Driving vehicle system

Abstract

In a traveling vehicle system (10), in a shared area (12B), when a first traveling vehicle (7A) is located at a first position (P1), the first detected portion (35A, 35B) is arranged at a position detectable by the first detection portion (85A, 85B), and the second detected portion (36A, 36B) is arranged at a position not detectable by the first detection portion (85A, 85B); and when a second traveling vehicle (7B) is located at a second position (P2), the second detected portion (36A, 36B) is arranged at a position detectable by the second detection portion (87A, 87B), and the first detected portion (35A, 35B) is arranged at a position not detectable by the second detection portion (87A, 87B).

Description

Technical Field

[0001] One aspect of the present invention relates to a vehicle system. Background Art

[0002] Automated warehouses equipped with vehicles (stacker cranes) for transporting items are known. For example, Patent Document 1 discloses an automated warehouse in which two vehicles, a first vehicle and a second vehicle, travel on a single track. The two vehicles have separate driving areas and a shared area accessible to both vehicles. Within this shared area, one vehicle must detect its own driving position to avoid intruding into the other vehicle's driving area.

[0003] Therefore, such vehicles are equipped with rotary encoders for detecting their own travel position. For example, in the article storage equipment disclosed in Patent Document 1, a chain (detected portion) is provided on a travel track. The vehicle travels while a sprocket of a rotary encoder (detecting portion) is engaged with the chain. The vehicle detects its own travel position by detecting the rotation of the sprocket during travel.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent No. 4089154 Summary of the Invention

[0007] When installing a track on a vehicle such as the one described above at a factory or other site, it's more preferable to connect multiple separate tracks rather than a single track, as the gaps between the tracks can accommodate errors in the track's installation site dimensions and the product's dimensions. On the other hand, if a detected component, such as a chain extending in one direction along the track is installed with gaps in the direction of travel, it will lose engagement with the rotary encoder and become unable to detect its own position. Therefore, when the track on which the vehicles travel is constructed from multiple track components, it takes considerable effort for the first and second vehicles to accurately detect their own positions.

[0008] Therefore, an object of one aspect of the present invention is to provide a traveling vehicle system that can absorb errors between dimensions of a site where a traveling track is installed and dimensions of a product, and that can appropriately detect the positions of a first traveling vehicle and a second traveling vehicle.

[0009] The traveling vehicle system of one aspect of the present invention comprises: a traveling track having a first track component and a second track component extending in a horizontal direction; a first traveling vehicle and a second traveling vehicle traveling on the traveling track; a first detected portion, which is provided on the first track component and extends along the extending direction of the traveling track; a second detected portion, which is provided on the second track component and extends along the extending direction of the traveling track; a first detecting portion, which is provided on the first traveling vehicle and detects the first detected portion; and a second detecting portion, which is provided on the second traveling vehicle and detects the second detected portion, wherein a first area in which the first traveling vehicle can travel but the second traveling vehicle cannot travel, and a second area in which the second traveling vehicle can travel but the first traveling vehicle cannot travel are formed along the traveling track. A second area where the vehicle cannot travel, and a common area between the first area and the second area where both the first and second vehicles can travel, wherein a connecting portion is provided in the common area where the first rail component and the second rail component are connected with a gap or in contact with each other, and when the first vehicle is located at the end portion on the connecting portion side of the first rail component, that is, the first position in the common area, the first detected portion is arranged at a position where it can be detected by the first detection portion, and the second detected portion is arranged at a position where it cannot be detected by the first detection portion, and when the second vehicle is located at the end portion on the connecting portion side of the second rail component, that is, the second position in the common area, the second detected portion is arranged at a position where it can be detected by the second detection portion, and the first detected portion is arranged at a position where it cannot be detected by the second detection portion.

[0010] According to this structure, the travel track is formed by the first and second track components. Consequently, when configuring the travel track, a gap can be provided between the first and second track components to match the site dimensions, thereby accommodating errors in product dimensions. Furthermore, with this structure, it is possible to detect in the shared area whether the first vehicle is at the end of the first track component, and whether the second vehicle is at the end of the second track component. This allows for errors in the site dimensions of the travel track installation and the product dimensions to be accommodated, and the first and second vehicles can accurately detect their own positions.

[0011] In the traveling vehicle system according to one aspect of the present invention, the first detected portion and the second detected portion may be arranged so as not to overlap each other in the extending direction of the traveling track. This configuration can reduce the installation space for the first detected portion and the second detected portion.

[0012] In one aspect of the traveling vehicle system of the present invention, the first detected portion and the second detected portion may be arranged on a straight line along the extending direction of the traveling rail. With this configuration, the unit comprising the first detected portion attached to the first rail member and the unit comprising the second detected portion attached to the second rail member can be made common.

[0013] In one aspect of the traveling vehicle system of the present invention, the first detecting unit and the second detecting unit may be encoders, and the first detected unit and the second detected unit may be racks meshing with gears attached to the encoders. This traveling vehicle system can easily configure the first detecting unit, the second detecting unit, the first detected unit, and the second detected unit.

