Automated warehouse and lateral conveyance vehicle

Abstract

To transfer an article between a plurality of automated warehouse units.SOLUTION: An automated warehouse 10 comprises: a plurality of automated warehouse units 20; rails 60 arranged across the plurality of automated warehouse units 20; and a lateral conveyance vehicle 70 that travels on the rails 60. Each of the plurality of automated warehouse units 20 is provided with a relay path for transferring an article W between a horizontal conveyance vehicle 50 and the lateral conveyance vehicle 70. The end parts of the plurality of relay paths of the plurality of automated warehouse units 20 are lined up along the rails 60 that extend in a different direction from horizontal rails 26. The rails 60 include an on-floor rail that is disposed at a position higher than the floor. The lateral conveyance vehicle 70 includes an input / output mechanism for inputting and outputting the article W to / from the end part of the relay path, and a traveling part for supporting the input / output mechanism and traveling on the rails 60.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] This disclosure relates to an automated warehouse and a lateral transport vehicle. [Background technology]

[0002] Patent Document 1 discloses an automated warehouse including a plurality of shelves and an article transfer device for transferring articles onto the plurality of shelves. In the automated warehouse, a plurality of storage units are provided, and each of the plurality of storage units is provided with its own dedicated article transfer device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-076187 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a need to be able to transfer articles between a number of automated warehouse units, each of which includes a storage unit and an article transfer device.

[0005] Therefore, an object of the present disclosure is to enable the transfer of items between multiple automated warehouse units. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, an automated warehouse comprises a plurality of automated warehouse units, rails arranged across the plurality of automated warehouse units, and a lateral transport vehicle running on the rails, each of the plurality of automated warehouse units includes a plurality of shelves, a lifting device that transports articles along the height direction of the plurality of shelves, a plurality of horizontal rails that are associated with the plurality of shelves and are stacked one above the other and arranged to extend along the horizontal direction adjacent to the shelves, and a plurality of horizontal transport vehicles that run on the corresponding horizontal rails and transport articles between the lifting device and the shelves, each of the plurality of automated warehouse units is provided with an intermediate path for transferring articles between the horizontal transport vehicle and the lateral transport vehicle, ends of the intermediate paths of the plurality of automated warehouse units are aligned along the rail extending in a direction different from the horizontal rail, and the rail includes an above-floor rail that is arranged at a position higher than the floor, and the lateral transport vehicle includes an entry / exit mechanism that inserts and removes articles between the end of the intermediate path and the lateral transport vehicle, and a running unit that supports the entry / exit mechanism and runs on the rail. Effect of the Invention

[0007] This automated warehouse allows items to be transferred between multiple automated warehouse units. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic side view showing an automated warehouse according to a first embodiment. [Diagram 2] FIG. 1 is a schematic plan view showing an automated warehouse according to a first embodiment. [Diagram 3] FIG. 1 is a schematic front view showing an automated warehouse according to a first embodiment. [Figure 4] FIG. 2 is a partially enlarged plan view showing the automated warehouse according to the first embodiment. [Diagram 5] FIG. 2 is a schematic perspective view showing an example of a horizontal transport vehicle. [Figure 6] FIG. 4 is a schematic side view showing a modified example of the automated warehouse according to the first embodiment. [Figure 7] FIG. 4 is a schematic plan view showing a modified example of the automated warehouse according to the first embodiment. [Figure 8] FIG. 4 is a partially enlarged plan view showing a modified example of the automated warehouse according to the first embodiment. [Figure 9] FIG. 11 is a schematic side view showing an automated warehouse according to a second embodiment. [Figure 10] FIG. 11 is a schematic plan view showing an automated warehouse according to a second embodiment. [Figure 11] FIG. 11 is a partially enlarged plan view showing the automated warehouse according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an automated warehouse and a lateral transport vehicle for an automated warehouse according to an embodiment will be described.

[0010] <Embodiment 1> Fig. 1 is a schematic side view showing the automated warehouse 10 according to the first embodiment. Fig. 2 is a schematic plan view showing the automated warehouse 10 according to the first embodiment. Fig. 3 is a schematic front view showing the automated warehouse 10 according to the first embodiment. Fig. 4 is a partially enlarged plan view showing the automated warehouse 10 according to the first embodiment. In each drawing, an X direction, a Y direction, and a Z direction which are perpendicular to each other are shown. The X direction and the Y direction are two mutually perpendicular directions among horizontal directions, and the Z direction is the vertical direction.

[0011] <Overall configuration of automated warehouse 10> The automated warehouse 10 includes a plurality of automated warehouse units 20. In the example shown in FIG. 2, four automated warehouse units 20 are provided, but the number of the automated warehouse units 20 in the automated warehouse 10 is not particularly limited and can be set appropriately. For example, an external conveying device is connected to each of the multiple automated warehouse units 20. As a warehousing process, each automated warehouse unit 20 performs a process of storing an item W conveyed from the external conveying device in its own storage section 24. Also, as a warehousing process, each automated warehouse unit 20 performs a process of conveying an item W stored in its own storage section 24 to an external conveying device. The warehousing process and the warehousing process are processes that are individually performed by the multiple automated warehouse units 20. In this embodiment, an example in which a conveyor CV is provided as an example of an external conveying device will be described.

[0012] The automated warehouse 10 further includes rails 60 and a lateral transport vehicle 70. The rails 60 are arranged across the multiple automated warehouse units 20. In other words, the rails 60 extend to connect multiple positions corresponding to the multiple automated warehouse units 20. The lateral transport vehicle 70 can move to a position corresponding to each automated warehouse unit 20 by traveling on the rails 60. As a transfer process, the lateral transport vehicle 70 performs a process of transporting an item W received from a first automated warehouse unit 20 among the multiple automated warehouse units 20 to a second automated warehouse unit 20.

