形成有可供後述之起重機23之保持部39沿著上下方向通過之缺口部。 The shelf part 22 can place an article M. The shelf portion 22 is supported by a frame (not shown) provided on the inner side of the wall portion 21, and is provided with a plurality of stages along the vertical direction (Z direction) in the automatic warehouse 20. In this embodiment, such a plurality of stages of the scaffold part 22 are arranged in a plurality of rows along the X direction. In addition, the plurality of stage scaffolding parts 22 are arranged in two rows in the automatic warehouse 20 via a crane passage 25 described later. In addition, in each of the plurality of scaffolding portions 22, a notch portion is formed through which the holding portion 39 of the crane 23 described later can pass in the vertical direction.

於本實施形態中，棚架部22具有段差部22a。段差部22a於自動倉庫20中被設置於高架搬送車10可進入之第1區域20A內之+Y側。設置有段差部22a之部分相較於其他部分，離地板部F之高度變低。藉由設置有段差部22a，可避免在返回用支線R2b上移行之高架搬送車10與棚架部22之干涉。再者，於本實施形態中，進入用支線R2a自自動倉庫20之起重機通路25之-X側之端部25a被連接於庫內移行軌道30。因此，除了高架搬送車10於返回用支線R2b上移行之空間以外，可利用段差部22a上方之空間。 In this embodiment, the shelf part 22 has a step part 22a. The step portion 22a is installed in the automatic warehouse 20 on the +Y side in the first area 20A into which the overhead transport vehicle 10 can enter. The height of the part provided with the step part 22a from the floor part F becomes lower than other parts. By providing the step portion 22a, the interference between the overhead transport vehicle 10 and the scaffolding portion 22 traveling on the return branch line R2b can be avoided. In addition, in the present embodiment, the entry branch line R2a is connected to the inner traveling rail 30 from the end 25a on the -X side of the crane passage 25 of the automatic warehouse 20. Therefore, in addition to the space where the overhead transport vehicle 10 travels on the return branch line R2b, the space above the step portion 22a can be used.

於該段差部22a上方之空間，配置有保管架26。保管架26例如藉由垂吊構件26a而自天花板部C被垂吊。再者，保管架26亦可以於上下方向上與棚架部22連續之方式，被設置為自棚架部22立起。保管架26可於與高架搬送車10之間進行物品M之交接，且可進一步於與後述之起重機23之間進行物品M之交接。因此，保管架26可作為於高架搬送車10與起重機23之間進行物品M之交接之交接埠而使用。如此，由於可於設置有段差部22a之部分配置保管架26，因此可藉由保管架26來彌補因段差部 22a所導致之棚架部22之減少，從而可確保物品M之保管數。 A storage shelf 26 is arranged in the space above the step portion 22a. The storage shelf 26 is suspended from the ceiling part C by the suspension member 26a, for example. Furthermore, the storage shelf 26 may be arranged to stand up from the shelf portion 22 in a manner continuous with the shelf portion 22 in the vertical direction. The storage rack 26 can transfer the article M with the overhead transport vehicle 10, and can further transfer the article M with the crane 23 described later. Therefore, the storage rack 26 can be used as a transfer port for transferring the article M between the overhead transport vehicle 10 and the crane 23. In this way, since the storage rack 26 can be arranged at the portion where the step portion 22a is provided, the storage rack 26 can compensate for the reduction of the shelf portion 22 caused by the step portion 22a, and the number of articles M in storage can be ensured.

再者，如圖4所示，高架搬送車10可對-Y側之棚架部22之最上段進行物品M之交接。但是，於對該棚架部22進行載置時，使物品M旋轉180度而使物品M之蓋部朝向起重機通路25。於-Y側之棚架部22之最上段，亦可藉由高架搬送車10及起重機23來進行物品M之交接，該棚架部22之最上段亦可作為交接埠而使用。 Furthermore, as shown in FIG. 4, the overhead transport vehicle 10 can deliver the article M to the uppermost section of the scaffold part 22 on the -Y side. However, when placing the shelf portion 22, the article M is rotated 180 degrees and the cover portion of the article M faces the crane passage 25. The uppermost section of the scaffold part 22 on the -Y side can also be used to transfer the article M by the overhead transport vehicle 10 and the crane 23, and the uppermost section of the scaffold part 22 can also be used as a transfer port.

圖5係表示起重機23之一例之圖。起重機23使物品M沿著水平方向及上下方向移動，例如移載至作為移載場所之複數個棚架部22中之任一者。如圖5所示，起重機23具備有2台移行部31、桅桿32、升降台33、移載部34、及升降驅動部35。移行部31沿著庫內移行軌道30移行。移行部31係與高架搬送車10之移行部11相同之構成，藉由電動馬達或線性馬達等驅動裝置而於庫內移行軌道30上移行。移行部31之移行及停止係由起重機23所具備之未圖示之控制部所控制。 FIG. 5 is a diagram showing an example of the crane 23. As shown in FIG. The crane 23 moves the article M in the horizontal direction and the vertical direction, and, for example, transfers it to any one of the plurality of shelf parts 22 as a transfer place. As shown in FIG. 5, the crane 23 includes two moving parts 31, a mast 32, a lifting platform 33, a transfer part 34, and a lifting driving part 35. The traveling part 31 travels along the in-store traveling rail 30. The moving part 31 has the same structure as the moving part 11 of the overhead transport vehicle 10, and is moved on the moving rail 30 in the warehouse by a driving device such as an electric motor or a linear motor. The moving and stopping of the moving part 31 is controlled by a control part not shown in the figure provided by the crane 23.

桅桿32自被安裝於移行部31下方之上部支撐體37被垂吊，而導引升降台33。桅桿32分別被設置於移行部31之移行方向之前後兩側。桅桿32朝向上部支撐體37之安裝，例如既可使用螺栓及螺帽等之緊固構件，亦可使用焊接等。 The mast 32 is suspended from the upper support 37 installed below the moving part 31 to guide the lifting platform 33. The masts 32 are respectively arranged on the front and back sides of the traveling part 31 in the traveling direction. For the installation of the mast 32 toward the upper support 37, for example, fastening members such as bolts and nuts can be used, or welding can also be used.

