Airborne vault system

Abstract

An aerial storage system includes an aerial transport vehicle having a traveling portion that travels on a track configured in a lattice shape at least in part, and a main body portion that overhangs from the traveling portion and holds an article on the lower side of the track; a storage rack that is disposed below the track and stores the article; and a control portion that controls the movement of the aerial transport vehicle. The main body portion has a transfer device that can transfer the article with respect to the storage rack. In the storage rack, a plurality of article placement regions in which the article can be placed by the transfer device are provided in a storage region corresponding to a unit cell of one cell of the lattice shape that constitutes the track.

Description

Technical Field

[0001] One aspect of the present invention relates to an airborne storage system. Background Technology

[0002] As a technology related to aerial storage systems, a known example is the rail-mounted trolley system described in Patent Document 1. In the rail-mounted trolley system described in Patent Document 1, the tracks are configured in a grid pattern, and an aerial transport vehicle (rail-mounted trolley) carries and transports items along the tracks and beneath them. In the rail-mounted trolley system described in Patent Document 1, a storage rack (the frame of the storage device) is arranged below the tracks, and items are stored on the storage rack.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: International Publication No. 2018 / 037762 Summary of the Invention

[0006] In the air-based storage system described above, there is a need to improve the storage efficiency of items, for example, in order to store a large number of items without expanding the system size.

[0007] Therefore, one aspect of the present invention is to provide an air storage system that can improve the storage efficiency of articles.

[0008] An aerial storage system according to one aspect of the present invention comprises: an aerial transport vehicle having a travel section that travels on at least a portion of a grid-shaped track, and a main body suspended from the travel section and holding articles below the track; a storage rack disposed below the track and storing articles; and a control unit that controls the operation of the aerial transport vehicle. The main body has a transfer device capable of transferring articles relative to the storage rack. In the storage rack, in a storage area corresponding to a cell of the grid-shaped track, a plurality of article placement areas are provided, in which articles can be placed by the transfer device.

[0009] In this aerial storage system, multiple item placement areas are set up within the storage area corresponding to each cell in the storage rack, each capable of holding items via a transfer device. Therefore, for example, many items can be stored without expanding the storage rack, thus improving storage efficiency.

[0010] In one aspect of the aerial transport system of the present invention, the track may include: a plurality of first tracks extending along a first direction; a plurality of second tracks extending along a second direction intersecting the first direction; and a plurality of intersection tracks, which are arranged with gaps between the ends of the first tracks and the ends of the second tracks, allowing passage of a connecting portion that connects the traveling unit and the main body. Each cell is a region defined by a pair of first tracks arranged side-by-side in the second direction and a pair of second tracks arranged side-by-side in the first direction. Thus, a structure for the aerial transport vehicle to travel along a grid-like track configuration can be specifically realized.

[0011] In one aspect of the airborne storage system of the present invention, the control unit may perform transfer control, in which, with the airborne transport vehicle stopped on the cell, a transfer device transfers items between one of the multiple item placement areas corresponding to the storage area of ​​that cell. In this case, transfer between one of the multiple item placement areas of the storage area can be specifically realized.

[0012] In one aspect of the aerial storage system of the present invention, a first cell and a second cell adjacent to the first cell may exist as cells. During transfer control, with the aerial transport vehicle stopped at the first cell, items are transferred between one of a plurality of item placement areas corresponding to the storage area of ​​the first cell. When transfer control is executed by the control unit, from above, the transfer device does not extend into the second cell but is retracted into the first cell. In this case, during the transfer control process of an aerial transport vehicle at the first cell, the extension (hereinafter also simply referred to as "extension") of the transfer device of that aerial transport vehicle into the second cell can be prevented, allowing other aerial transport vehicles to pass over the second cell. This also improves transport efficiency.

[0013] In one aspect of the air-based storage system of the present invention, the article may include a container body and a lid disposed on the side of the container body. The storage rack can hold the article in each of a plurality of article placement areas with the lid facing outwards from the storage area. The transfer device includes: an article holding part that suspends and holds the article by holding it; a lifting drive part that raises and lowers the article holding part; and a top-view sensor disposed on the lifting drive part, which is arranged, from above, away from the article held by the article holding part by a predetermined length from the side opposite to the lid side, and outputs a detection wave downwards. Since the article is placed in the article placement area with the lid facing outwards from the storage area, unlike the case where the article is placed in the article placement area with the lid facing inwards from the storage area, during the execution of transfer control, the top-view sensor, which is disposed away from the article, is located within the storage area when viewed from above. Therefore, during the execution of transfer control, the extension of the transfer device due to the presence of the top-view sensor can be suppressed.