[0013] The item W to be transferred in the first automated warehouse unit 20 may be an item W that has been stored in the first automated warehouse unit 20. The item W to be transferred in the first automated warehouse unit 20 may be an item W that has been transported to the first automated warehouse unit 20 from a conveyor CV connected to the first automated warehouse unit 20. In other words, the item W that has been transported to the first automated warehouse unit 20 from the conveyor CV connected to the first automated warehouse unit 20 may be transferred to the lateral transport vehicle 70 without being stored in the storage section 24 of the first automated warehouse unit 20.

[0014] The destination of the item W in the second automated warehouse unit 20 may be the storage section 24 of the second automated warehouse unit 20. The destination of the item W in the second automated warehouse unit 20 may be a conveyor CV connected to the second automated warehouse unit 20. In other words, the item W transferred from the lateral transport vehicle 70 to the second automated warehouse unit 20 may be transported to the conveyor CV connected to the second automated warehouse unit 20 without being stored in the storage section 24 of the second automated warehouse unit 20. It is preferable that at least one of the source and destination of the item W is the storage section 24 of the automated warehouse unit 20.

[0015] <Specific configuration of each part of the automated warehouse 10> Each of the multiple automated warehouse units 20 includes multiple shelves 22, multiple horizontal rails 26, a lifting device 30, and multiple horizontal transport vehicles 50.

[0016] The shelves 22 of multiple tiers are arranged in a vertical direction (Z direction). Each shelf 22 of each tier can support and store one or more items W. Here, the storage space of each shelf 22 of each tier is long in the X direction and can support multiple items W. Therefore, multiple items W are stored in the shelves 22 of multiple tiers in a state where they are arranged vertically and horizontally when viewed from the Y direction. In the example shown in FIG. 1, the number of tiers is five, but the number of tiers is not particularly limited and can be set appropriately. In the present disclosure, the shelves 22 of multiple tiers extending along the XZ plane are regarded as one row of storage sections 24.

[0017] The horizontal rails 26 are stacked one on top of the other in association with the multiple shelves 22. In this embodiment, the horizontal rails 26 correspond one-to-one to the multiple shelves 22. Each horizontal rail 26 is disposed adjacent to each shelf 22 in the horizontal direction (here, the X-direction). The horizontal rails 26 are provided over the entire length of the storage section 24 in the extension direction (X-direction) of the storage section 24.

[0018] In this embodiment, one automated warehouse unit 20 has two rows of storage sections 24. The two rows of storage sections 24 are arranged at an interval in the Y direction. A horizontal rail 26 is arranged in the gap between the two rows of storage sections 24. The automated warehouse unit 20 may be configured to have one row of storage sections 24. In this embodiment, a pair of horizontal rails 26 is provided in each stage. Each horizontal rail 26 may also serve as a horizontal frame of the shelf 22, or may be configured as a separate body from the shelf 22. For example, one horizontal rail 26 of the pair of horizontal rails 26 is adjacent to one of the two rows of storage sections 24, and the other horizontal rail 26 is adjacent to the other storage section 24. A monorail structure in which there is one horizontal rail 26 may be adopted in each stage.

[0019] The lifting device 30 is provided at least on one end side of the storage section 24 in the extension direction of each row. In this embodiment, the lifting device 30 is provided on one end side of the storage section 24 in the extension direction. In this embodiment, an end of the conveyor CV is connected to the lifting device 30 of each row, and a transfer device 40 is provided between the lifting device 30 of each row and the storage section 24. In this embodiment, the transfer device 40, the lifting device 30, and the conveyor CV are arranged in this order from one end side of each of the two rows of storage sections 24. Therefore, in this embodiment, two rows of sets of the storage section 24, the transfer device 40, the lifting device 30, and the conveyor CV are provided in one automated warehouse unit 20. In this embodiment, one end of the horizontal rail 26 extends beyond a position adjacent to the storage section 24 to a position adjacent to the transfer device 40. The horizontal rail 26 does not extend to a position adjacent to the lifting device 30. The lifting device 30 is located outside the horizontal rails 26 in the direction in which the horizontal rails 26 extend.

[0020] The lifting device 30 transports the article W along the height direction of the shelves 22 having multiple levels. The lifting device 30 is a device that performs at least one of a warehousing lifting process for moving the article W to be stored from a height position for storing to a height position corresponding to a storage location, and a shipping lifting process for moving the article W to be shipped from a height position corresponding to a storage location to a height position for shipping. The lifting device 30 may be called a reservoir. In this embodiment, the conveyor CV is provided only on some of the shelves 22 having multiple levels. Therefore, the height position for storing and the height position for shipping are the height positions of the conveyor CV here. The lifting device 30 lifts and lowers the article W so that the article W can be transported between the conveyor CV and the shelves 22 having no conveyor CV. The lifting device 30 includes a pillar 31 and a lifting and lowering platform 32. The pillar 31 is a long member that is installed in a vertical position along the direction of gravity. The pillars 31 support the lifting and lowering platforms 32 so that they can be raised and lowered. The two rows of lifting devices 30 are arranged with the pillars 31 facing each other. This makes it less likely for the pillars 31 to protrude outward in the direction in which the two rows of storage sections 24 are lined up, compared to when the lifting and lowering platforms 32 are arranged facing each other, and the installation space for the automated warehouse unit 20 in the Y direction can be reduced. The two rows of lifting devices 30 may be arranged with the lifting and lowering platforms 32 facing each other.