升降台33藉由後述之移載部34來支撐物品M，且由桅桿32所導引而進行升降。升降台33係配置於2個桅桿32之間。於升降台33之上表面搭載有移載部34。移載部34於自棚架部22接收物品M時，相對於被載置於棚架部22之物品M，臂部38伸長而將保持部39配置於物品M之底面之下方。接著，移載部34 藉由升降台33上升，而利用通過棚架部22之缺口部之保持部39來鏟起物品M。接著，移載部34藉由臂部38在將物品M載置於保持部39上之狀態下收縮，而將物品M(保持部39)配置於升降台33上。又，移載部34於將物品M遞交至棚架部22時，以相對於棚架部22被定位之狀態伸長臂部38，而將保持部39上之物品M配置於棚架部22之上方。接著，藉由升降台33下降，保持部39通過棚架部22之缺口部，而將物品M自保持部39遞交至棚架部22。 The lifting platform 33 supports the article M by the transfer part 34 described later, and is guided by the mast 32 to be raised and lowered. The lifting platform 33 is arranged between the two masts 32. The transfer part 34 is mounted on the upper surface of the lifting platform 33. When the transfer portion 34 receives the article M from the shelf portion 22, the arm portion 38 extends relative to the article M placed on the shelf portion 22, and the holding portion 39 is arranged below the bottom surface of the article M. Next, the transfer part 34 is raised by the lifting platform 33, and the article M is scooped up by the holding part 39 which passes through the notch part of the shelf part 22. As shown in FIG. Next, the transfer part 34 is contracted by the arm part 38 in a state where the article M is placed on the holding part 39, and the article M (holding part 39) is arranged on the lifting platform 33. In addition, when the transfer portion 34 delivers the article M to the shelf portion 22, the arm portion 38 is extended in a state of being positioned relative to the shelf portion 22, and the article M on the holding portion 39 is arranged on the shelf portion 22 Above. Then, as the lifting platform 33 descends, the holding part 39 passes through the notch part of the shelf part 22 to deliver the article M from the holding part 39 to the shelf part 22.

升降驅動部35使升降台33沿著桅桿32升降。升降驅動部35具備有垂吊構件35a及驅動部35b。垂吊構件35a例如為帶或線索等，升降台33藉由該垂吊構件35a而自上部支撐體37被垂吊。驅動部35b係設置於上部支撐體37，進行垂吊構件35a之捲出或捲取。若驅動部35b將垂吊構件35a捲出，升降台33便由桅桿32所導引而下降。又，若驅動部35b將垂吊構件35a捲取，升降台33便由桅桿32所導引而上升。 The elevation drive unit 35 raises and lowers the elevation platform 33 along the mast 32. The up-and-down drive part 35 is provided with the hanging member 35a and the drive part 35b. The hanging member 35a is, for example, a belt or a clue, and the lifting platform 33 is suspended from the upper support body 37 by the hanging member 35a. The driving part 35b is provided in the upper support body 37, and performs winding-up or winding-up of the hanging member 35a. If the driving part 35b rolls out the hanging member 35a, the lifting platform 33 is guided by the mast 32 to descend. In addition, when the driving part 35b winds up the hanging member 35a, the lifting platform 33 is guided by the mast 32 to ascend.

升降驅動部35雖被設置於上部支撐體37，但並不限定於該構成。升降驅動部35例如亦可被設置於升降台33。作為於升降台33設置有升降驅動部35之構成，例如，亦可利用搭載於升降台33之裝置(例如吊車等)，將自上部支撐體37所垂吊之帶或線索等進行捲起或捲出，藉此使升降台33升降。又，亦可於升降台33搭載驅動小齒輪之電動馬達等，於桅桿32形成與該小齒輪嚙合之齒條，並驅動電動馬達等使小齒輪旋轉，藉此使升降台33升降。 Although the up-and-down drive part 35 is provided in the upper support body 37, it is not limited to this structure. The elevating drive unit 35 may be provided on the elevating platform 33, for example. As a configuration in which the lifting drive portion 35 is provided on the lifting platform 33, for example, a device (such as a crane, etc.) mounted on the lifting platform 33 may be used to roll up or roll up or Rolling out, thereby raising and lowering the lifting platform 33. In addition, an electric motor for driving a pinion gear may be mounted on the lifting platform 33, a rack meshing with the pinion may be formed on the mast 32, and the electric motor etc. may be driven to rotate the pinion, thereby lifting the lifting platform 33.

又，起重機23具有下部連結體40、及輥41。下部連結體40將桅桿32之下部加以連結。輥41繞沿著Z軸之軸線旋轉。 輥41隔著下側軌道42而沿著Y方向排列地被配置。下側軌道42藉由導引輥41而限制起重機23之下端沿著Y方向之擺動。如圖3所示，於下側軌道42之-X側之端部42a配置有止動部42c。又，於下側軌道42之+X側之端部42b配置有止動部42d。止動部42c、42d限制起重機23超越起重機通路25之移動。於本實施形態中，由於在後述庫內移行軌道30之+X側之端部30b配置有止動部30d，因此亦可不設置止動部42d。 In addition, the crane 23 has a lower connection body 40 and a roller 41. The lower connecting body 40 connects the lower part 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 restricts the swing of the lower end of the crane 23 along the Y direction by the guide roller 41. As shown in FIG. 3, the stopper part 42c is arrange|positioned at the edge part 42a of the -X side of the lower rail 42. As shown in FIG. In addition, a stopper 42d is arranged at the end 42b of the lower rail 42 on the +X side. The stoppers 42c and 42d restrict the movement of the crane 23 beyond the crane passage 25. In this embodiment, since the stop part 30d is arrange|positioned at the edge part 30b of the +X side of the traveling rail 30 mentioned later, the stop part 42d may not be provided.

又，如圖5所示，自動倉庫20於第2區域20B具有起重機23專用之物品M之出入庫口27。出入庫口27可由作業者等自壁部21之外側進行物品M之交接。又，如圖5之單點鏈線所示，亦可自壁部21突出地設置交接埠27a，而將物品M在出入庫口27與交接埠27a之間加以移送。於出入庫口27，即便在高架搬送車10存在於庫內移行軌道30時，亦可藉由起重機23進行物品M之交接。藉由該構成，則無關於高架搬送車10之位置，均可於與作業者等之間進行物品M之交接，而可提高物品M之搬送效率。 Moreover, as shown in FIG. 5, the automatic warehouse 20 has the warehouse entrance 27 for the goods M exclusively used for the crane 23 in the 2nd area 20B. At the entry/exit opening 27, the article M can be delivered from the outer side of the wall 21 by an operator or the like. Moreover, as shown by the single-dot chain line in FIG. 5, the delivery port 27a may protrude from the wall part 21, and the article M can be transferred between the warehouse entrance 27 and the delivery port 27a. At the entrance and exit 27, even when the overhead transport vehicle 10 exists on the moving rail 30 in the warehouse, the article M can be delivered by the crane 23. With this configuration, regardless of the position of the overhead transport vehicle 10, the article M can be delivered to and from an operator, etc., and the transport efficiency of the article M can be improved.