[0014] Invention Effects

[0015] According to one aspect of the present invention, an air storage system capable of improving the storage efficiency of articles can be provided. Attached Figure Description

[0016] Figure 1 This is a side view showing the implementation of an air-to-air storage system.

[0017] Figure 2 This is a perspective view of the aerial transport vehicle used in the implementation method.

[0018] Figure 3 This is a perspective view of an airborne storage system illustrating an implementation method.

[0019] Figure 4 This is a perspective view of the storage rack used in the implementation method.

[0020] Figure 5 This is a top view showing the storage area of ​​the storage rack in the embodiment.

[0021] Figure 6 This is a side view showing an example of transferring items from a storage rack in an air storage system according to an embodiment.

[0022] Figure 7 This is a side view illustrating an example of transferring items to a loading port in an air storage system according to an embodiment. Detailed Implementation

[0023] The embodiments will now be described with reference to the accompanying drawings. In the drawings, the scale has been appropriately altered for ease of explanation. A direction along the horizontal plane is designated as the X direction, the horizontal direction orthogonal to the X direction is designated as the Y direction, and the vertical direction is designated as the Z direction. The term "up" and "down" corresponds to the vertical direction.

[0024] like Figure 1 , Figure 2 and Figure 3 As shown, the over-the-air storage system SYS is a system used for transporting and storing items M in a cleanroom, such as a semiconductor manufacturing plant. The over-the-air storage system SYS includes an over-the-air transport vehicle 100, a storage rack 4, and a system controller 5. Item M is, for example, a FOUP for holding semiconductor wafers or a marking plate box for holding marking plates. Item M includes a box-shaped container body M0 with a side opening, a flange Ma provided on the upper surface of the container body M0, and a cover Mb detachably provided on the side of the container body M0.

[0025] The aerial transport vehicle 100 moves along the track R of the aerial storage system SYS and transports items M. The aerial transport vehicle 100 travels near the roof of the building; therefore, it is sometimes referred to as an aerial moving vehicle. Multiple aerial transport vehicles 100 can be used, for example. By utilizing multiple aerial transport vehicles 100 to transport items M, high-density transport can be achieved, improving the efficiency of transporting items M.

[0026] Track R is laid on or near the ceiling of buildings such as cleanrooms. Track R is a grid-like track having multiple first tracks R1, multiple second tracks R2, and multiple intersection tracks R3. At least a portion of track R is configured in a grid pattern. The first tracks R1 are the parts that form the lattice of the grid pattern, and are arranged along the X direction (first direction). The second tracks R2 are the parts that form the lattice of the grid pattern, and are arranged along the Y direction (second direction). The intersection tracks R3 are the parts that form the intersection of the grid pattern, and are arranged with a gap D between them and the ends of the first tracks R1 and the second tracks R2, respectively.

[0027] Track R is arranged with the first track R1 and the second track R2 in orthogonal directions, thus creating a state where multiple cells C (divisions) are adjacent when viewed from above. Cell C constitutes a grid-like area of ​​track R. Cell C is the area defined by a pair of first tracks R1 arranged side by side in the Y direction and a pair of second tracks R2 arranged side by side in the X direction. It should be noted that in Figure 3 The diagram shows a portion of orbit R, which has the same structure continuously formed from the structure shown in the diagram in both the X and Y directions.

[0028] Track 1 R1, track 2 R2, and intersection track R3 pass through suspension component H (see reference). Figure 3The suspension is supported by the ceiling. The suspension component H has a first part H1 for suspending the first track R1, a second part H2 for suspending the second track R2, and a third part H3 for suspending the intersection track R3. The first part H1 and the second part H2 are respectively located at two points separated by the third part H3.

[0029] The first track R1, the second track R2, and the intersection track R3 each have running surfaces R1a, R2a, and R3a for the traveling wheels 21 of the aerial transport vehicle 100 (described later) to travel on. The gap D is the portion of the aerial transport vehicle 100, i.e., the connecting part 30 (described later), that allows a portion of the aerial transport vehicle 100 to pass through when it travels on the first track R1 and crosses the second track R2, or when it travels on the second track R2 and crosses the first track R1. The gap D is set to the width through which the connecting part 30 can pass. The first track R1, the second track R2, and the intersection track R3 are arranged along the same horizontal plane.

[0030] like Figure 1 and Figure 2 As shown, the aerial transport vehicle 100 is a transport vehicle capable of traveling along track R, and includes a main body 10, a traveling section 20, a connecting section 30, and a vehicle controller (control section) 50. The main body 10 is disposed below track R. The main body 10 is, for example, rectangular when viewed from above. The main body 10 is sized to fit within a single cell C of track R when viewed from above. Therefore, it can pass other aerial transport vehicles 100 traveling on adjacent first track R1 or second track R2. The main body 10 hangs from the traveling section 20 and holds an item M below track R. The main body 10 includes an upper unit 17 and a transfer device 18.