[0021] The lifting and lowering platform 32 moves up and down along the pillars 31 while supporting the article W. In this embodiment, the lifting and lowering platform 32 has a frame 33 and a plurality of rollers 34. The lifting and lowering platform 32 is a roller conveyor. In the lifting and lowering platform 32, the plurality of rollers 34 are rotatably supported by the frame 33 while being arranged in parallel. For example, the article W can be moved along the conveying direction by rotating a motor built into the rollers 34. The article W on the lifting and lowering platform 32 may be moved by being pushed along the conveying direction by a pusher driven by a separately provided actuator such as a cylinder.

[0022] The lifting device 30 includes a lifting drive mechanism (not shown) for lifting and lowering the lifting platform 32. The lifting drive mechanism includes a drive source and a lifting mechanism. The drive source is a power source that generates a drive force for lifting and lowering the lifting platform 32. The lifting mechanism is a mechanism for transmitting the drive force of the drive source as a force for lifting and lowering the lifting platform 32. For example, the drive source is an electric motor. Also, for example, the lifting mechanism is a mechanism for transmitting the rotational motion of the electric motor as a linear reciprocating motion for lifting and lowering the lifting platform 32. More specifically, the lifting mechanism may include a pair of pulleys and a circulation belt wound around the pair of pulleys. The pulleys may be driven to rotate in both forward and reverse directions by the drive source to lift and lower the lifting platform 32 connected midway along the circulation belt.

[0023] The transfer device 40 is also called a temporary storage shelf, and is a device that relays the article W between the lifting device 30 and the horizontal transport vehicle 50. The transfer device 40 has a plurality of support tables 41 corresponding to the plurality of shelves 22. The plurality of support tables 41 are provided at the same height as the corresponding shelves 22 at a position adjacent to the storage section 24. In this embodiment, each support table 41 has a frame 42 and a plurality of rollers 43. Each support table 41 is a roller conveyor, similar to the lifting and lowering placement table 32. In the support table 41, the plurality of rollers 43 are rotatably supported by the frame 42 in a state in which they are arranged in parallel. For example, the article W can be moved along the conveying direction by rotating a motor built into the roller 43. The article W on the support table 41 may be moved by being pushed along the conveying direction by a pusher driven by a separately provided actuator such as a cylinder. A horizontal transport vehicle 50 provided corresponding to each stage can transfer the article W to the support table 41 and the shelf 22 at that stage. In this embodiment, the transfer device 40 is provided on only one end side of the shelf 22, but the transfer device 40 may also be provided on the other end side of the shelf 22.

[0024] The lifting device 30 is located between the conveyor CV and the transfer device 40. By driving the lifting drive mechanism, the lifting platform 32 is raised and lowered to a position corresponding to any of the support platforms 41 of the transfer device 40 or a position next to the conveyor CV. By positioning the lifting platform 32 at a height corresponding to any of the support platforms 41 of the transfer device 40 or the conveyor CV, the article W can be transferred by moving horizontally between the lifting platform 32 and the support platform 41, or between the lifting platform 32 and the conveyor CV.

[0025] In this embodiment, the two conveyors CV connected to one automated storage unit 20 are dedicated to either storage or retrieval. The conveyor CV corresponding to one of the two rows of storage sections 24 (the conveyor CV on the upper side of the paper of the two rows of conveyors CV in FIG. 2) is the storage conveyor CV1, and the conveyor CV corresponding to the other row (the conveyor CV on the lower side of the paper of the two rows of conveyors CV in FIG. 2) is the retrieval conveyor CV2. The lifting device 30 and the transfer device 40 (the lifting device 30 and the transfer device 40 on the upper side of the paper of FIG. 2) connected to the end of the storage conveyor CV1 perform the storage process of the article W transported from the storage conveyor CV1. The lifting device 30 and the transfer device 40 (the lifting device 30 and the transfer device 40 on the lower side of the paper of FIG. 2) connected to the end of the retrieval conveyor CV2 perform the retrieval process of the article W to the retrieval conveyor CV2.

[0026] Note that a different transfer device, lifting device, and conveyor may be provided at the other end of each of the two rows of storage sections 24. In this case, the transfer device, lifting device, and conveyor may be divided into those for entering and those for leaving the storage section 24 at one end side and the other end side of the storage section 24.

[0027] A plurality of horizontal transport vehicles 50 are provided corresponding to the plurality of horizontal rails 26. Each of the plurality of horizontal transport vehicles 50 travels on the corresponding horizontal rail 26 to transfer the article W between the lifting device 30 and the shelf 22. In this embodiment, at least one horizontal transport vehicle 50 travels on the horizontal rail 26 of each stage. In this embodiment, the horizontal transport vehicle 50 transfers the article W between the transfer device 40 and the shelf 22. The horizontal transport vehicle 50 is also called a picker or a dolly. The horizontal transport vehicle 50 traveling on the horizontal rail 26 is also called a shuttle, and the automated warehouse 10 using the horizontal transport vehicle 50 is also called a shuttle-type automated warehouse. In this embodiment, the horizontal transport vehicle 50 includes a dolly 51 and an entrance / exit mechanism 55.

[0028] The dolly 51 is configured to support the article W and to be able to travel on the horizontal rail 26. For example, the dolly 51 includes a mounting base 52 and a pair of running parts 53.

[0029] The mounting base 52 has a mounting support surface facing upward. The mounting support surface is a surface that is the same size as the article W to be handled or is larger than the article W in a plan view. In this embodiment, the mounting support surface is a rectangular surface that is larger than the article W in a plan view. The article W is mounted and supported on the mounting support surface.