倉庫控制部24控制包含起重機23之動作之自動倉庫20之動作。倉庫控制部24例如以將棚架部22之物品M移載至其他棚架部22(或作為交接埠之棚架部22)之方式對起重機23進行控制。又，倉庫控制部24在高架搬送車10存在於庫內移行軌道30之情形時，限制起重機23朝第1區域20A之進入，而防止其朝高架搬送車10所存在之庫內移行軌道30之下方之進入。 The warehouse control unit 24 controls the operation of the automatic warehouse 20 including the operation of the crane 23. The warehouse control unit 24 controls the crane 23 to transfer the articles M of the scaffolding portion 22 to another scaffolding portion 22 (or the scaffolding portion 22 as a transfer port), for example. In addition, the warehouse control unit 24 restricts the entry of the crane 23 to the first area 20A when the overhead transport vehicle 10 exists on the moving rail 30 in the warehouse, and prevents it from moving toward the moving rail 30 in the warehouse where the overhead transport vehicle 10 exists. Entry from below.

如圖1至圖3所示，庫內移行軌道30係配置於自動倉庫20之起重機通路25之上方。庫內移行軌道30以沿著X方向延伸之狀態而沿著起重機通路25被配置。庫內移行軌道30係設置 於自自動倉庫20之第1區域20A至第2區域20B。庫內移行軌道30被設置於第1區域20A之部分，可供高架搬送車10駛入。庫內移行軌道30被設置於第1區域20A之部分，兼作為自動倉庫20之起重機23之移行軌道而使用。於庫內移行軌道30亦兼作為自動倉庫20之起重機23之移行軌道使用之情形時，可使構造簡化，而可降低設置成本。 As shown in FIGS. 1 to 3, the moving rail 30 in the warehouse is arranged above the crane passage 25 of the automatic warehouse 20. The inner traveling rail 30 is arranged along the crane passage 25 in a state of extending in the X direction. The moving rail 30 in the warehouse is installed in the first area 20A to the second area 20B of the automatic warehouse 20. As shown in FIG. The transfer rail 30 in the warehouse is provided in the part of the first area 20A, and the overhead transport vehicle 10 can be driven in. The internal traveling rail 30 is installed in the part of the 1st area 20A, and is used also as a traveling rail of the crane 23 of the automatic warehouse 20. As shown in FIG. When the moving rail 30 in the warehouse is also used as the moving rail of the crane 23 of the automatic warehouse 20, the structure can be simplified and the installation cost can be reduced.

庫內移行軌道30其-X側之端部30a被連接於進入用支線R2a。於庫內移行軌道30之+X側之端部30b設置有止動部30d。止動部30d限制起重機23超越起重機通路25朝向自動倉庫20外移動之情形。又，止動部30d於高架搬送車10誤進入至第2區域20B之情形時，防止高架搬送車10超越庫內移行軌道30而自庫內移行軌道30落下之情形。又，於庫內移行軌道30，在端部30a與端部30b之中間部分連接有返回用支線R2b。 The inner travel rail 30 has an end 30a on the -X side connected to the entry branch line R2a. A stop part 30d is provided at the end 30b on the +X side of the traveling rail 30 in the library. The stopper 30d restricts the situation in which the crane 23 moves beyond the crane passage 25 toward the outside of the automatic warehouse 20. In addition, the stopper 30d prevents the overhead transport vehicle 10 from overtaking the interior moving rail 30 and falling from the interior moving rail 30 when the overhead transport vehicle 10 enters the second area 20B by mistake. In addition, in the traveling rail 30 in the library, a return branch line R2b is connected to an intermediate portion between the end portion 30a and the end portion 30b.

對自動倉庫系統100之動作進行說明。於自動倉庫系統100中，高架搬送車10例如保持物品M並於軌道R之幹線R1上移行，而將物品M搬送至搬送目的地。以下，列舉高架搬送車10之物品M之搬送目的地為自動倉庫20之保管架26之情形為例進行說明。 The operation of the automatic warehouse system 100 will be described. In the automatic warehouse system 100, the overhead transport vehicle 10, for example, holds the article M, moves on the trunk line R1 of the rail R, and transports the article M to the transfer destination. Hereinafter, a case where the transport destination of the article M of the overhead transport vehicle 10 is the storage rack 26 of the automatic warehouse 20 will be described as an example.

圖6係表示自動倉庫系統100之動作之一例之流程圖。圖7係表示自動倉庫系統100之動作之一態樣之圖。圖6(A)及圖7(A)係表示於自動倉庫系統100中高架搬送車10將物品M搬送至自動倉庫20內之情形時之動作的圖。又，圖6(B)及圖7(B)係表示自動倉庫20之起重機23移載物品M之動作之一態樣的圖。 FIG. 6 is a flowchart showing an example of the operation of the automatic warehouse system 100. FIG. 7 is a diagram showing one aspect of the operation of the automatic warehouse system 100. 6(A) and FIG. 7(A) are diagrams showing operations when the overhead transport vehicle 10 transports the article M into the automated warehouse 20 in the automated warehouse system 100. FIG. 6(B) and FIG. 7(B) are diagrams showing one aspect of the operation of the crane 23 of the automated warehouse 20 to transfer the article M.