[0031] The upper unit 17 is suspended and supported on the traveling unit 20 via the connecting part 30. The upper unit 17 is rectangular in top view, for example, and has four corners on its upper surface 17a. A traveling wheel 21, a connecting part 30, and a direction conversion mechanism 34 are respectively provided at the four corners of the main body 10.

[0032] The transfer device 18 is a device capable of transferring items M at least relative to the storage rack 4 and the loading port 62. The transfer device 18 is located below the upper unit 17. The transfer device 18 includes: an item holding part 13 for holding the item M; a lifting drive part 14 for raising and lowering the item holding part 13 in the vertical direction; a look-down sensor S provided on the lifting drive part 14; a sliding drive part 11 for sliding the lifting drive part 14; a rotating part 12 for holding the sliding drive part 11; a first rotation drive part 15 for rotating the sliding drive part 11 horizontally about the first vertical axis AX1 relative to the main body part 10 (rotation drive); and a second rotation drive part 16 for rotating the lifting drive part 14 horizontally about the second vertical axis AX2 relative to the sliding drive part 11.

[0033] The lifting drive unit 14 and the sliding drive unit 11 constitute a linear drive unit that drives the article holding part 13 to move linearly. The first rotary drive unit 15 and the second rotary drive unit 16 constitute a rotary drive unit that drives the article holding part 13 to rotate horizontally. Horizontal rotation refers to rotation about an axis along the vertical direction.

[0034] The sliding drive unit 11, for example, has multiple movable plates arranged overlapping in the Z direction. These movable plates are movable in the Y direction. A second rotary drive unit 16 is mounted on the lowest movable plate. The sliding drive unit 11 can move the movable plates via a drive device (not shown), causing the lifting drive unit 14 and the item holding unit 13 mounted on the lowest movable plate to slide in a direction protruding relative to the travel direction, i.e., a straight line direction. A rotating unit 12 is mounted between the sliding drive unit 11 and the upper unit 17, connected to the first rotary drive unit 15, and holds the sliding drive unit 11 in place.

[0035] The article holding part 13 suspends and holds the article M by gripping the flange part Ma of the article M. The article holding part 13 is, for example, a chuck with a claw part 13a that can move in the horizontal direction. By moving the claw part 13a under the flange part Ma of the article M and raising the article holding part 13, the article M is held. The article holding part 13 is connected to a suspension member 13b such as a wire rope or belt.

[0036] A lifting drive unit 14 is mounted on the second rotary drive unit 16. The lifting drive unit 14, for example, is a winch that lowers the item holding section 13 by releasing the suspension member 13b and raises the item holding section 13 by winding the suspension member 13b. The lifting drive unit 14 is controlled by a trolley controller 50 to lower or raise the item holding section 13 at a predetermined speed. The lifting drive unit 14, controlled by the trolley controller 50, holds the item holding section 13 at a target height. The lifting drive unit 14 is configured to protrude horizontally from the side opposite to the cover Mb side of the item M held by the item holding section 13. Specifically, when the item M is held by the item holding section 13, the dimension of the lifting drive unit 14 in the horizontal direction from its center to the end opposite to the cover Mb side is larger than the dimension from its center to the end of the cover Mb side of the item M.

[0037] The top-view sensor S outputs a directional detection wave, such as a laser, downwards. The top-view sensor S can also be a structure that irradiates other detection waves, such as ultrasonic waves. The top-view sensor S is installed in the lifting drive unit 14 such that it outputs a detection wave approximately directly downwards. For example, the top-view sensor S is mounted horizontally at the end of the protruding side of the lifting drive unit 14 (the end with the larger distance from the center). Viewed from above, the top-view sensor S is positioned a predetermined length α away from the item M held by the item holding unit 13, opposite to the cover Mb side. That is, when the item M is held by the item holding unit 13, for example, the second rotation drive unit 16 is driven so that the top-view sensor S is always located opposite the cover Mb side.

[0038] The top-view sensor S emits a laser L0 near the outer side of the descent destination of the item holding part 13 (see reference). Figure 7 The top-view sensor S detects the presence of an obstacle on the opposite side of the cover Mb of the article M held by the article holding part 13 based on the reflected light of the received laser L0. For example, the top-view sensor S detects an obstacle on the opposite side of the cover Mb of the article M held by the article holding part 13. Figure 7 Compared to the lifting path on the side of the passage (opposite to the processing device 6), there are obstacles such as workers in the lifting path.