[0030] The pair of running parts 53 is a mechanism for running on the horizontal rail 26. The pair of running parts 53 are provided on both sides of the mounting base 52 along the extending direction of the horizontal rail 26 (here, the X direction). Each of the pair of running parts 53 has wheels 54 that can roll on the horizontal rail 26. At least one of the pair of running parts 53 has a motor (not shown) that can rotate the wheels 54. The rotational drive force of the motor may be transmitted to the wheels 54 via a rotational force transmission mechanism such as a gear or a pulley, or may be transmitted directly to the wheels 54. The wheels 54 are rotated by the motor, so that the cart 51 can run on the horizontal rail 26.

[0031] With the wheels 54 in contact with the horizontal rails 26, the mounting support surface of the mounting base 52 and the upper surface of the shelf 22 are set to be at the same height. This allows the article W to be slidably transferred from the mounting support surface of the mounting base 52 to the upper surface of the shelf 22 and vice versa. The positions of the mounting support surface of the mounting base 52 and the upper surface of the shelf 22 may be different as long as the article W can be transferred.

[0032] An entry / exit mechanism 55 is supported on the cart 51. By traveling of the cart 51, the entry / exit mechanism 55 is moved between a plurality of positions facing the shelf 22 and the support base 41. The entry / exit mechanism 55 takes the article W in and out of the shelf 22 or the support base 41. The entry / exit mechanism 55 can move to a position on the shelf 22 or the support base 41 where the article W is placed, and transfer the article W from the shelf 22 or the support base 41 to the mounting base 52 side. Alternatively, the entry / exit mechanism 55 can move to an empty position on the shelf 22 or the support base 41 where the article W is to be placed, and transfer the article W from the mounting base 52 to the shelf 22 or the support base 41 side.

[0033] In this embodiment, the shelf 22 is not provided with a mechanism for taking in and out the article W. Also, the support base 41 is provided with rollers 43 as a mechanism for taking in and out the article W in the X direction, but is not provided with a mechanism for taking in and out the article W in the Y direction. For this reason, the in-and-out mechanism 55 of the horizontal transport vehicle 50 needs to take in the article W on the shelf 22 or the support base 41 and push the article W toward the shelf 22 or the support base 41. The in-and-out mechanism 55 has an arm 56 and a claw 57. The configurations and functions of the arm 56 and the claw 57 will be described taking in and out the operation of taking in and out the article W from the shelf 22 as an example.

[0034] A pair of arms 56 are provided so as to be able to move in and out of the shelf 22. The pair of arms 56 can move in and out of both of the two rows of shelves 22. A pair of claws 57 is provided at the tip side of the pair of arms 56 in the advancing direction and at the front side of the tip. It is considered that the positional relationship between the tip and the front side of the tip of the pair of claws 57 at the tip side of the pair of arms 56 in the advancing direction and the pair of claws 57 at the front side of the tip is reversed if the advancing direction of the pair of arms 56 is reversed. By advancing the pair of arms 56 with the pair of claws 57 at the front side of the tip projecting, the article W on the placement base 52 is pushed out to the shelf 22. With the pair of arms 56 advanced, the pair of claws 57 at the tip are projected, and then the pair of arms 56 are retracted. As a result, the article W on the shelf 22 is pulled into the placement base 52. As a result, the article W is moved between the horizontal transport vehicle 50 and the shelf 22. The horizontal transport vehicle 50 can take in and out the articles W to and from both of the two rows of storage sections 24. Similarly, the horizontal transport vehicle 50 can take in and out the articles W to and from both of the two rows of transfer devices 40. The articles W move along the Y direction when being taken in and out between the horizontal transport vehicle 50 and the storage sections 24 or between the horizontal transport vehicle 50 and the transfer devices 40.

[0035] As described above, the transfer device 40 can transfer the article W to the lifting device 30. Therefore, the horizontal transport vehicle 50 transfers the article W to the lifting device 30 via the transfer device 40. The horizontal transport vehicle 50 may be configured to transfer the article W directly to the lifting device 30 without going through the transfer device 40.

[0036] Each of the multiple automated warehouse units 20 is provided with a relay path for transferring the article W between the horizontal transport vehicle 50 and the lateral transport vehicle 70. In this embodiment, the lifting device 30 and the transfer device 40 are incorporated in the relay path. In this embodiment, a relay conveyor 46 is further provided as the relay path. The relay conveyor 46 is provided in each automated warehouse unit 20. The relay conveyor 46 is disposed between the lifting device 30 and the rail 60. The relay conveyor 46 relays the article W between the lifting device 30 and the lateral transport vehicle 70. Therefore, in this embodiment, the article W is transported from the horizontal transport vehicle 50 to the lateral transport vehicle 70 via the transfer device 40, the lifting device 30, and the relay conveyor 46, and vice versa. In addition, in FIG. 4, the path indicated by the solid arrow is the path from the horizontal transport vehicle 50 to the lateral transport vehicle 70. The path indicated by the virtual arrow is the path from the lateral transport vehicle 70 to the horizontal transport vehicle 50. The same applies to the following FIG. 8 and FIG. 11. In this embodiment, the transfer device 40 is an end of the relay path on the horizontal transport vehicle 50 side. The relay conveyor 46 is an end of the relay path on the lateral transport vehicle 70 side.

[0037] The relay conveyor 46 has a frame 47 and a plurality of rollers 48. The relay conveyor 46 is a roller conveyor, similar to the lifting and lowering platform 32 and the support platform 41. The plurality of rollers 48 are rotatably supported in a parallel arrangement by the frame 47. For example, the article W can be moved along the conveying direction by driving and rotating a motor built into the rollers 48.