高架搬送車10之各動作係藉由本體部12具備之搬送 車控制部14所控制。高架搬送車10之移行部11根據搬送車控制部14之指示而沿著軌道R之幹線R1移行。於移行部11到達通往進入用支線R2a之分支部分之情形時，如圖6所示，搬送車控制部14對起重機23是否存在於庫內移行軌道30之第1區域20A進行判定(步驟ST01)。於步驟ST01中，搬送車控制部14例如與倉庫控制部24之間進行通信，而取得起重機23之X方向上之位置。搬送車控制部14根據所取得之起重機23之X方向上之位置，進行起重機23是否存在於第1區域20A之判定。 Each movement of the overhead transport vehicle 10 is controlled by the transport vehicle control unit 14 provided in the main body 12. The moving part 11 of the overhead transport vehicle 10 moves along the trunk line R1 of the rail R according to the instruction of the transport vehicle control part 14. When the transfer section 11 reaches the branching portion leading to the entry branch line R2a, as shown in FIG. 6, the transfer vehicle control section 14 determines whether the crane 23 is present in the first area 20A of the transfer rail 30 in the warehouse (step ST01 ). In step ST01, the transport vehicle control unit 14 communicates with the warehouse control unit 24, for example, to acquire the position of the crane 23 in the X direction. The transport vehicle control unit 14 determines whether the crane 23 is present in the first area 20A based on the acquired position of the crane 23 in the X direction.

於藉由搬送車控制部14被判定為起重機23不存在於第1區域20A之情形時(步驟ST01之否)，搬送車控制部14對高架搬送車10之控制部供給可進入之資訊。高架搬送車10之控制部根據該資訊，如圖7(A)所示般以高架搬送車10自幹線R1進入進入用支線R2a而於進入用支線R2a上移行並進入庫內移行軌道30之方式進行控制(步驟ST02)。 When it is determined by the transport vehicle control unit 14 that the crane 23 does not exist in the first area 20A (No in step ST01), the transport vehicle control unit 14 supplies the accessible information to the control unit of the overhead transport vehicle 10. Based on the information, the control unit of the overhead transport vehicle 10 enters the entry branch line R2a from the main line R1, and moves on the entry branch line R2a and enters the transport rail 30 in the warehouse as shown in FIG. 7(A). Control (step ST02).

又，於藉由搬送車控制部14被判定為起重機23存在於第1區域20A之情形時(步驟ST01之是)，搬送車控制部14對高架搬送車10之控制部供給不可進入之資訊。高架搬送車10之控制部根據該資訊，如圖7(B)所示般以高架搬送車10於幹線R1進行待機之方式進行控制。其後，高架搬送車10於幹線R1待機至被判定為起重機23不存在於第1區域20A為止。再者，高架搬送車10亦可於自幹線R1進入至進入用支線R2a之位置進行待機。藉由高架搬送車10於進入至進入用支線R2a之位置進行待機，不會成為於幹線R1上移行之其他高架搬送車10之移行之障礙，而可抑制物品M之搬送效率降低之情形。 When it is determined by the transport vehicle control unit 14 that the crane 23 is present in the first area 20A (YES in step ST01), the transport vehicle control unit 14 supplies the control unit of the overhead transport vehicle 10 with inaccessible information. Based on the information, the control unit of the overhead transport vehicle 10 controls the overhead transport vehicle 10 to stand by on the main line R1 as shown in FIG. 7(B). After that, the overhead transport vehicle 10 waits on the main line R1 until it is determined that the crane 23 does not exist in the first area 20A. Furthermore, the overhead transport vehicle 10 may also be on standby at a position where it enters from the main line R1 to the entry branch line R2a. As the overhead transport vehicle 10 waits at the position where it enters the entry branch line R2a, it will not become an obstacle to the movement of other overhead transport vehicles 10 moving on the trunk line R1, and the reduction in the transport efficiency of the article M can be suppressed.

高架搬送車10於進入庫內移行軌道30之後，沿著庫內移行軌道30移動至保管架26之-Y側之位置，而停止移行。其後，橫向伸出機構18使保持部15朝+Y方向突出，而將物品M配置於保管架26之上方。其後，升降驅動部17使保持部15下降而將物品M載置於保管架26。於物品M被載置於保管架26之後，保持部15解除物品M之保持。其後，藉由升降驅動部17使保持部15上升，並藉由橫向伸出機構18將保持部15收容於本體部12內。藉由該一連串之動作，完成物品M之搬送。其後，高架搬送車10自庫內移行軌道30進入返回用支線R2b，並於返回用支線R2b上移行而返回幹線R1。 After the overhead transport vehicle 10 enters the inner moving rail 30, it moves along the inner moving rail 30 to a position on the -Y side of the storage rack 26, and stops moving. After that, the lateral extension mechanism 18 causes the holding portion 15 to protrude in the +Y direction, and the article M is arranged above the storage rack 26. After that, the raising/lowering 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 portion 15 releases the holding of the article M. After that, the holding portion 15 is raised by the lifting drive portion 17, and the holding portion 15 is housed in the main body portion 12 by the lateral extension mechanism 18. Through the series of actions, the transportation of the article M is completed. After that, the overhead transport vehicle 10 enters the return branch line R2b from the inner travel rail 30, travels on the return branch line R2b, and returns to the main line R1.

又，於自動倉庫20中，存在有藉由起重機23將利用高架搬送車10被搬送至保管架26之物品M移載至棚架部22之情形。以下，對自動倉庫20之起重機23之物品M之移載動作進行說明。 In addition, in the automatic warehouse 20, there are cases where the article M transported to the storage rack 26 by the overhead transport vehicle 10 is transferred to the shelf section 22 by the crane 23. Hereinafter, the transfer operation of the article M of the crane 23 of the automatic warehouse 20 will be described.

圖6(B)係表示於自動倉庫系統100中自動倉庫20之起重機23之物品M之移載動作之一例的流程圖。於以下之說明中，自動倉庫20之各動作係根據倉庫控制部24之指示所執行。於自動倉庫20中，倉庫控制部24對高架搬送車10是否存在於庫內移行軌道30之第1區域20A進行判定(步驟ST03)。於步驟ST03中，倉庫控制部24例如與搬送車控制部14之間進行通信，而取得高架搬送車10之X方向上之位置。倉庫控制部24根據所取得之高架搬送車10之X方向上之位置，進行高架搬送車10是否存在於第1區域20A之判定。 FIG. 6(B) is a flowchart 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 action of the automated warehouse 20 is executed according to the instructions of the warehouse control unit 24. In the automated warehouse 20, the warehouse control unit 24 determines whether or not the overhead transport vehicle 10 is present in the first area 20A of the traveling rail 30 in the warehouse (step ST03). In step ST03, the warehouse control unit 24 communicates with the transport vehicle control unit 14, for example, to obtain the position of the overhead transport vehicle 10 in the X direction. The warehouse control unit 24 determines whether or not the elevated transport vehicle 10 exists in the first area 20A based on the acquired position of the elevated transport vehicle 10 in the X direction.