[0014] A vehicle system according to one aspect of the present invention may further include a first control unit that determines, based on detection results from the first detection unit, that the first vehicle is at a first position, and that the second vehicle is at a second position, based on detection results from the second detection unit. The first control unit controls the vehicle so that the first vehicle does not exceed the first position and intrude into the second area, and controls the vehicle so that the second vehicle does not exceed the second position and intrude into the first area. This configuration prevents one of the first and second vehicles from intruding from the shared area into the other's driving area.

[0015] A vehicle system according to one aspect of the present invention may further include: a third detection unit for detecting a third detected portion; and a fourth detection unit for detecting a fourth detected portion, wherein one of the third detection unit and the third detected portion is provided between the first vehicle and the shared area, and the other of the third detection unit and the third detected portion is provided between the first vehicle and the other of the shared area. One of the fourth detection unit and the fourth detected portion is provided between the second vehicle and the shared area, and the other of the fourth detection unit and the fourth detected portion is provided between the second vehicle and the other of the shared area. When the first vehicle is located at a first position at an end portion on the connection side of the first rail member in the shared area, the third detected portion is located at a position detectable by the third detection unit, and the fourth detected portion is located at a position undetectable by the third detection unit. When the second vehicle is located at a second position at an end portion on the connection side of the second rail member in the shared area, the fourth detected portion is located at a position detectable by the fourth detection unit, and the third detected portion is located at a position undetectable by the fourth detection unit.

[0016] This structure allows detection of the first vehicle at the end of the first rail member and the second vehicle at the end of the second rail member in the shared area. This allows for tolerances between the dimensions of the rail installation site and the product, allowing the first and second vehicles to more accurately detect their positions.

[0017] The vehicle system of one aspect of the present invention comprises: a travel track having a first rail member and a second rail member extending in a horizontal direction; a first vehicle and a second vehicle traveling on the travel track; a third detection unit for detecting a third detection unit; and a fourth detection unit for detecting a fourth detection unit. The other of the third detecting unit and the third detected unit is provided between the first traveling vehicle and the other of the shared area, the other of the fourth detecting unit and the fourth detected unit is provided between the second traveling vehicle and the shared area, and the other of the fourth detecting unit and the fourth detected unit is provided between the second traveling vehicle and the other of the shared area. When the first traveling vehicle is located at the end portion on the connecting portion side of the first rail component in the shared area, that is, the first position, the third detected unit is configured at a position detectable by the third detecting unit, and the fourth detected unit is configured at a position that cannot be detected by the third detecting unit. When the second traveling vehicle is located at the end portion on the connecting portion side of the second rail component in the shared area, that is, the second position, the fourth detected unit is configured at a position detectable by the fourth detecting unit, and the third detected unit is configured at a position that cannot be detected by the fourth detecting unit.

[0018] According to this structure, the travel track is formed by the first and second track components. Thus, when configuring the travel track, a gap can be provided between the first and second track components to match the site dimensions, thereby accommodating errors in product dimensions. Furthermore, with this structure, the first vehicle can be stopped at the end of the first track component, and the second vehicle can be stopped at the end of the second track component in the shared area. This allows for errors in the site dimensions of the travel track to be accommodated, and the first and second vehicles can accurately detect their positions.

[0019] In one aspect of the traveling vehicle system of the present invention, the third detecting unit may be provided on the first traveling vehicle, the third detected unit may be provided in a shared area, and the fourth detecting unit may be provided on the second traveling vehicle, with the fourth detected unit provided in the shared area. In this configuration, driving control can be performed by directly transmitting the detection results of the detecting unit provided on the traveling vehicle side to the second control unit provided on the traveling vehicle. Furthermore, since each traveling vehicle detects its own traveling vehicle status, there is no possibility of miscommunication between detection results and those of other traveling vehicles.

[0020] In one aspect of the traveling vehicle system of the present invention, the first detecting unit and the second detecting unit may be sensors, and the first detected unit and the second detected unit may be claws detected by the sensors. This traveling vehicle system can easily configure the first detecting unit, the second detecting unit, the first detected unit, and the second detected unit.

[0021] The vehicle system according to one aspect of the present invention may further include a second control unit that stops the first vehicle based on a detection result of the third detection unit and stops the second vehicle based on a detection result of the fourth detection unit. This configuration prevents one of the first and second vehicles from intruding from a shared area into the other's travel area.

[0022] A storage system according to one aspect of the present invention comprises: the above-mentioned vehicle system; a first storage device configured to enable storage and retrieval of items between the first storage device and a first vehicle traveling in a first area; a second storage device configured to enable storage and retrieval of items between the second storage device and a second vehicle traveling in a second area; and a maintenance area arranged between the first storage device and the second storage device along the extension direction of the travel track, capable of accommodating the first and second vehicles located in the shared area. In this structure, the vehicle system is applicable to an automated warehouse having multiple storage devices and multiple vehicles. As a result, errors between the dimensions of the site where the travel track is set and the dimensions of the product can be absorbed, and the first and second vehicles can appropriately detect their own positions.