[0038] The relay conveyor 46 is disposed at a height different from that of the conveyor CV. The conveyor CV is provided at a height corresponding to some of the shelves 22 having multiple tiers. The relay conveyor 46 is provided at a height corresponding to a different tier from the conveyor CV among the shelves 22 having multiple tiers. In this embodiment, the conveyor CV is provided at a height corresponding to one of the five shelves 22, and the relay conveyor 46 is provided at a height corresponding to the other tier. When the shelves 22 have three or more tiers, there may be a tier on which neither the conveyor CV nor the relay conveyor 46 is provided. The relay conveyor 46 may be provided on all of the tiers on which the conveyor CV is not provided. When the shelves 22 have three or more tiers, the conveyor CV or the relay conveyor 46 may be provided on all of the tiers. One or both of the conveyor CV and the relay conveyor 46 may be provided at a height not corresponding to the shelves 22 having multiple tiers (for example, a height between two shelves 22).

[0039] The rail 60 extends in a different direction from the horizontal rail 26. In this embodiment, the horizontal rail 26 and the rail 60 extend linearly in directions perpendicular to each other. The horizontal rail 26 or the rail 60 may extend in a curved manner. Ends of multiple relay paths of multiple automated storage units 20 are lined up along the rail 60. In this embodiment, ends of multiple relay conveyors 46 are lined up along the rail 60.

[0040] The rail 60 includes an above-floor rail that is disposed at a position higher than the floor FL. In this embodiment, the conveyor CV is provided at a height corresponding to the lowest stage of the multiple stages. The rail 60 is provided at a height corresponding to the stage above the lowest stage of the multiple stages. Here, the rail 60 is provided at a height corresponding to the stage one stage higher than the lowest stage of the multiple stages. The rail 60 may be provided at a height corresponding to the stage two or more stages higher than the lowest stage of the multiple stages. The rail 60 may be provided at a height corresponding to the highest stage of the multiple stages.

[0041] The rail 60 may be disposed at the same height as any one of the multiple tiered horizontal rails 26. Here, all of the multiple tiered horizontal rails 26, including the lowest tiered horizontal rail 26, are disposed at a position higher than the floor FL. Therefore, when the rail 60 is disposed at the same height as any one of the multiple tiered horizontal rails 26, the rail 60 disposed at any height becomes an above-floor rail.

[0042] The horizontal transport vehicle 70 includes an inlet / outlet mechanism 71 and a running section 74. The inlet / outlet mechanism 71 takes in and out the article W between the end of the relay path. In this embodiment, the end of the relay path is a roller conveyor capable of taking in and out the article W by itself. Therefore, unlike the inlet / outlet mechanism 55 of the horizontal transport vehicle 50, the inlet / outlet mechanism 71 of the horizontal transport vehicle 70 does not need to take in the article W at the end of the relay path or push the article W toward a predetermined position at the end of the relay path. In this embodiment, the inlet / outlet mechanism 71 has a frame 72 and rollers 73. The inlet / outlet mechanism 71 is a roller conveyor like the support base 41, the lifting and lowering platform 32, and the relay conveyor 46. The multiple rollers 73 are rotatably supported by the frame 72 in a state of being arranged in parallel. For example, the article W can be moved along the conveying direction by rotating a motor built into the roller 73. For example, the roller 73 is configured to be rotatably driven in both forward and reverse directions, so that the article W can be taken in and out.

[0043] The running unit 74 supports the entry / exit mechanism 71. The running unit 74 is a mechanism for running on the rail 60. The running unit 74 is configured to move the entry / exit mechanism 71 between each position corresponding to the end of a plurality of relay paths. For example, a pair of running units 74 is provided on both sides of the entry / exit mechanism 71 along the extending direction of the rail 60 (here, the Y direction). Each of the pair of running units 74 has wheels 75 that can roll on the rail 60. At least one of the pair of running units 74 has a motor that can rotate and drive the wheels 75. The rotational driving force of the motor may be transmitted to the wheels 75 via a rotational force transmission mechanism such as a gear or a pulley, or may be transmitted directly to the wheels 75. Then, the wheels 75 are rotated and driven by the motor, so that the horizontal transport vehicle 70 can travel on the rail 60. The running unit 74 of the horizontal transport vehicle 70 may be configured similarly to the running unit 53 of the horizontal transport vehicle 50, or may be configured differently. The running section 53 of the horizontal transport vehicle 50 and the running section 74 of the lateral transport vehicle 70 have the same configuration, which makes maintenance easy. The lateral transport vehicle 70, which runs on the rail 60, is a shuttle, just like the horizontal transport vehicle 50.

[0044] With the wheels 75 in contact with the rails 60, the upper surfaces of the support base 41, the relay conveyor 46 and the rollers 43, 48, 73 of the entry / exit mechanism 71 are set to be at the same height. The lifting device 30 is also controlled to lift and lower so that the upper surface of the roller 34 of the lifting placement base 32 is at the same height as the upper surfaces of these rollers 43, 48, 73. This allows the article W to be transferred by sliding on these rollers 34, 43, 48, 73 from the support base 41 to the entry / exit mechanism 71 and vice versa. The positions of the upper surfaces of the rollers 34, 43, 48, 73 may be different within a range in which the article W can be transferred.