於藉由倉庫控制部24被判定為高架搬送車10存在於 第1區域20A之情形時(步驟ST03之是)，起重機23如圖7(A)所示般，繼續於第2區域20B進行待機、或於第2區域20B內進行其他物品M之移載等之動作。其後，起重機23直至被判定為高架搬送車10不存在於第1區域20A為止不進入第1區域20A。又，於藉由倉庫控制部24被判定為高架搬送車10不存在於第1區域20A之情形時(步驟ST03之否)，起重機23如圖7(B)所示般沿著庫內移行軌道30移行，並自第2區域20B進入第1區域20A(步驟ST04)。 When it is determined by the warehouse control unit 24 that the overhead transport vehicle 10 exists in the first area 20A (YES in step ST03), the crane 23 continues to wait in the second area 20B as shown in FIG. 7(A) , Or perform actions such as transferring other items M in the second area 20B. After that, the crane 23 does not enter the first area 20A until it is determined that the overhead transport vehicle 10 does not exist in the first area 20A. Furthermore, when it is determined by the warehouse control unit 24 that the overhead transport vehicle 10 does not exist in the first area 20A (No in step ST03), the crane 23 moves along the rail in the warehouse as shown in FIG. 7(B) 30 moves and enters the first area 20A from the second area 20B (step ST04).

如圖7(B)所示，起重機23於進入第1區域20A之後，沿著庫內移行軌道30移動至保管架26之-Y側之位置，並停止移行。其後(或者與移行動作並行地)，升降驅動部35使升降台33上升或下降，藉此使升降台33之高度與保管架26之高度一致。其後，利用移載部34使臂部38伸展，並利用升降台33使臂部38上升，藉此利用保持部39將物品M鏟起並加以保持。其後，收縮臂部38並藉由移載部34，使物品M移動至升降台33上。其後，起重機23移動至移載目的地之棚架部22，將物品M載置於棚架部22。藉由該一連串之動作，完成物品M之移載。 As shown in FIG. 7(B), after the crane 23 enters the first area 20A, it moves along the inner moving rail 30 to the position on the -Y side of the storage rack 26 and stops moving. After that (or in parallel with the moving operation), the lifting drive unit 35 raises or lowers the lifting platform 33, thereby making the height of the lifting platform 33 coincide with the height of the storage rack 26. After that, the arm portion 38 is extended by the transfer portion 34, and the arm portion 38 is raised by the lifting platform 33, whereby the article M is scooped up and held by the holding portion 39. After that, the arm portion 38 is contracted and the article M is moved to the lifting platform 33 by the transfer portion 34. After that, the crane 23 moves to the scaffold part 22 of the transfer destination, and loads the article M on the scaffold part 22. Through the series of actions, the transfer of the item M is completed.

如此，根據本實施形態之自動倉庫系統100及自動倉庫系統之控制方法，由於將自動倉庫20之起重機通路25亦作為高架搬送車10之通路而使用，因此相較於高架搬送車10於棚架部22之上方移動之情形，可抑制物品M之保管數之減少。又，高架搬送車10由於會進入庫內移行軌道30，因此無需將幹線R1與自動倉庫20分開地配置，而可避免工廠廠房內之空間效率變差。 In this way, according to the automatic warehouse system 100 and the automatic warehouse system control method of 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, it is compared with the overhead transport vehicle 10 in the scaffold. When the upper part of the part 22 moves, the reduction of the storage number of the article M can be suppressed. In addition, since the overhead transport vehicle 10 enters the moving rail 30 in the warehouse, it is not necessary to arrange the trunk line R1 and the automatic warehouse 20 separately, and the deterioration of the space efficiency in the factory building can be avoided.

再者，於上述之實施形態中，雖已列舉進入用支線R2a跨越自動倉庫20之起重機通路25之端部25a被連接於庫內移 行軌道30之構成為例進行說明，但並不限定於該例。圖8(A)及(B)係示意性地表示另一例之自動倉庫系統100A之構成的圖。 In addition, in the above-mentioned embodiment, although the configuration in which the end 25a of the crane passage 25 of the automatic warehouse 20 for the entry branch line R2a is connected to the inner traveling rail 30 has been described as an example, it is not limited to this example. 8(A) and (B) are diagrams schematically showing the configuration of an automated warehouse system 100A of another example.

如圖8(A)所示，自動倉庫系統100A於自幹線R1至庫內移行軌道30之中途之位置連接有進入用支線R2a。又，自動倉庫系統100A其返回用支線R2b跨越自動倉庫20之起重機通路25之+X側之端部25b被連接於庫內移行軌道30。因此，於自動倉庫系統100A中，自動倉庫20之+X側成為高架搬送車10可進入之第1區域20A，而自動倉庫20之-X側成為高架搬送車10無法進入之第2區域20B。 As shown in FIG. 8(A), the automatic warehouse system 100A is connected to a branch line R2a for entry at a position from the trunk line R1 to the middle of the transit rail 30 in the warehouse. In addition, in the automatic warehouse system 100A, the return branch line R2b crosses over the end 25b on the +X side of the crane passage 25 of the automatic warehouse 20 and is connected to the in-storage traveling rail 30. Therefore, in the automated warehouse system 100A, the +X side of the automated warehouse 20 becomes the first area 20A into which the overhead transport vehicle 10 can enter, and the −X side of the automated warehouse 20 becomes the second area 20B into which the overhead transport vehicle 10 cannot enter.

如圖8(A)所示，於庫內移行軌道30之-X側之端部30a配置有止動部30c。止動部30c抑制起重機23自自動倉庫20之-X側突出至外部之情形。又，如圖8(B)所示，於起重機23之下側軌道42，與上述實施形態同樣地，在-X側之端部42a配置有止動部42c，而在+X側之端部42b配置有止動部42d。再者，有如圖8(A)所示，由於在庫內移行軌道30之-X側之端部30a配置有止動部30c，因此亦可不配置止動部42c。 As shown in FIG. 8(A), a stopper 30c is arranged at the end 30a on the -X side of the traveling rail 30 in the library. The stopper 30c restrains the crane 23 from protruding to the outside from the -X side of the automatic warehouse 20. 8(B), in the rail 42 on the lower side of the crane 23, similar to the above-mentioned embodiment, a stopper 42c is arranged at the end 42a on the -X side, and at the end on the +X side 42b is provided with a stopper 42d. Furthermore, as shown in FIG. 8(A), since the stop part 30c is arrange|positioned at the end part 30a of the -X side of the traveling rail 30 in the library, the stop part 42c may not be arrange|positioned.