[0039] The first rotary drive unit 15 uses an electric motor or the like to rotate the rotating part 12 around the first vertical axis AX1. The first rotary drive unit 15 can rotate the sliding drive unit 11 around the first vertical axis AX1 simultaneously with rotating the rotating part 12. When the sliding drive unit 11 rotates around the first vertical axis AX1 via the first rotary drive unit 15, the second rotary drive unit 16, the lifting drive unit 14, and the item holding part 13, all mounted on the lower side of the sliding drive unit 11, rotate integrally around the first vertical axis AX1. The second rotary drive unit 16 uses an electric motor or the like to rotate the lifting drive unit 14 around the second vertical axis AX2. When the lifting drive unit 14 rotates around the second vertical axis AX2 via the second rotary drive unit 16, the item holding part 13, mounted on the lower side of the lifting drive unit 14, rotates integrally around the second vertical axis AX2.

[0040] like Figure 1 , Figure 2 and Figure 3As shown, the traveling unit 20 travels on track R. The traveling unit 20 has traveling wheels 21 and auxiliary wheels 22. The traveling wheels 21 are respectively disposed at the four corners of the upper surface 17a of the upper unit 17 (main body 10). The traveling wheels 21 are respectively mounted on axles (not shown) provided in the connecting part 30. The axles are arranged parallel or substantially parallel along the XY plane. The traveling wheels 21 are rotated by the driving force of the traveling drive unit 33 (described later). The traveling wheels 21 roll on track R. The traveling wheels 21 roll on the traveling surfaces R1a, R2a, and R3a of the first track R1, the second track R2, and the intersection track R3 in track R, respectively, to move the aerial transport vehicle 100. It should be noted that the structure is not limited to all four traveling wheels 21 being rotated and driven by the driving force of the traveling drive unit 33; it may also be a structure where only a portion of the four traveling wheels 21 are rotated and driven.

[0041] The traveling wheel 21 is designed to rotate around the pivot axis AX3. The traveling wheel 21 rotates horizontally via the direction-changing mechanism 34 (described later), thus allowing the travel direction of the aerial transport vehicle 100 to be changed. An auxiliary wheel 22 is positioned before and after the traveling wheel 21 in its travel direction. Like the traveling wheel 21, the auxiliary wheels 22 are also rotatable. The lower end of each auxiliary wheel 22 is positioned higher than the lower end of the traveling wheel 21. Therefore, when the traveling wheel 21 travels on the travel surfaces R1a, R2a, and R3a, the auxiliary wheels 22 do not contact the travel surfaces R1a, R2a, and R3a. Furthermore, when the traveling wheel 21 moves from the gap D (refer to...)... Figure 3 When passing through, the auxiliary wheel 22 contacts the driving surface R1a, R2a, and R3a to prevent the driving wheel 21 from falling in. It should be noted that it is not limited to setting two auxiliary wheels 22 for one driving wheel 21. For example, one auxiliary wheel 22 can be set for one driving wheel 21, or no auxiliary wheel 22 can be set.

[0042] like Figure 1 As shown, in the traveling section 20, a cover W may also be provided to surround the transfer device 18 and the article M held by the transfer device 18. The cover W has an open shape at the bottom and has a shape obtained by cutting off the part (sliding movement part) protruding from the movable plate of the sliding drive section 11. The upper end of the cover W is mounted on the rotating section 12, and the cover W rotates about the first vertical axis AX1 as the rotating section 12 rotates.

[0043] A connecting portion 30 connects the upper unit 17 of the main body 10 to the traveling unit 20. The connecting portion 30 is provided at each of the four corners of the upper surface 17a of the upper unit 17 (main body 10). Through this connecting portion 30, the main body 10 is suspended and positioned below the track R. The connecting portion 30 has a support member 31 and a connecting member 32. The support member 31 supports the rotation axis of the traveling wheel 21 and the rotation axis of the auxiliary wheel 22, enabling them to rotate. The relative position of the traveling wheel 21 and the auxiliary wheel 22 is maintained by the support member 31. The support member 31 is, for example, formed in the shape of a plate and with a thickness sufficient to allow passage through the gap D.

[0044] The connecting member 32 extends downward from the support member 31 and connects to the upper surface 17a of the upper unit 17, holding the upper unit 17 in place. The connecting member 32 internally includes a transmission mechanism that transmits the driving force of the driving drive unit 33 (described later) to the driving wheel 21. This transmission mechanism can be a chain or belt structure, or a gear train structure. The connecting member 32 is designed to rotate about the rotation axis AX3. By rotating the connecting member 32 about the rotation axis AX3, the driving wheel 21 can rotate horizontally.