[0045] In this embodiment, the number of stages on which the lateral transport vehicles 70 are provided is smaller than the number of stages on which the horizontal transport vehicles 50 are provided. The horizontal transport vehicles 50 are provided on all stages corresponding to the shelves 22 of multiple stages. The number of stages on which the lateral transport vehicles 70 are provided is one or more stages among the multiple stages, excluding the stage on which the conveyor CV is provided. In this embodiment, the number of stages on which the lateral transport vehicles 70 are provided is only one stage among the multiple stages. The number of stages on which the lateral transport vehicles 70 are provided may be two or more stages among the multiple stages. The lateral transport vehicles 70 may be provided on all stages among the multiple stages, excluding the stage on which the conveyor CV is provided. The lateral transport vehicles 70 may be provided on every other stage among the multiple stages, excluding the stage on which the conveyor CV is provided. The lateral transport vehicles 70 may be provided on odd-numbered stages or even-numbered stages among the multiple stages, excluding the stage on which the conveyor CV is provided. When the lateral transport vehicles 70 are provided on two or more stages, each of the lateral transport vehicles 70 on the multiple stages may be provided for both inbound and outbound transport, or the lateral transport vehicles 70 on some stages may be operated exclusively for inbound transport, and the lateral transport vehicles 70 on other stages may be operated exclusively for outbound transport. When the lateral transport vehicles 70 on the multiple stages are divided into those exclusively for inbound transport and those exclusively for outbound transport, as in the latter case, the cycle time is easily shortened.

[0046] The operation of each part in the automated warehouse 10 is controlled by the control unit 90. In the automated warehouse 10, under the control of the control unit 90, in addition to the entry and exit processing of the item W, the item W is transferred between the automated warehouse units 20. The control unit 90 controls the operation of each automated warehouse unit 20 and the operation of the lateral transport vehicle 70. The operation of each automated warehouse unit 20 includes the lifting operation of the lifting device 30 and the traveling operation of the horizontal transport vehicle 50. The operation of each automated warehouse unit 20 also includes the transfer operation of the item W in the lifting device 30, the transfer device 40, the horizontal transport vehicle 50, and the relay conveyor 46. The operation of the lateral transport vehicle 70 includes the traveling operation of the lateral transport vehicle 70 and the transfer operation of the item W in the lateral transport vehicle 70. As the control unit 90, one control unit may control multiple automated warehouse units 20 and the lateral transport vehicles 70. The control unit 90 may include a first control unit that controls the automated warehouse units 20 and a second control unit that controls the lateral transport vehicles 70, and the first control unit and the second control unit may cooperate with each other to control the automated warehouse 10. One first control unit may control two or more automated warehouse units 20, or multiple first control units may be provided so as to be able to control multiple automated warehouse units 20 individually.

[0047] In this embodiment, the path between the entrance conveyor CV1 and the horizontal transport vehicle 50 is referred to as the entrance path, and the path between the horizontal transport vehicle 50 and the exit conveyor CV2 is referred to as the exit path. The entrance path is a path including the lifting device 30 connected to the end of the entrance conveyor CV1 and the transfer device 40 located next to the lifting device 30. The exit path is a path including the lifting device 30 connected to the end of the exit conveyor CV2 and the transfer device 40 located next to the lifting device 30. In this embodiment, the entrance path and the exit path are common to the horizontal transport vehicle 50, and are independent of each other except for the horizontal transport vehicle 50.

[0048] In this embodiment, two relay paths are provided between the horizontal transport vehicle 50 and the lateral transport vehicle 70: a first relay path using the storage path and a second relay path using the storage path. The first relay path includes a lifting device 30 connected to an end of the storage conveyor CV1, and a transfer device 40 and a relay conveyor 46 located on both sides of the lifting device 30. The second relay path includes a lifting device 30 connected to an end of the storage conveyor CV2, and a transfer device 40 and a relay conveyor 46 located on both sides of the lifting device 30.

[0049] The rollers 34, 43 of the lifting platform 32 and the support platform 41 may be configured to be rotatable only in one of the forward and reverse directions corresponding to storage or removal. In this case, the rollers 48 of the relay conveyor 46 may also be configured to be rotatable only in one of the forward and reverse directions corresponding to storage or removal. In such a configuration, the transfer of the article W from the lateral transport vehicle 70 to the horizontal transport vehicle 50 is possible via the first relay path of the above two rows of paths. Also, the transfer of the article W from the horizontal transport vehicle 50 to the lateral transport vehicle 70 is possible via the second relay path of the above two rows of paths.

[0050] The rollers 34, 43 of the lifting platform 32 and the support platform 41 may be configured to be rotatable in both forward and reverse directions. In this case, it is preferable that the rollers 48 of the relay conveyor 46 are also configured to be rotatable in both forward and reverse directions. This allows the transfer of the article W from the horizontal transport vehicle 50 to the lateral transport vehicle 70, and the transfer of the article W from the lateral transport vehicle 70 to the horizontal transport vehicle 50, via either of the two relay paths.

[0051] The timing of the transfer of the item W by the horizontal transport vehicle 70 is not particularly limited and can be set appropriately. For example, the horizontal transport vehicle 70 may be configured to transfer the item W between the multiple automated storage units 20 together with the storage process at the timing of the storage process. In this case, the item W entering from the storage conveyor CV1 in the first automated storage unit 20 is transferred to the horizontal transport vehicle 70 via the lifting device 30 and the relay conveyor 46 of the first relay path in the first automated storage unit 20. Then, the item W is stored on a predetermined shelf 22 in the second automated storage unit 20 from the horizontal transport vehicle 70 via the relay conveyor 46, the lifting device 30, the transfer device 40, and the horizontal transport vehicle 50 of the first or second relay path of the second automated storage unit 20. In this way, the process of transferring the item W between the multiple automated storage units 20 together with the storage process is referred to as a storage transfer process in the present disclosure.