如此，自動倉庫系統100A其返回用支線R2b跨越自動倉庫20之起重機通路25之+X側之端部25b被連接於庫內移行軌道30。藉由該構成，可抑制為了配置返回用支線R2b而於自動倉庫20之棚架部22空出之空間。 In this way, in the automatic warehouse system 100A, the return branch line R2b crosses the end 25b on the +X side of the crane passage 25 of the automatic warehouse 20 and is connected to the in-storage traveling rail 30. With this configuration, it is possible to suppress the space vacated in the shelf portion 22 of the automated warehouse 20 in order to arrange the return branch line R2b.

圖9(A)及(B)係示意性地表示另一例之自動倉庫系統100B之構成之圖。自動倉庫系統100B如圖9(A)所示，於自幹線R1至庫內移行軌道30之連接位置30e連接有進入用支線R2a。又，於自動倉庫系統100B中，返回用支線R2b自庫內移行軌道30之連 接位置30f延伸而被連接於幹線R1。連接位置30e係相對於庫內移行軌道30之X方向之中央部在-X側之位置。連接位置30f係相對於庫內移行軌道30之X方向之中央部在+X側之位置。 9(A) and (B) are diagrams schematically showing the structure of another example of an automatic warehouse system 100B. As shown in FIG. 9(A), the automatic warehouse system 100B is connected to a branch line R2a for entry at a connection position 30e from the main line R1 to the moving rail 30 in the warehouse. In the automatic warehouse system 100B, the return branch line R2b extends from the connection position 30f of the in-store traveling rail 30 and is connected to the main line R1. The connection position 30e is a position on the -X side with respect to the center part of the X-direction of the moving rail 30 in the library. The connection position 30f is a position on the +X side with respect to the center part of the X-direction of the moving rail 30 in the library.

連接位置30e及連接位置30f隔著庫內移行軌道30之X方向之中央部分被配置。於該自動倉庫系統100B中，連接位置30e與連接位置30f間之區域成為高架搬送車10可進入之第1區域20A。第1區域20A包含自動倉庫20之X方向之中央部。又，於自動倉庫系統100B中，較連接位置30e更-X側及較連接位置30f更+X側之2個區域，成為高架搬送車10無法進入之第2區域20B。 The connection position 30e and the connection position 30f are arranged across the center part of the X-direction of the travel rail 30 in the library. In this automatic warehouse system 100B, the area between the connection position 30e and the connection position 30f becomes the first area 20A into which the overhead transport vehicle 10 can enter. The first area 20A includes the central part of the automated 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 the +X side from the connection position 30f become the second area 20B in which the overhead transport vehicle 10 cannot enter.

如圖9(A)所示，於庫內移行軌道30之X方向之端部30a、30b配置有止動部30c、30c。又，如圖9(B)所示，於起重機23之下側軌道42，與上述實施形態同樣地，在端部42a、42b分別配置有止動部42c、42c。再者，由於在庫內移行軌道30配置有止動部30c、30c，因此亦可不配置止動部42c、42c。 As shown in FIG. 9(A), stoppers 30c and 30c are arranged at the ends 30a and 30b of the traveling rail 30 in the library in the X direction. Moreover, as shown in FIG. 9(B), in the lower rail 42 of the crane 23, similarly to the above-mentioned embodiment, stopper parts 42c and 42c are respectively arrange|positioned at the end part 42a, 42b. In addition, since the stopper 30c, 30c is arrange|positioned in the traveling rail 30 in a library, the stopper 42c, 42c may not be arrange|positioned.

如此，於自動倉庫系統100B中，在自幹線R1至庫內移行軌道30之連接位置30e連接有進入用支線R2a，且返回用支線R2b自庫內移行軌道30之連接位置30f分支而被連接於幹線R1。於該構成中，自高架搬送車10被搬送至自動倉庫20之物品M之搬送目的地(保管架26)，係配置於自動倉庫20之X方向之中央部。藉由該構成，起重機23於保管架26與棚架部22之間移動之距離整體上會變短。 In this way, in the automated warehouse system 100B, the entry branch line R2a is connected to the connection position 30e from the main line R1 to the inner travel rail 30, and the return branch R2b branches from the connection position 30f of the inner travel rail 30 and is connected to Route R1. In this structure, the transport destination (storage rack 26) of the article M transported from the overhead transport vehicle 10 to the automated warehouse 20 is arranged in the center portion of the automated warehouse 20 in the X direction. With this configuration, the moving distance of the crane 23 between the storage rack 26 and the scaffolding portion 22 is shortened as a whole.

圖10(A)及(B)係示意性地表示另一例之自動倉庫系統100C之構成之圖。於自動倉庫系統100C中，如圖10(A)所示，進入用支線R2a及返回用支線R2b被配置於自動倉庫20之-X側端 部及+X側端部之2處。亦即，進入用支線R2a及返回用支線R2b被配置於圖2所示之位置、及圖8所示之位置。因此，於自動倉庫系統100C中，自動倉庫20之-X側端部及+X側端部成為高架搬送車10可進入之2個第1區域20A，而自動倉庫20之X方向之中央部分成為高架搬送車10無法進入之第2區域20B。 10(A) and (B) are diagrams schematically showing the structure of another example of an automatic warehouse system 100C. In the automatic warehouse system 100C, as shown in FIG. 10(A), the entry branch line R2a and the return branch line R2b are arranged at two of the -X side end and the +X side end of the automatic warehouse 20. That is, the entry branch line R2a and the return branch line R2b are arranged at the position shown in FIG. 2 and the position shown in FIG. 8. Therefore, in the automatic warehouse system 100C, the -X side end and the +X side end of the automatic warehouse 20 become the two first areas 20A that the overhead transport vehicle 10 can enter, and the central part of the automatic warehouse 20 in the X direction becomes The second area 20B that the overhead transport vehicle 10 cannot enter.