[0045] A driving unit 33 and a direction-changing mechanism 34 are provided on the connecting part 30. The driving unit 33 is mounted on the connecting part 32. The driving unit 33 is the drive source for driving the traveling wheels 21, such as using an electric motor. Each of the four traveling wheels 21 is driven by the driving unit 33 and becomes a driving wheel. The four traveling wheels 21 are controlled by the trolley controller 50 to achieve the same or approximately the same rotational speed. Furthermore, if one of the four traveling wheels 21 is not designated as a driving wheel, the driving unit 33 is not mounted on its connecting part 32.

[0046] The direction-changing mechanism 34 rotates the connecting member 32 of the connecting part 30 relative to the main body 10 about the rotation axis AX3, thereby causing the traveling wheel 21 to rotate horizontally. By rotating the traveling wheel 21 horizontally, it is possible to switch from a first state where the traveling direction of the aerial transport vehicle 100 is set to the X direction to a second state where the traveling direction is set to the Y direction, or from a second state where the traveling direction is set to the Y direction to a first state where the traveling direction is set to the X direction.

[0047] The direction-changing mechanism 34 includes a drive source 35, a pinion 36, and a rack 37. The drive source 35 is mounted in the drive unit 33 on a side away from the rotation axis AX3. The drive source 35 may be, for example, an electric motor. The pinion 36 is mounted on the lower surface of the drive source 35 and rotates by the driving force generated by the drive source 35. The pinion 36 is circular when viewed from above and has multiple teeth in the circumferential direction of its outer periphery. The rack 37 is fixed to the upper surface 17a of the upper unit 17. The rack 37 is located at the four corners of the upper surface 17a of the upper unit 17 and is arranged in an arc shape centered on the rotation axis AX3 of the drive wheel 21. The rack 37 has multiple teeth in the circumferential direction of its outer periphery that mesh with the teeth of the pinion 36. The pinion 36 and the rack 37 are configured in a meshing state. By rotating the pinion 36, the pinion 36 moves in a circumferential direction centered on the rotation axis AX3 along the outer periphery of the rack 37. As the pinion 36 moves, the connecting component 32 rotates, and the driving unit 33 and the direction conversion mechanism 34 rotate together with the pinion 36 in a circumferential direction centered on the rotation axis AX3.

[0048] By rotating the direction-changing mechanism 34, the four corner wheels 21 and auxiliary wheels 22 located on the upper surface 17a rotate horizontally around the rotation axis AX3. The drive of the direction-changing mechanism 34 is controlled by the trolley controller 50. The trolley controller 50 can instruct the rotation of the four wheels 21 at the same time or at different times. By rotating the wheels 21 and auxiliary wheels 22, the wheels 21 transition from being in contact with one of the first track R1 and the second track R2 to being in contact with the other. Therefore, it is possible to switch between a first state where the travel direction of the aerial transport vehicle 100 is set to the X direction and a second state where the travel direction is set to the Y direction.

[0049] The trolley controller 50 is a computer composed of a CPU (Central Processing Unit), ROM (Read-Only Memory), and RAM (Random Access Memory). The trolley controller 50 can be configured as software that loads a program stored in ROM onto RAM and executes it via the CPU. The trolley controller 50 can also be configured as hardware based on electronic circuits. The trolley controller 50 can be a single device or multiple devices. When multiple devices are used, these devices are connected via a communication network such as the Internet or an intranet, thereby logically constructing a trolley controller 50. The trolley controller 50 is located in the main body 10, but it can also be located outside the main body 10.

[0050] The trolley controller 50 provides overall control over the movements of all parts of the overhead transport trolley 100. The trolley controller 50 controls the movements of the overhead transport trolley 100 based on transport commands. The trolley controller 50 controls the movement of the overhead transport trolley 100 by controlling the drive unit 33, the direction conversion mechanism 34, etc. The trolley controller 50 controls the transfer movements of the overhead transport trolley 100 based on transport commands. The trolley controller 50 controls the transfer movements of the overhead transport trolley 100 by controlling the transfer device 18, etc. The trolley controller 50 periodically generates and updates status information. The trolley controller 50 sends the status information to the system controller 5. The status information includes, for example, information about the current position of the overhead transport trolley 100, information indicating the current state of the overhead transport trolley 100 such as normal or abnormal, and information related to the execution status (in execution, execution completed, execution failed) of the overhead transport trolley 100 in response to various commands such as transport commands.

[0051] like Figure 4 , Figure 5 and Figure 6 As shown, the storage rack 4 is a rack positioned below the track R to store items M. The storage rack 4 is a rack suspended below the travel path of the overhead conveyor 100 for temporary placement of items M. The storage rack 4 is suspended from the ceiling by a suspension rod 41. The suspension rod 41 is, for example, connected to the suspension component H (see reference). Figure 3 )link.