[0052] Also, for example, at the timing of the outgoing process, the horizontal transport vehicle 70 may transfer the item W between the multiple automated storage units 20 together with the outgoing process. In this case, the item W stored on the shelf 22 in the first automated storage unit 20 is transferred from the horizontal transport vehicle 50 in the first automated storage unit 20 to the horizontal transport vehicle 70 via the transfer device 40, the lifting device 30, and the relay conveyor 46 of the first or second relay path. Then, the item W is taken out from the outgoing conveyor CV2 in the second automated storage unit 20 via the relay conveyor 46 and the lifting device 30 of the second relay path in the second automated storage unit 20 from the horizontal transport vehicle 70. In this manner, the process of transferring the item W between the multiple automated storage units 20 together with the outgoing process is referred to as outgoing transfer process in the present disclosure.

[0053] Also, for example, the horizontal transport vehicle 70 may transfer the article W between the multiple automated storage units 20 at a timing different from the warehousing process and the retrieval process. In this case, the article W stored on the shelf 22 in the first automated storage unit 20 is transferred to the horizontal transport vehicle 70 from the horizontal transport vehicle 50 in the first automated storage unit 20 via the transfer device 40, the lifting device 30, and the relay conveyor 46 of the first or second relay path. Then, the article W is transported from the horizontal transport vehicle 70 to the horizontal transport vehicle 50 via the relay conveyor 46, the lifting device 30, and the transfer device 40 of the first or second relay path in the second automated storage unit 20, and the horizontal transport vehicle 50 stores the article W on a predetermined shelf 22 in the second automated storage unit 20. A temporary evacuation buffer conveyor separate from the platform path may be provided. In this disclosure, the process of transferring items W between multiple automated warehouse units 20 at a timing different from both the incoming and outgoing processes is referred to as a transfer-only process.

[0054] The automated warehouse 10 may be configured to perform storage and outgoing processing without transfer processing. The storage processing without transfer processing is a processing in which an item W conveyed from the storage conveyor CV1 is stored on the shelf 22 of each automated warehouse unit 20 corresponding to the storage conveyor CV1. The outgoing processing without transfer processing is a processing in which an item W on the shelf 22 of the automated warehouse unit 20 is outgoing to the outgoing conveyor CV2 corresponding to the automated warehouse unit 20. Furthermore, the automated warehouse 10 may be configured to perform at least one processing of storage transfer processing, outgoing transfer processing, and transfer only processing as the transfer processing. The automated warehouse 10 may be configured to perform only one processing of storage transfer processing, outgoing transfer processing, and transfer only processing as the transfer processing. The automated warehouse 10 may be configured to perform any two processing of storage transfer processing, outgoing transfer processing, and transfer only processing as the transfer processing. The automated warehouse 10 may be configured to perform all three of the following transfer processes: warehousing transfer process, warehousing transfer process, and transfer process only.

[0055] When the automated warehouse 10 performs a storage transfer process, the rail 60 may be provided on one level above or below the level on which the conveyor CV is provided among the multiple levels. This makes it possible to shorten the transfer path of the goods W between the automated warehouse units 20 between levels on which the conveyor CV is provided when the storage transfer process is performed. In other words, it is possible to shorten the path when the goods W stored from the conveyor CV of the first automated warehouse unit 20 is transferred to the shelf 22 on the level on which the conveyor CV is provided among the second automated warehouse unit 20. Similarly, when the automated warehouse 10 performs an outgoing transfer process, the rail 60 may be provided on one level above or below the level on which the conveyor CV is provided among the multiple levels.

[0056] When the automated warehouse 10 performs a transfer-only process, the rail 60 may be provided on the middle tier of the multiple tiers. This allows the longest path of the transfer paths of the goods W between the automated warehouse units 20 to be as short as possible when the transfer-only process is performed. In this case, the longest path of the transfer paths of the goods W between the automated warehouse units 20 is, for example, a path for transferring the goods W on the top tier (or the bottom tier) of the first automated warehouse unit 20 to the top tier (or the bottom tier) of the second automated warehouse unit 20. Note that, when the number of multiple tiers is an even number, there are two middle tiers, and either of these two tiers may be the middle tier. When the number of multiple tiers is an odd number, only one middle tier is determined. Specifically, for example, in the case of six tiers, the third or fourth tier is the middle tier, and in the case of five tiers, the third tier is the middle tier.

[0057] From another perspective, when transferring an article W from a step equal to or lower than the step on which the rail 60 is provided in the first automated storage unit 20 to a step equal to or higher than the step on which the rail 60 is provided in the second automated storage unit 20, the length of the transfer path does not change regardless of the step on which the rail 60 is located. The same is true when transferring an article W from a step equal to or higher than the step on which the rail 60 is provided in the first automated storage unit 20 to a step equal to or lower than the step on which the rail 60 is provided in the second automated storage unit 20.

[0058] In contrast, when transferring an article W from a step lower than the step on which the rail 60 is provided in the first automated storage unit 20 to a step lower than the step on which the rail 60 is provided in the second automated storage unit 20, the transfer path includes an extra lifting path between the step of the rail 60. The same applies when transferring an article W from a step higher than the step on which the rail 60 is provided in the first automated storage unit 20 to a step higher than the step on which the rail 60 is provided in the second automated storage unit 20. In this case, the length of the lifting path varies depending on the height of the rail 60. For example, the lifting path when transferring an article W on the first step of the first automated storage unit 20 to the first step of the second automated storage unit 20 via the rail 60 located on the fifth step is longer than the lifting path when transferring an article W on the first step of the first automated storage unit 20 to the first step of the second automated storage unit 20 via the rail 60 located on the second step.

[0059] At this time, in the case of a warehousing / loading process or a warehousing / loading process via a conveyor CV, the stage on which the conveyor CV is installed becomes the starting point or the end point. Therefore, in this case, by installing the rail 60 on the stage one level above or one level below the stage on which the conveyor CV is installed among the multiple stages, the difference in length of the lifting / lowering path can be reduced. Also, for example, in the case of a single transfer process between any two shelves 22, by installing the rail 60 on the middle stage among the multiple stages, the difference in length of the lifting / lowering path can be reduced.