如圖10(A)所示，於庫內移行軌道30之X方向之端部30a、30b未配置有止動部。因此，如圖10(B)所示，於起重機23之下側軌道42，在-X側之端部42a配置有止動部42c，而在+X側之端部42b配置有止動部42d。於該構成中，可將自高架搬送車10所搬送之物品M之搬送目的地(保管架26)，設置於自動倉庫20之+X側及-X側之2處。又，不同之高架搬送車10可分別進入2個第1區域20A，其結果，可效率高地將物品M自高架搬送車10搬送至自動倉庫20。 As shown in FIG. 10(A), the stopper part is not arrange|positioned at the edge part 30a, 30b of the X direction of the traveling rail 30 in a library. Therefore, as shown in FIG. 10(B), on the lower rail 42 of the crane 23, a stopper 42c is arranged at the end 42a on the -X side, and a stopper 42d is arranged at the end 42b on the +X side. . In this structure, the transport destination (storage rack 26) of the article M transported from the overhead transport vehicle 10 can be installed in two places of the +X side and the -X side of the automatic warehouse 20. In addition, different overhead transport vehicles 10 can respectively enter the two first areas 20A. As a result, the article M can be efficiently transported from the overhead transport vehicle 10 to the automated warehouse 20.

又，除了上述之自動倉庫系統100之構成以外，亦可於支線R2中，在不與於幹線R1上移行之高架搬送車10、及於庫內移行軌道30上移行之起重機23產生干涉之位置設定可供高架搬送車10進行待機之待機位置。圖11係示意性地表示高架搬送車10之待機位置之圖。如圖11所示，於自動倉庫系統100中，在進入用支線R2a設置有待機位置51。又，於返回用支線R2b設置有待機位置52。藉由該構成，於高架搬送車10進入庫內移行軌道30之情形、及高架搬送車10返回幹線R1之情形時，可一邊避免對在幹線R1上移行之其他高架搬送車10、及在庫內移行軌道30上移行之起重機23之移行產生障礙，一邊可視需要進行待機，而可抑制物品M之搬送效率之降低。 Moreover, in addition to the above-mentioned structure of the automatic warehouse system 100, the branch line R2 can also be located at a position that does not interfere with the overhead transport vehicle 10 moving on the main line R1 and the crane 23 moving on the moving rail 30 in the warehouse. Set the standby position where the overhead transport vehicle 10 can stand by. FIG. 11 is a diagram schematically showing the standby position of the overhead transport vehicle 10. As shown in FIG. 11, in the automatic warehouse system 100, the standby position 51 is provided in the branch line R2a for entry. In addition, a standby position 52 is provided in the return branch line R2b. With this configuration, when the overhead transport vehicle 10 enters the moving rail 30 in the warehouse, and when the overhead transport vehicle 10 returns to the main line R1, it is possible to avoid other overhead transport vehicles 10 moving on the main line R1 and in the warehouse. The crane 23 moving on the moving rail 30 causes obstacles to move, and it can wait as needed, so that the reduction in the conveying efficiency of the article M can be suppressed.

以上，雖已對實施形態進行說明，但本發明並不限定於上述之說明，可於不脫離本發明之主旨之範圍內進行各種變更。於上述之實施形態中，起重機23雖沿著庫內移行軌道30及下側軌道42之雙方移動，但亦可為沒有下側軌道42之構成。又，於上述之實施形態中，雖已列舉起重機23係所謂之懸垂式起重機且使用庫內移行軌道30進行移行之構成為例進行說明，但並不限定於該形態。例如，起重機23亦可為不使用庫內移行軌道30而僅使用例如下側軌道42進行移行之構成。又，於上述之實施形態中，雖於自動倉庫20配置有1台起重機23，但並不限定於該形態，亦可於1個自動倉庫20配置有2台以上之起重機23。 Although the embodiment has been described above, the present invention is not limited to the above description, and various changes can be made without departing from the spirit of the present invention. In the above-mentioned embodiment, the crane 23 moves along both the inner moving rail 30 and the lower rail 42, but it may be a structure without the lower rail 42. Moreover, in the above-mentioned embodiment, although the structure which the crane 23 is a so-called pendant crane and uses the in-store traveling rail 30 to move has been described as an example, it is not limited to this form. For example, the crane 23 may be configured to move using only the lower rail 42 without using the inner moving rail 30. Moreover, in the above-mentioned embodiment, although one crane 23 is arrange|positioned in the automatic warehouse 20, it is not limited to this form, and two or more cranes 23 may be arrange|positioned in one automatic warehouse 20. As shown in FIG.

又，於上述之實施形態中，自動倉庫20之起重機23亦可自庫內移行軌道30經由支線R2進入幹線R1，並於幹線R1上移行。高架搬送車10之移行部11與起重機23之移行部31之構成相同或大致相同，移行部31可於幹線R1上移行。其結果，起重機23可自自動倉庫20經由幹線R1自主移行至其他自動倉庫20或維修區域等。又，於法令所容許之範圍內，援用日本專利申請之日本專利特願2017-142647、及本說明書所引用之所有文獻之內容，來作為本說明書之記載之一部分。 Moreover, in the above-mentioned embodiment, the crane 23 of the automatic warehouse 20 can also enter the trunk line R1 from the moving rail 30 in the warehouse via the branch line R2, and move on the trunk line R1. The structure of the moving part 11 of the overhead transport vehicle 10 and the moving part 31 of the crane 23 are the same or substantially the same, and the moving part 31 can move on the trunk line R1. As a result, the crane 23 can autonomously move from the automatic warehouse 20 to another automatic warehouse 20 or a maintenance area via the trunk line R1. In addition, within the scope permitted by laws and regulations, the contents of Japanese Patent Application No. 2017-142647 and all documents cited in this specification are cited as part of the description of this specification.

10‧‧‧高架搬送車 10‧‧‧Overhead transport vehicle

14‧‧‧搬送車控制部 14‧‧‧Transport Vehicle Control Department

20‧‧‧自動倉庫 20‧‧‧Automatic warehouse

21‧‧‧壁部 21‧‧‧Wall

22‧‧‧棚架部 22‧‧‧Scaffolding Department

22a‧‧‧段差部 22a‧‧‧Segment

23‧‧‧起重機 23‧‧‧Crane

24‧‧‧倉庫控制部 24‧‧‧Warehouse Control Department

25‧‧‧起重機通路 25‧‧‧Crane access

25a‧‧‧(起重機通路25之)-X側之端部 25a‧‧‧ (of crane passage 25)-the end of the X side

25b‧‧‧(起重機通路25之)+X側之端部 25b‧‧‧(The end of crane passage 25) +X side

26‧‧‧保管架 26‧‧‧Storage shelf

26a‧‧‧垂吊構件 26a‧‧‧Hanging components

27‧‧‧出入庫口 27‧‧‧Access

30‧‧‧庫內移行軌道 30‧‧‧Moving track inside the library

30a‧‧‧(庫內移行軌道30之)-X側之端部 30a‧‧‧(of the moving rail 30 in the library)-the end of the X side