[0052] The storage rack 4 includes multiple truss members 42 extending horizontally, multiple beam members 43 extending in a direction intersecting (or orthogonal to) the truss members 42, and a fence member 44 arranged along the periphery of the storage rack 4. The truss members 42 and beam members 43 are, for example, lip-shaped steel (C-shaped steel) with openings at the bottom. The beam members 43 are fixed to the truss members 42. The upper surface of the beam members 43 forms a mounting surface for the item M. The fence member 44 is a component that prevents the item M from falling off the storage rack 4. The fence member 44 protrudes upwards compared to the beam members 43. It should be noted that the storage rack 4 is not particularly limited; for example, it may be a structure having multiple shelves arranged side-by-side on the floor in a vertical direction.

[0053] like Figure 5 As shown, in the storage rack 4, multiple item placement areas 45 are provided in the storage area 4C corresponding to cell C, which can hold items M via the transfer device 18. The illustrated example shows a case where there are two item placement areas 45 in the storage area 4C. The storage area 4C is a rectangular area on the storage rack 4 that overlaps with cell C when viewed from above. For example, the storage area 4C is a rectangular area on the storage rack 4 that is equal in size to the rectangle formed by connecting the centers of the four intersecting track R3 when viewed from above.

[0054] The item placement area 45 is a region within the storage area 4C that corresponds to the shape of item M. The item placement area 45 is a partial region of the storage area 4C that has the same shape as item M when viewed from above. Each of the multiple item placement areas 45 is provided with a positioning pin 46. The positioning pin 46 is provided on the beam member 43 in an upward-protruding manner. When item M is placed in the item placement area 45 of the storage rack 4, the positioning pin 46 enters a groove on the bottom surface of item M to position item M.

[0055] The storage rack 4 is configured to hold (store) an item M in each of the multiple item placement areas 45, with the cover Mb facing outwards towards the storage area 4C. That is, the item M is placed in each of the multiple item placement areas 45 with the cover Mb facing outwards towards the storage area 4C. The storage rack 4 places the item M in each of the multiple item placement areas 45 with the opposite sides of the cover Mb facing each other. That is, the item M is placed in each of the multiple item placement areas 45 with the opposite side of the cover Mb facing inwards towards the storage area 4C. The item is placed in each of the multiple item placement areas 45 with the cover Mb along the outer edge of the storage area 4C. Multiple items M are placed close to each other in the multiple item placement areas 45. The distance β between the edge of the storage area 4C and the item placement area 45 adjacent to that edge is less than a predetermined length α between the item M held by the item holding part 13 and the top-view sensor S (see reference). Figure 1 ).

[0056] Return to Figure 1 System controller 5 is a computer composed of a CPU, ROM, and RAM. System controller 5 can be configured as software that loads programs stored in ROM onto RAM and executes them via the CPU. System controller 5 can also be configured as hardware based on electronic circuits. System controller 5 can be composed of a single device or multiple devices. In the case of multiple devices, these devices are connected via a communication network such as the Internet or an intranet, thereby logically constructing a system controller 5.

[0057] System controller 5 generates transport instructions. System controller 5 selects one of multiple aerial transport vehicles 100 capable of transporting item M and assigns a transport instruction to the selected aerial transport vehicle 100. The transport instructions include: a travel instruction to move towards the transport source; a loading instruction for item M placed at the transport source; a travel instruction to move towards the transport destination; and an unloading instruction for the held item M at the transport destination. The travel path followed when moving along track R towards the loading port 62, which serves as the transport source, can be obtained using various well-known methods. Similarly, the travel path followed when moving along track R towards the loading port 62, which serves as the transport destination, can also be obtained using various well-known methods.

[0058] The source and destination of the transport include storage rack 4 and loading port 62 (see reference). Figure 7 Loading port 62 is a processing device 6 for performing various processing on item M (see reference). Figure 7 The loading platform in the ) . Loading port 62 and the main body 61 of the processing device 6 (refer to Figure 7 Compared to the configuration on the passage side, the loading port 62 has an orientation, for example, the passage side of the loading port 62 is facing forward. The item M is placed on the loading port 62 with the cover Mb facing the device body 61. Information related to the transport source and transport destination can be received, for example, from a higher-level controller (not shown).

[0059] In the aerial transport vehicle 100 of this embodiment, for example, when a transport command is issued from the system controller 5 to set the transport source as the storage rack 4 and the transport destination as the loading port 62, the following processing is performed in the vehicle controller 50.