[0023] Effects of the Invention

[0024] According to one aspect of the present invention, it is possible to absorb errors between dimensions of a site where the travel rail is installed and dimensions of a product, and the first and second traveling vehicles can appropriately detect their own positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a cross-sectional view of a stocker system according to one embodiment as viewed from the front.

[0026] Figure 2 Viewed from the direction of travel of the stacker crane Figure 1 A cross-sectional view of the item receiving area of ​​the storage device is shown.

[0027] Figure 3 yes Figure 1 A three-dimensional view of a stacker crane included in a storage device.

[0028] Figure 4 middle, Figure 4 (A) is an enlarged side view of the upper travel rail connection area. Figure 4 (B) is an enlarged side view of the vicinity of the connection portion of the lower travel rail.

[0029] Figure 5 middle, Figure 5 (A)~ Figure 5 (C) is an explanatory diagram for explaining a structure for detecting the traveling position of the stacker crane.

[0030] Figure 6 This is a perspective view of the travel portion of the stacker crane as seen from below.

[0031] Figure 7 This is a perspective view of the auxiliary travel portion of the stacker crane as seen from above.

[0032] Figure 8 This is a perspective view of the first lower dog and the second lower dog fixed to the lower travel rail.

[0033] Figure 9 This is a perspective view of the first upper clamping claw and the second upper clamping claw fixed to the upper travel rail. DETAILED DESCRIPTION

[0034] Hereinafter, the embodiment will be described in detail with reference to the accompanying drawings. The same or corresponding elements will be denoted by the same reference numerals and overlapping descriptions will be omitted.

[0035] like Figure 1 As shown, the warehouse system 1 is configured to include two warehouses, namely, a warehouse (first warehouse) 2A and a warehouse (second warehouse) 2B, and a traveling vehicle system 10 according to one embodiment.

[0036] like Figure 1 and Figure 2As shown, storage devices 2A and 2B store items transported by a transport device. Examples of these items include containers such as FOUPs (Front-Opening Unified Pods) that hold wafers processed in semiconductor manufacturing equipment or liquid crystal manufacturing equipment, and reticle cassettes that hold reticles used in semiconductor manufacturing equipment or liquid crystal manufacturing equipment. Storage devices 2A and 2B include a storage device body 3 and racks 4A and 4B.

[0037] In the storage system 1, two storage units 2A and 2B are arranged in the direction of travel of the stackers 7 (the first stacker 7A and the second stacker 7B). The storage unit body 3 is formed into a shell (e.g., a hollow rectangular parallelepiped) that surrounds a predetermined area extending in one direction. The outer shape of the storage unit body 3 is composed of a frame and panels (not shown). The storage unit body 3 has an underfloor area 3S, which forms part of the interior area of ​​the storage unit body 3, at a position lower than the floor surface GL outside the storage unit body 3.

[0038] The storage device body 3 of the storage device 2A is formed with an article storage area (first area) 11A for storing the shelf parts 4A and 4B, and maintenance areas 12A and 12B are formed at both ends of the storage device 2A in the direction of travel of the stacker 7. The storage device body 3 of the storage device 2B is formed with an article storage area (second area) 11B for storing the shelf parts 4A and 4B, and maintenance areas 12B and 12C are formed at both ends of the storage device 2B in the direction of travel of the stacker 7. In addition, Figure 1 The maintenance area (common area) 12B in the storage device 2A shares the maintenance area at the right end with the maintenance area at the left end of the storage device 2B.

[0039] The article storage area 11A is an area where the first stacker 7A can travel but the second stacker 7B cannot. The article storage area 11B is an area where the second stacker 7B can travel but the first stacker 7A cannot. The maintenance area 12B is located between the article storage area 11A and the article storage area 11B and is an area where both the first stacker 7A and the second stacker 7B can travel.

[0040] like Figures 4 to 7As shown, the traveling vehicle system 10 includes a lower traveling rail (traveling rail) 31, an upper traveling rail (traveling rail) 32, a first stacker (first traveling vehicle) 7A, a second stacker (second traveling vehicle) 7B, a first lower rack (first detected part) 35A and a first upper rack (first detected part) 35B, a second lower rack (second detected part) 36A and a second upper rack (second detected part) 36B, a first lower encoder (first detecting part) 85A and a first upper encoder (first detecting part) 85B, a second lower encoder (second detecting part) 87A and a second upper encoder (second detecting part) 87B.

[0041] like Figure 1 As shown, the lower travel rail 31 includes a first rail member 31A and a second rail member 31B extending horizontally. The lower travel rail 31 is mounted directly on the ground or via a support member. The upper travel rail 32 includes a first rail member 32A and a second rail member 32B extending horizontally. The upper travel rail 32 is mounted directly on a ceiling or the like or via a suspension member. The lower travel rail 31 and the upper travel rail 32 are arranged within the storage device body 3 so as to face each other in the vertical direction.

[0042] like Figure 1 and Figure 4 As shown, the first rail member 31A and the second rail member 31B are connected with a gap G therebetween or in contact with each other. The first rail member 32A and the second rail member 32B are connected with a gap G therebetween or in contact with each other. These connection portions are provided in the maintenance area 12B.