30b‧‧‧(庫內移行軌道30之)+X側之端部 30b‧‧‧(Moving track 30 in the library) +X side end

40‧‧‧下部連結體 40‧‧‧Lower connector

100‧‧‧自動倉庫系統 100‧‧‧Automated Warehouse System

F‧‧‧地板部 F‧‧‧Floor

M‧‧‧物品 M‧‧‧Item

R‧‧‧軌道 R‧‧‧Orbit

R1‧‧‧幹線 R1‧‧‧Route

R2‧‧‧支線 R2‧‧‧ Branch

R2a‧‧‧進入用支線 R2a‧‧‧Access branch line

R2b‧‧‧返回用支線 R2b‧‧‧Returning branch line

X、Y、Z‧‧‧方向 X, Y, Z‧‧‧direction

Claims (8)

一種自動倉庫系統，其具備有：高架搬送車，其升降驅動部被設置為可相對於本體部進行橫向移動；及自動倉庫，其係配置於上述高架搬送車之移行路徑之側方；而於上述自動倉庫之起重機通路之上方具備有可供上述高架搬送車駛入之庫內移行軌道，且上述庫內移行軌道兼用為上述自動倉庫之起重機之移行軌道。 An automatic warehouse system, which is provided with: an overhead transport vehicle, the lifting drive part of which is set to be horizontally movable relative to the main body; and an automatic warehouse, which is arranged on the side of the moving path of the above-mentioned overhead transport vehicle; and Above the crane passage of the automatic warehouse is provided with a moving rail in the warehouse that the overhead transport vehicle can drive into, and the moving rail in the warehouse is also used as the moving rail of the crane of the automatic warehouse. 如請求項1之自動倉庫系統，其中，上述自動倉庫具有上述高架搬送車可進入之區域、及上述高架搬送車無法進入之區域，且於上述無法進入之區域具備上述起重機專用之物品之出入庫口。 Such as the automatic warehouse system of claim 1, wherein the automatic warehouse has an area accessible by the above-mentioned overhead transport vehicle, and an area where the above-mentioned overhead transport vehicle cannot enter, and in the above-mentioned inaccessible area, there is an in and out of the warehouse for the above-mentioned crane-specific items mouth. 如請求項1之自動倉庫系統，其中，上述高架搬送車之移行路徑包含有通過上述自動倉庫之側方之幹線、及自上述幹線分支而被連接於上述庫內移行軌道之支線。 Such as the automatic warehouse system of claim 1, wherein the moving path of the overhead transport vehicle includes a trunk line passing through the side of the automatic warehouse, and a branch line branching from the trunk line and connected to the moving track in the warehouse. 如請求項3之自動倉庫系統，其中，上述支線具有自上述幹線分支而用以供上述高架搬送車進入上述庫內移行軌道之進入用支線、及自上述庫內移行軌道分支而用以供上述高架搬送車返回上述幹線之返回用支線。 For example, the automatic warehouse system of claim 3, wherein the branch line has an entry branch line branching from the main line for the overhead transport vehicle to enter the moving track in the warehouse, and branching from the moving track in the warehouse for the above The overhead transport vehicle returns to the return branch line of the above-mentioned trunk line. 如請求項3之自動倉庫系統，其中，上述支線係跨越上述自動倉庫之上述起重機通路之沿著上述幹線之方向之端部被連接於上述庫內移行軌道。 Such as the automatic warehouse system of claim 3, wherein the end of the branch line crossing the crane passage of the automatic warehouse along the direction of the trunk line is connected to the moving rail in the warehouse. 如請求項3之自動倉庫系統，其中，上述支線於不與在上述幹線上移行之上述高架搬送車、及在上述起重機通路上移行之上述起重機產生干涉之位置，具有可供上述高架搬送車進行待機之待機位 置。 For example, the automatic warehouse system of claim 3, wherein the above-mentioned branch line has a position that does not interfere with the above-mentioned overhead transport vehicle moving on the above-mentioned trunk line and the above-mentioned crane moving on the above-mentioned crane path, which can be used by the above-mentioned overhead transport vehicle. Standby position Set. 如請求項1之自動倉庫系統，其中，上述高架搬送車具有於上述起重機存在於上述庫內移行軌道之下方之情形時，限制上述高架搬送車朝向上述庫內移行軌道之進入之搬送車控制部，上述自動倉庫具有於上述高架搬送車存在於上述庫內移行軌道之情形時，限制上述起重機朝上述庫內移行軌道之下方進入之倉庫控制部。 Such as the automatic warehouse system of claim 1, wherein the overhead transport vehicle has a transport vehicle control unit that restricts the entry of the overhead transport vehicle toward the transport track in the warehouse when the crane exists under the moving track in the warehouse The automatic warehouse has a warehouse control unit that restricts the crane from entering below the moving rail in the warehouse when the overhead transport vehicle is present on the moving rail in the warehouse. 一種自動倉庫系統之控制方法，該自動倉庫系統具備有：高架搬送車，其升降驅動部被設置為可相對於本體部進行橫向移動；及自動倉庫，其係配置於上述高架搬送車之移行路徑之側方；如此之自動倉庫系統之控制方法，於上述高架搬送車駛入上述自動倉庫之起重機通路之上方所具備之庫內移行軌道之情形時，限制上述自動倉庫之起重機朝上述庫內移行軌道之下方進入；於上述起重機存在於上述庫內移行軌道之下方之情形時，限制上述高架搬送車朝上述庫內移行軌道之駛入。 A control method of an automatic warehouse system, the automatic warehouse system is provided with: an overhead transport vehicle, the lifting drive part of which is set to be able to move laterally with respect to the main body; and an automatic warehouse, which is arranged on the moving path of the above overhead transport vehicle The side; the control method of such an automatic warehouse system, when the above-mentioned overhead transport vehicle enters the moving track of the warehouse above the crane passage of the above-mentioned automatic warehouse, restrict the crane of the above-mentioned automatic warehouse from moving into the above-mentioned warehouse Entry under the track; when the crane exists below the moving track in the warehouse, the overhead transport vehicle is restricted from entering the moving track in the warehouse.
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