[0060] exist Figure 6 In the example, cell C contains a first cell C1 corresponding to the storage area 4C, which includes an item placement area 45 containing the item M to be transported, and a second cell C2 adjacent to the first cell C1. First, the trolley controller 50 stops the aerial transport trolley 100 on the first cell C1. With the aerial transport trolley 100 stopped on the first cell C1, the trolley controller 50 transfers (loads) the item M from the item placement area 45 of the first cell C1 using the transfer device 18. That is, the trolley controller 50 performs transfer control (hereinafter also referred to as "transfer control") by transferring the item M between an item placement area 45 of cell C using the transfer device 18 while the aerial transport trolley 100 is stopped on cell C.

[0061] In transfer control, for example, the second rotary drive unit 16 is driven to rotate the lifting drive unit 14 horizontally, and the lifting drive unit 14 is configured such that the top-view sensor S is positioned on the opposite side of the cover Mb side. In this state, the item M is held by the item holding unit 13. Since the top-view sensor S is provided in the horizontally protruding portion of the lifting drive unit 14, in transfer control, the lifting drive unit 14 protrudes to the opposite side of the cover Mb side (inside the first cell C1), while on the other hand, the lifting drive unit 14 does not protrude to the cover Mb side (outside the first cell C1). That is, when transfer control is performed, viewed from above, the transfer device 18 does not extend into the second cell C2 but is retracted into the first cell C1. Furthermore, in transfer control for the storage rack, the top-view sensor S is set to OFF.

[0062] With item M loaded, the trolley controller 50 causes the aerial transport trolley 100 to travel along the path specified in the transport command to a position where item M can be transferred between the trolley and the loading port 62, which is the transport destination. For example... Figure 7 As shown, when the overhead conveyor 100 is stopped, the trolley controller 50 transfers (unloads) the item M to the loading port 62 via the transfer device 18. When transferring the item M between the trolley controller 50 and the loading port 62, the overhead sensor S is turned on, and a laser L0 is emitted downward from the overhead sensor S to detect whether there are any obstacles such as workers at the location on the passageway side of the lifting path compared to the loading port 62.

[0063] Furthermore, when a transport instruction is assigned to set the item placement area 45 of the storage rack 4 as the transport destination, the trolley controller 50, while stopping the aerial transport trolley 100 loaded with item M at the cell C corresponding to the item placement area 45, performs the same transfer control as described above, transferring (unloading) item M to the storage rack 4. When a transport instruction is assigned to set the transport source as the loading port 62, the aerial transport trolley 100 is driven and stopped at a position where item M can be transferred between the loading port 62, and item M is transferred (loaded) from the loading port 62 by the transfer device 18.

[0064] In the above-mentioned air-based storage system SYS, the storage area 4C corresponding to a cell C in the storage rack 4 is provided with multiple item placement areas 45 that can be used to place items M via the transfer device 18. Therefore, for example, multiple items M can be stored without expanding the storage rack 4, thereby improving the storage efficiency of items M.

[0065] In the aerial transport system SYS, the track R includes: a plurality of first tracks R1 extending along the X direction; a plurality of second tracks R2 extending along the Y direction; and a plurality of intersection tracks R3, which are arranged with a gap D between the ends of the first tracks R1 and the ends of the second tracks R2. A cell C is a region defined by a pair of first tracks R1 arranged side-by-side in the Y direction and a pair of second tracks R2 arranged side-by-side in the X direction. Thus, a structure can be specifically implemented that allows the aerial transport vehicle 100 to travel along the grid-like track R.

[0066] In the aerial storage system SYS, the trolley controller 50 performs transfer control. In this transfer control, with the aerial transport trolley 100 stopped at cell C, the transfer device 18 transfers item M between one of the multiple item placement areas 45 of the storage area 4C corresponding to cell C. In this case, transfer between one of the multiple item placement areas 45 of the storage area 4C can be specifically realized, thereby enabling the specific use of one of the multiple item placement areas 45 as both a transfer source and a transfer destination.

[0067] In the airborne storage system SYS, there exists a first cell C1 and a second cell C2 adjacent to the first cell C1. During transfer control, with the airborne trolley 100 stopped at the first cell C1, an item M is transferred between one of the multiple item placement areas 45 of the storage area 4C corresponding to the first cell C1. When transfer control is executed, viewed from above, the transfer device 18 does not extend into the second cell C2 but is retracted into the first cell C1. In this case, during the transfer control process of an airborne trolley 100 at the first cell C1, the extension (hereinafter referred to as "extension") of the transfer device 18 of that airborne trolley 100 into the second cell C2 can be prevented. Other airborne trolleys 100 can pass through the second cell C2 without obstructing their movement. This also improves transport efficiency. In addition, it can also prevent interference between the aerial transport vehicles 100.