[0043] like Figure 3 and Figure 6 As shown, the stacker 7 includes a travel unit 71, a mast 72, a lifting platform 75, and an auxiliary travel unit 90. The travel unit 71 includes a travel motor 78 and a lifting motor 82.

[0044] The travel portion 71 travels along the lower travel rail 31. The travel portion 71 includes a pair of drive wheels 71A, 71A and a pair of driven wheels 71B, 71B that roll while sandwiching the side surfaces of the lower travel rail 31. The travel motor 78 is the driving source for the drive wheels 71A, 71A. The lifting motor 82 is the driving source for the lifting platform 75. The rod portion 72 is erected on the upper portion of the travel portion 71. The lifting platform 75 is equipped with a transfer device (not shown), which is used to transfer items between the lifting platform 75 and the storage rack S, and to transfer items between the lifting platform 75 and the storage port.

[0045] The auxiliary travel portion 90 travels along the upper travel rail 32. The auxiliary travel portion 90 includes a pair of driving wheels 90A and 90A that roll while sandwiching the upper travel rail 32, and a pair of driven wheels 90B and 90B.

[0046] like Figure 1 As shown, the traveling vehicle system 10 of this embodiment includes: a first stacker (first traveling vehicle) 7A traveling on the first rail component 31A and the first rail component 32A, a second stacker (second traveling vehicle) 7B traveling on the second rail component 31B and the second rail component 32B, a third stacker 7C traveling on the first rail component 31A and the first rail component 32A, and a fourth stacker 7D traveling on the second rail component 31B and the second rail component 32B.

[0047] like Figure 1 and Figure 2 As shown, two stackers 7 are traveling inside each of the storage devices 2A and 2B. In this embodiment, the first stacker 7A and the third stacker 7C travel inside the storage device 2A, while the second stacker 7B and the fourth stacker 7D travel inside the storage device 2B. The first stacker 7A and the third stacker 7C travel along the first rail component 31A and the first rail component 32A, respectively, to transport items between the storage racks S and the storage entrance and exit, and to transfer items (loading and unloading) relative to the storage racks S. The second stacker 7B and the fourth stacker 7D travel along the second rail component 31B and the second rail component 32B, respectively, to transport items between the storage racks S and the storage entrance and exit, and to transfer items relative to the storage racks S.

[0048] like Figure 4 As shown in (B), the first lower rack 35A is provided on the first rail member 31A and extends along the extension direction of the lower travel rail 31. The first lower rack 35A is formed with a first lower encoder 85A (see Figure 5 The tooth shape of the sprocket (gear) (not shown) of (C)) is meshed. Figure 4 As shown in (A), the first upper rack 35B is provided on the first rail member 32A and extends along the extension direction of the upper travel rail 32. The first upper rack 35B is formed with a first upper encoder 85B (see Figure 5 (C)) The tooth profile of the sprocket (gear) (not shown) meshing with the sprocket.

[0049] like Figure 4 As shown in (B), the second lower rack 36A is provided on the second rail member 31B and extends along the extension direction of the lower travel rail 31. The second lower rack 36A is formed with a second lower encoder 87A (see Figure 6 ) of the sprocket (gear) 88A meshing tooth shape. Figure 4 As shown in (A), the second upper rack 36B is provided on the second rail member 32B and extends along the extension direction of the upper travel rail 32. The second upper rack 36B is formed with a second upper encoder 87B (see Figure 7 )'s tooth profile of the sprocket (gear) 88B meshing with it.

[0050] like Figure 6 As shown, the first lower rack 35A and the second lower rack 36A are arranged so as not to overlap each other in the extending direction of the lower travel rail 31. In addition, the first lower rack 35A and the second lower rack 36A are arranged on a straight line along the extending direction of the lower travel rail 31. Figure 7 As shown, the first upper rack 35B and the second upper rack 36B are arranged so as not to overlap each other in the extending direction of the upper travel rail 32. In addition, the first upper rack 35B and the second upper rack 36B are arranged on a straight line along the extending direction of the upper travel rail 32.

[0051] like Figure 5 As shown in (C), the first lower encoder 85A is provided on the first stacker 7A and detects the first lower rack 35A. More specifically, the first lower encoder 85A detects the number of rotations of a sprocket (not shown) meshing with the first lower rack 35A. The first upper encoder 85B is provided on the first stacker 7A and detects the first upper rack 35B. More specifically, the first upper encoder 85B detects the number of rotations of a sprocket (not shown) meshing with the first upper rack 35B.

[0052] like Figure 6 As shown, the second lower encoder 87A is provided on the second stacker 7B and detects the second lower rack 36A. More specifically, the second lower encoder 87A detects the number of rotations of the sprocket 88A meshing with the second lower rack 36A. Figure 7 As shown, the second upper encoder 87B is provided on the second stacker 7B and detects the second upper rack 36B. More specifically, the second upper encoder 87B detects the number of rotations of the sprocket 88B meshing with the second upper rack 36B.