[0068] In the airborne storage system SYS, the item M includes a container body M0 and a cover Mb located on the side of the container body M0. The storage rack 4 can hold the item M with its cover Mb facing outwards towards the storage area 4C in each of multiple item placement areas 45. The transfer device 18 includes an item holding section 13, a lifting drive section 14, and a top-view sensor S. The top-view sensor S is located on the lifting drive section 14 and, viewed from above, is positioned a predetermined length α away from the item M held by the item holding section 13 from the side opposite to the cover Mb, and outputs a laser L0 downwards. Since the item M is placed in the item placement area 45 with its cover Mb facing outwards towards the storage area 4C, unlike the case where the item M is placed in the item placement area 45 with its cover Mb facing inwards towards the storage area 4C, during the execution of the transfer control, the top-view sensor S (the portion of the lifting drive section 14 that protrudes horizontally compared to the item M) is located within the storage area 4C when viewed from above. Therefore, during the execution of transfer control, the extension of the transfer device 18 caused by the presence of the top-view sensor S can be suppressed.

[0069] In the airborne storage system SYS, the distance β between the edge of storage area 4C and the item placement area 45 adjacent to that edge (refer to...) Figure 5 Less than the specified length α (refer to) Figure 1 If the distance β is less than the specified length α, then when the article M is placed in the article placement area 45 with the cover Mb facing inward towards the storage area 4C, the top-view sensor S is likely to be located outside the storage area 4C during the execution of the transfer control. Therefore, in this case, the transfer device 18 is likely to extend due to the presence of the top-view sensor S during the execution of the transfer control, and thus the aforementioned effect of suppressing the extension of the transfer device 18 becomes significant.

[0070] In the aerial storage system SYS, the aerial transport vehicle 100 travels on a grid-shaped track R. Therefore, the travel path of the aerial transport vehicle 100 can be easily and freely selected, which can suppress the occurrence of blockages and improve transport efficiency.

[0071] The above describes the implementation methods, but the present invention is not limited to the above implementation methods, and various modifications can be made without departing from the spirit of the invention.

[0072] The structures in the above embodiments and modifications are not limited to the materials and shapes described above; a wide variety of materials and shapes can be used. The structures in the above embodiments or modifications can be arbitrarily applied to structures in other embodiments or modifications. A portion of the structures in the above embodiments or modifications can be appropriately omitted without departing from the spirit of one aspect of the invention.

[0073] Explanation of reference numerals in the attached figures

[0074] 4: Storage rack, 4C: Storage area, 6: Processing device, 10: Main body, 13: Item holding part, 14: Lifting drive part, 18: Transfer device, 20: Traveling part, 45: Item placement area, 50: Cart controller (control part), 62: Loading port, 100: Aerial transport vehicle, C: Cell, C1: First cell, C2: Second cell, M: Item, M0: Container body, Mb: Lid, R: Track, R1: First track, R2: Second track, R3: Intersection track, S: Top-view sensor, SYS: Aerial storage system.

Claims

1. An airborne safekeeping system, comprising: An aerial transport vehicle having a traveling section that travels on at least a portion of a grid-like track, and a main body that hangs from the traveling section and holds items below the track. A storage rack, positioned below the track, for storing the items; and The control unit controls the movement of the aerial transport vehicle. The main body has a transfer device capable of transferring the article relative to the storage rack. In the storage rack, within the storage area corresponding to a cell of the grid-like grid constituting the track, there are multiple item placement areas where the item can be placed by the transfer device. The control unit performs transfer control, in which, with the aerial transport vehicle stopped on the cell, the transfer device transfers the item between one of the plurality of item placement areas corresponding to the storage area of ​​the cell. There exists a first cell and a second cell adjacent to the first cell. In the transfer control, with the aerial transport vehicle stopped at the first cell, the items are transferred between one of the plurality of item placement areas corresponding to the storage area of ​​the first cell. When the transfer control is executed by the control unit, from above, the transfer device does not extend into the second cell but is retracted into the first cell.

2. The airborne storage system according to claim 1, wherein, The orbit includes: Multiple first orbits extending along the first direction; A plurality of second tracks extending along a second direction intersecting the first direction; and Multiple intersecting tracks are arranged such that they are spaced apart from the ends of the first track and the second track by gaps that allow passage of the connecting portion that connects the traveling unit to the main body. The cell is a region defined by a pair of first tracks side by side in the second direction and a pair of second tracks side by side in the first direction.

3. The airborne storage system according to claim 1 or 2, wherein, The article includes a container body and a lid located on the side of the container body. The storage rack is capable of holding the items with the lid facing outwards in each of the plurality of item placement areas. The transfer device has: An article holding part that suspends and holds the article by holding it; A lifting drive unit that raises and lowers the article holding unit; and A top-view sensor is provided on the lifting drive unit. When viewed from above, it is configured to move a predetermined length away from the cover side relative to the item held by the item holding unit, and outputs a detection wave downwards.

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