[0053] like Figure 5As shown in (C), in the traveling vehicle system 10 of the present embodiment, when the first stacker 7A is located at the end portion on the connecting portion side of the first rail component 31A and the first rail component 32A (the end portion facing the connecting portion) in the maintenance area 12B, that is, the first position P1, the first lower rack 35A is configured at a position that can be detected by the first lower encoder 85A, the first upper rack 35B is configured at a position that can be detected by the first upper encoder 85B, the second lower rack 36A is configured at a position that cannot be detected by the first lower encoder 85A, and the second upper rack 36B is configured at a position that cannot be detected by the first upper encoder 85B.

[0054] like Figure 5 As shown in (B), in the traveling vehicle system 10 of the present embodiment, when the second stacker 7B is located at the end portion on the connecting portion side of the second rail component 31B and the second rail component 32B (the end portion facing the connecting portion), that is, the second position P2 in the maintenance area 12B, the second lower rack 36A is configured at a position that can be detected by the second lower encoder 87A, the second upper rack 36B is configured at a position that can be detected by the second upper encoder 87B, the first lower rack 35A is configured at a position that cannot be detected by the second lower encoder 87A, and the first upper rack 35B is configured at a position that cannot be detected by the second upper encoder 87B.

[0055] like Figure 1 As shown, shutters 13 are provided at the boundaries between the storage device 2A and the maintenance area 12B, and at the boundaries between the storage device 2B and the maintenance area 12B. The shutters 13 can be opened and closed to enable the first stacker 7A to move between the storage area 11A and the maintenance area 12B, or to block the space between the storage area 11A and the maintenance area 12B, preventing the first stacker 7A from moving between the storage area 11A and the maintenance area 12B. Similarly, the shutters 13 can be opened and closed to enable the second stacker 7B to move between the storage area 11B and the maintenance area 12B, or to block the space between the storage area 11B and the maintenance area 12B, preventing the second stacker 7B from moving between the storage area 11B and the maintenance area 12B.

[0056] like Figure 1 As shown, the storage system 1 is provided with a controller (first control unit / second control unit) 10A that controls the movement of four stackers 7 and the like located within each storage unit 2A, 2B. The four stackers 7 located within the storage units 2A, 2B place items on or remove items from the racks S of the shelf units 4A, 4B under the control of the controller.

[0057] The controller 10A of this embodiment determines that the first stacker 7A is located at the first position P1 based on the detection results of the first lower encoder 85A and the first upper encoder 85B, and determines that the second stacker 7B is located at the second position P2 based on the detection results of the second lower encoder 87A and the second upper encoder 87B.

[0058] More specifically, the controller 10A determines that the first stacker 7A is located at the first position P1 based on the number of rotations of the first lower encoder 85A and / or the first upper encoder 85B detected when the stacker 7A is located at the first position P1. Furthermore, the controller 10A determines that the second stacker 7B is located at the second position P2 based on the number of rotations of the second lower encoder 87A and / or the second upper encoder 87B detected when the stacker 7A is located at the second position P2.

[0059] In more detail, the controller 10A also controls the first stacker 7A so that it does not exceed the first position P1 and invade the storage device 2B, and controls the second stacker 7B so that it does not exceed the second position P2 and invade the storage device 2A based on the above-mentioned judgment of being at the first position P1 and the second position P2.

[0060] Next, the effects of the storage system 1 according to this embodiment will be described. According to the storage system 1 according to this embodiment, the lower travel rail 31 is formed by the first rail member 31A and the second rail member 31B, and the upper travel rail 32 is formed by the first rail member 32A and the second rail member 32B. Consequently, when configuring the lower travel rail 31 and the upper travel rail 32, gaps G can be provided between the first rail member 31A and the second rail member 31B, and between the first rail member 32A and the second rail member 32B, to accommodate site dimensions. This allows for dimensional variations in the product to be accommodated.

[0061] According to the traveling vehicle system 10 of this embodiment, it is possible to detect in the maintenance area 12B that the first stacker 7A is located at the ends of the first rail member 31A and the first rail member 32A, and that the second stacker 7B is located at the ends of the second rail member 31B and the second rail member 32B. This allows the first stacker 7A and the second stacker 7B to appropriately detect their own positions.

[0062] According to the traveling vehicle system 10 of this embodiment, the first lower rack 35A and the second lower rack 36A, and the first upper rack 35B and the second upper rack 36B are arranged so as not to overlap with each other in the extending direction of the lower traveling rail 31 and the upper traveling rail 32. This reduces the space required to install the first lower rack 35A, the second lower rack 36A, the first upper rack 35B, and the second upper rack 36B.

[0063] According to the traveling vehicle system 10 of this embodiment, the first lower rack 35A and the second lower rack 36A are arranged in a straight line along the direction in which the lower traveling rail 31 extends, and the first upper rack 35B and the second upper rack 36B are arranged in a straight line along the direction in which the upper traveling rail 32 extends. This configuration allows the first lower rack 35A attached to the first rail member 31A and the second lower rack 36A attached to the second rail member 31B to be standardized. Furthermore, the first upper rack 35B attached to the first rail member 32A and the second upper rack 36B attached to the second rail member 32B can be standardized.

[0064] In this embodiment, the traveling vehicle system 10 is applied to a warehouse system 1 equipped with multiple storage units 2A and 2B and multiple stackers 7. Consequently, when configuring the lower traveling rails 31 and upper traveling rails 32, gaps G can be provided between the first and second rail members 31A and 31B, and between the first and second rail members 32A and 32B, to accommodate site dimensions. This allows for accommodating variations in product dimensions. Furthermore, the first stacker 7A can be prevented from intruding from the maintenance area 12B into the travel area (stocker 2B) of the second stacker 7B, and vice versa. The second stacker 7B can also be prevented from intruding from the maintenance area 12B into the travel area (stocker 2A) of the first stacker 7A.

[0065] Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the invention.

[0066] In the above embodiment, an example is given in which the first lower rack 35A and the first upper rack 35B, the second lower rack 36A and the second upper rack 36B, the first lower encoder 85A and the first upper encoder 85B, the second lower encoder 87A and the second upper encoder 87B are provided. However, this structure may be replaced or based on this structure, as shown in FIG. Figure 8 and Figure 9 As shown, there are provided a first lower clamping claw (third detected part) 37A and a first upper clamping claw (third detected part) 38A, a second lower clamping claw (fourth detected part) 37B and a second upper clamping claw (fourth detected part) 38B, a first lower sensor (not shown) (third detecting part) and a first upper sensor (third detecting part) (not shown), a second lower sensor (fourth detecting part) 93 and a second upper sensor (fourth detecting part) 94.

[0067] like Figure 8 As shown, the first lower claw 37A is fixed to the first rail member 31A, and the second lower claw 37B is fixed to the second rail member 31B. Figure 9As shown, the first upper engaging claw 38A is fixed to the first rail member 32A, and the second upper engaging claw 38B is fixed to the second rail member 32B. The first lower sensor 93 is mounted on the travel portion 71 of the first stacker 7A via a bracket, and the second lower sensor 93 is mounted on the travel portion 71 of the second stacker 7B via a bracket 93A. The first upper sensor 94 is fixed to the auxiliary travel portion 90 of the first stacker 7A, and the second upper sensor 94 is fixed to the auxiliary travel portion 90 of the second stacker 7B. Examples of the first lower sensor for detecting the first lower engaging claw 37A, the first upper sensor for detecting the first upper engaging claw 38A, the second lower sensor 93 for detecting the second lower engaging claw 37B, and the second upper sensor 94 for detecting the second upper engaging claw 38B may be proximity sensors, optical sensors, or the like.

[0068] Moreover, in the storage system 1 of the modified example, the controller (first control unit·second control unit) 10A stops the travel of the first stacker 7A based on the detection results of the first lower sensor and the first upper sensor, and stops the travel of the second stacker 7B based on the detection results of the second lower sensor 93 and the second upper sensor 94.

[0069] In a structure that replaces the structure of the above-mentioned embodiment and is provided with a first lower clamping claw 37A and a first upper clamping claw 38A, a second lower clamping claw 37B and a second upper clamping claw 38B, a first lower sensor and a first upper sensor, a second lower sensor 93 and a second upper sensor 94, it is possible to detect in the maintenance area 12B that the first stacker 7A is located at the end of the first rail component 31A and the first rail component 32A, and that the second stacker 7B is located at the end of the second rail component 31B and the second rail component 32B.

[0070] Furthermore, in the configuration of this modified example, the first stacker 7A can be stopped at the ends of the first rail member 31A and the first rail member 32A, and the second stacker 7B can be stopped at the ends of the second rail member 31B and the second rail member 32B in the maintenance area 12B. This prevents the first stacker 7A from intruding from the maintenance area 12B into the travel area (stocker 2B) of the second stacker 7B, and prevents the second stacker 7B from intruding from the maintenance area 12B into the travel area (stocker 2A) of the first stacker 7A.

[0071] In a structure that replaces the structure of the above-mentioned embodiment and is provided with a first lower clamping claw 37A and a first upper clamping claw 38A, a second lower clamping claw 37B and a second upper clamping claw 38B, a first lower sensor and a first upper sensor, a second lower sensor 93 and a second upper sensor 94, even if the driving position of the first stacker 7A or the second stacker 7B cannot be accurately obtained for some reason, the first stacker 7A can be prevented from intruding from the maintenance area 12B into the driving area (storage device 2B) of the second stacker 7B, and the second stacker 7B can be prevented from intruding from the maintenance area 12B into the driving area (storage device 2A) of the first stacker 7A.

[0072] While the above-described embodiment and variations illustrate examples in which the first lower rack 35A and first upper rack 35B, and the second lower rack 36A and second upper rack 36B, are provided on both the lower travel rail 31 and the upper travel rail 32, respectively, this configuration is not limiting. For example, the first lower rack 35A and first upper rack 35B, or the second lower rack 36A and second upper rack 36B, may be provided on either the lower travel rail 31 or the upper travel rail 32. In the case where the first lower rack 35A and second lower rack 36A are provided on the lower travel rail 31, the first lower encoder 85A can be provided on the first stacker 7A, and the second lower encoder 87A can be provided on the second stacker 7B. Alternatively, in the case where the first upper rack 35B and second upper rack 36B are provided on the upper travel rail 32, the first upper encoder 85B can be provided on the first stacker 7A, and the second upper encoder 87B can be provided on the second stacker 7B.

[0073] While the above-described embodiment and variations illustrate examples in which a gap G is provided between the first and second rail members 31A, 31B, and between the first and second rail members 32A, 32B, gaps G may be omitted and the rail members 31A, 31B, 32B may be provided in contact with each other. Alternatively, the first rail member 31A may be divided into multiple components, with gaps provided between them. Similarly, the first, second, and third rail members 31A, 31B, and 32B may be divided into multiple components, with gaps provided between them. This configuration allows for more flexible accommodation of errors between the dimensions of the travel track during installation and the final product.

[0074] Furthermore, when the first rail member 31A is divided into multiple components, the first lower rack 35A is installed so as to span the multiple components after the multiple components are installed on site. Similarly, when the first rail member 32A, the second rail member 31B, and the second rail member 32B are divided into multiple components, the first upper rack 35B, the second lower rack 36A, and the second upper rack 36B are installed in the same manner to each of the multiple components.

[0075] Even when multiple gaps are provided in each of the first rail members 31A, 32A and / or the second rail members 31B, 32B, the gap G at the connection between the first rail member 31A and the second rail member 31B and the gap G corresponding to the connection between the first rail member 32A and the second rail member 32B are located at a single location. Specifically, the end portion (first position P1) of the first rail members 31A, 32A in the maintenance area 12B facing the single gap G is also the end of the range within which the first stacker 7A can move within the first rail members 31A, 32A. Furthermore, the end portion (second position P2) of the second rail members 31B, 32B in the maintenance area 12B facing the single gap G is also the end of the range within which the second stacker 7B can move within the second rail members 31B, 32B.

[0076] In the above-mentioned modification example, an example is given in which a second lower sensor 93 and a second upper sensor 94 are provided as detection parts on the first stacker 7A and the second stacker 7B, and a first lower clamping claw 37A, a second lower clamping claw 37B, a first upper clamping claw 38A and a second upper clamping claw 38B are provided as detected parts on the lower travel rail 31 and the upper travel rail 32. However, it is also possible to provide a detected part on the first stacker 7A and the second stacker 7B, and provide a detection part on the lower travel rail 31 and the upper travel rail 32.

[0077] Description of Reference Numerals

[0078] 1: Warehouse system, 2A: Warehouse device (first warehouse device), 2B: Warehouse device (first warehouse device), 7A: First stacker, 7B: Second stacker, 10: Traveling vehicle system, 10A: Controller (first control unit / second control unit), 11A: Article storage area (first area), 11B: Article storage area (second area), 12B: Maintenance area (common area), 31: Lower travel rail (travel rail), 31A, 32A: First rail component, 31B, 32B: Second rail component, 32: Upper travel rail (travel rail), 35A: First lower rack (first detected unit), 35B: First upper rack (first detected unit), 36A: Second lower rack (second detected part), 36B: Second upper rack (second detected part), 37A: First lower claw (third detected part), 37B: Second lower claw (fourth detected part), 38A: First upper claw (third detected part), 38B: Second upper claw (fourth detected part), 85A: First lower encoder (first detecting part), 85B: First upper encoder (first detecting part), 87A: Second lower encoder (second detecting part), 87B: Second upper encoder (second detecting part), 93: Second lower sensor (fourth detecting part), 94: Second upper sensor (fourth detecting part), G: Gap, P1: First position, P2: Second position.

Claims

1. A vehicle system comprising: A travel track having a first track component and a second track component extending in a horizontal direction; a first traveling vehicle and a second traveling vehicle traveling on the traveling track; a first detected portion, the first detected portion being provided on the first track member and extending along an extension direction of the travel track; a second detected portion, the second detected portion being provided on the second rail member and extending along an extension direction of the travel rail; a first detecting unit, the first detecting unit being provided on the first traveling vehicle and detecting the first detected part; as well as a second detecting unit, which is provided on the second traveling vehicle and detects the second detected part; A first area in which the first vehicle can travel but the second vehicle cannot travel, a second area in which the second vehicle can travel but the first vehicle cannot travel, and a shared area between the first area and the second area in which both the first vehicle and the second vehicle can travel are formed along the travel track. The common region is provided with a connection portion where the first rail member and the second rail member are connected with a gap therebetween or in contact with each other. When the first traveling vehicle is located at a first position, that is, an end portion on the connection portion side of the first rail member in the shared area, the first detected portion is arranged at a position detectable by the first detecting portion, and the second detected portion is arranged at a position not detectable by the first detecting portion. When the second traveling vehicle is located at the second position, which is the end portion on the connection portion side of the second rail component, in the shared area, the second detected portion is located at a position detectable by the second detection portion, and the first detected portion is located at a position not detectable by the second detection portion.

2. The vehicle system according to claim 1, wherein: The first detected portion and the second detected portion are arranged so as not to overlap with each other in the extending direction of the travel rail.

3. The traveling vehicle system according to claim 1 or 2, wherein: The first detected portion and the second detected portion are arranged on a straight line along an extending direction of the travel rail.

4. The traveling vehicle system according to claim 1 or 2, wherein: The first detection unit and the second detection unit are encoders, The first detected portion and the second detected portion are racks meshing with a gear attached to the encoder.

5. The traveling vehicle system according to claim 1 or 2, wherein: further comprising a first control unit that determines that the first traveling vehicle is located at the first position based on a detection result of the first detection unit, and determines that the second traveling vehicle is located at the second position based on a detection result of the second detection unit, The first control unit performs control so that the first traveling vehicle does not exceed the first position and intrude into the second area, and also performs control so that the second traveling vehicle does not exceed the second position and intrude into the first area.

6. The traveling vehicle system according to claim 1 or 2, wherein: Also features: a third detection portion for detecting a third detected portion; and a fourth detection unit for detecting a fourth detected portion, One of the third detecting unit and the third detected unit is provided on one side of the first traveling vehicle and the shared area, and the other of the third detecting unit and the third detected unit is provided on the other side of the first traveling vehicle and the shared area. One of the fourth detection unit and the fourth detected unit is provided on one side of the second traveling vehicle and the shared area, and the other of the fourth detection unit and the fourth detected unit is provided on the other side of the second traveling vehicle and the shared area. When the first traveling vehicle is located at a first position, which is an end portion of the first rail member on the connection portion side, in the shared area, the third detected portion is arranged at a position detectable by the third detection portion, and the fourth detected portion is arranged at a position not detectable by the third detection portion. When the second traveling vehicle is located at the end of the connection portion side of the second rail component in the shared area, i.e., the second position, the fourth detection portion is configured at a position that can be detected by the fourth detection portion, and the third detection portion is configured at a position that cannot be detected by the fourth detection portion.

7. The traveling vehicle system according to claim 6, wherein: The third detection unit and the fourth detection unit are sensors. The third detected portion and the fourth detected portion are claws detected by the sensor.

8. The traveling vehicle system according to claim 6, wherein: The system further includes a second control unit that stops the first traveling vehicle based on the detection result of the third detection unit and stops the second traveling vehicle based on the detection result of the fourth detection unit.

9. A driving vehicle system comprising: A travel track having a first track component and a second track component extending in a horizontal direction; a first traveling vehicle and a second traveling vehicle traveling on the traveling track; a third detection unit for detecting a third detected portion; as well as a fourth detection unit for detecting a fourth detected portion, A first area in which the first vehicle can travel but the second vehicle cannot travel, a second area in which the second vehicle can travel but the first vehicle cannot travel, and a shared area between the first area and the second area in which both the first vehicle and the second vehicle can travel are formed along the travel track. The common region is provided with a connection portion where the first rail member and the second rail member are connected with a gap therebetween or in contact with each other. One of the third detecting unit and the third detected unit is provided on one side of the first traveling vehicle and the shared area, and the other of the third detecting unit and the third detected unit is provided on the other side of the first traveling vehicle and the shared area. One of the fourth detection unit and the fourth detected unit is provided on one side of the second traveling vehicle and the shared area, and the other of the fourth detection unit and the fourth detected unit is provided on the other side of the second traveling vehicle and the shared area. When the first traveling vehicle is located at a first position, which is an end portion of the first rail member on the connection portion side, in the shared area, the third detected portion is arranged at a position detectable by the third detection portion, and the fourth detected portion is arranged at a position not detectable by the third detection portion. When the second traveling vehicle is located at the end of the connection portion side of the second rail component in the shared area, i.e., the second position, the fourth detection portion is configured at a position that can be detected by the fourth detection portion, and the third detection portion is configured at a position that cannot be detected by the fourth detection portion.

10. The traveling vehicle system according to claim 9, wherein: The third detection unit is provided on the first traveling vehicle, and the third detected unit is provided on the shared area. The fourth detection unit is provided on the second traveling vehicle, and the fourth detected unit is provided in the shared area.

11. The traveling vehicle system according to claim 9 or 10, wherein: The third detection unit and the fourth detection unit are sensors. The third detected portion and the fourth detected portion are claws detected by the sensor.

12. The traveling vehicle system according to claim 9 or 10, wherein: The system further includes a second control unit that stops the first traveling vehicle based on the detection result of the third detection unit and stops the second traveling vehicle based on the detection result of the fourth detection unit.

13. A warehousing system comprising: The traveling vehicle system according to any one of claims 1 to 12; a first storage device, the first storage device being configured to enable storage and retrieval of articles between the first storage device and the first traveling vehicle traveling in the first area; a second storage device, the second storage device being configured to enable storage and retrieval of articles between the second storage device and the second traveling vehicle traveling in the second area; as well as A maintenance area is arranged between the first storage device and the second storage device along an extension direction of the travel track and can accommodate the first and second traveling vehicles located in the common area.

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