[0060] <Modification of the first embodiment> Fig. 6 is a schematic side view showing a modified example of the automated warehouse 10 according to embodiment 1. Fig. 7 is a schematic plan view showing a modified example of the automated warehouse 10 according to embodiment 1. Fig. 8 is a partially enlarged plan view showing a modified example of the automated warehouse 10 according to embodiment 1. In the following explanation of each modified example and embodiment, differences from the components explained so far will be mainly explained, and the components explained so far will be given the same reference numerals and their explanation will be omitted.

[0061] The automated warehouse 110 according to this modification differs from the above-mentioned automated warehouse 10 in that the relay conveyor 46 is omitted from the relay path. With the omission of the relay conveyor 46, the lifting and lowering platform 32 becomes the end of the relay path on the lateral transport vehicle 70 side. The rail 60 is disposed at a position adjacent to the lifting device 30 along the X direction, and the lateral transport vehicle 70 directly inserts and removes the article W between the rail 60 and the lifting device 30. Therefore, in the automated warehouse 110 according to this modification, the article W is transported from the horizontal transport vehicle 50 to the lateral transport vehicle 70 via the transfer device 40 and the lifting device 30, and vice versa. Since the automated warehouse 110 according to this modification does not have the relay conveyor 46, the relay path can be made shorter than that of the above-mentioned automated warehouse 10. In addition, the dimension of the automated warehouse 110 in the X direction (particularly, the dimension on the conveyor CV side from the lifting device 30 in the X direction) can be made smaller than that of the above-mentioned automated warehouse 10.

[0062] In the automated warehouse 110 according to this modified example, the configuration other than the configuration related to the omission of the relay conveyor 46 can be the same as the configuration of the above-mentioned automated warehouse 10. In addition, the paths for the entrance transfer process, the outgoing transfer process, and the transfer only process in the automated warehouse 110 according to this modified example can also be the same as the paths for the entrance transfer process, the outgoing transfer process, and the transfer only process in the above-mentioned automated warehouse 10, except for the points related to the omission of the relay conveyor 46.

[0063] <Embodiment 2> Fig. 9 is a schematic side view showing the automated warehouse 210 according to embodiment 2. Fig. 10 is a schematic plan view showing the automated warehouse 210 according to embodiment 2. Fig. 11 is a partially enlarged plan view showing the automated warehouse 210 according to embodiment 2.

[0064] The automated warehouse 210 according to this embodiment differs from the above-mentioned automated warehouse 10 in that the lifting device 30 is arranged on one end side of the shelf 22 and the rail 60 is arranged on the other end side of the shelf 22. In this case, in the automated warehouse 210, the relay conveyor 46 is omitted, and instead, a transfer device 40A is arranged on the other end of the shelf 22 as well. The transfer device 40A on the other end of the shelf 22 can be configured similarly to the transfer device 40 on one end of the shelf 22. The other end of the horizontal rail 26 extends beyond the other end of the shelf 22 to a position next to the transfer device 40A. The rail 60 is arranged at a position adjacent to the transfer device 40A along the X direction. The transfer device 40A is located between the shelf 22 and the rail 60 along the X direction. Therefore, in the automated warehouse 10 according to this embodiment, the article W is transported from the horizontal transport vehicle 50 to the horizontal transport vehicle 70 via the transfer device 40A on the other end of the shelf 22, and vice versa. In this case, the relay path is only the transfer device 40A.

[0065] The automated warehouse 210 also differs from the above-described automated warehouse 10 in that rails 60 and lateral transport vehicles 70 are arranged on each tier corresponding to the multiple tiers of shelves 22. Since the conveyor CV is not connected to the other end side of the shelf 22 on which the rails 60 are arranged, the rails 60 and lateral transport vehicles 70 can be arranged on each tier corresponding to the multiple tiers of shelves 22.

[0066] In the storage transfer process in the automated warehouse 210 of this embodiment, for example, the item W is transported as follows. First, the item W is transported from the storage conveyor CV1 of the first automated warehouse unit 20 to the lifting device 30. The lifting device 30 is raised and lowered as necessary, and the item W is transported to a predetermined stage where the shelf 22 to be stored is located. Next, at the predetermined stage, the item W is transported from the lifting device 30 of the first automated warehouse unit 20 to the horizontal transport vehicle 70 via the transfer device 40 on one end side, the horizontal transport vehicle 50, and the transfer device 40A on the other end side. Then, the item W is stored on the target shelf 22 from the horizontal transport vehicle 70 via the transfer device 40A and the horizontal transport vehicle 50 of the second automated warehouse unit 20.

[0067] In the outgoing transfer process in the automated warehouse 210, for example, the article W is transported as follows. First, the article W on the shelf 22 of a predetermined level in the first automated warehouse unit 20 is transported to the lateral transport vehicle 70 via the horizontal transport vehicle 50 and the transfer device 40A of the same level in the first automated warehouse unit 20. Next, the article W is transported from the lateral transport vehicle 70 to the lifting device 30 via the transfer device 40A on the other end side of the same level in the second automated warehouse unit 20, the horizontal transport vehicle 50, and the transfer device 40 on one end side. Then, the lifting device 30 is raised and lowered as necessary, while the article W is transported to the outgoing conveyor CV2.

[0068] In the transfer-only process in the automated warehouse 210, the path of the item W from a predetermined level of the shelf 22 in the first automated warehouse unit 20 to the horizontal transport vehicle 50 of the same level in the second automated warehouse unit 20 can be the same path as in the out-of-warehouse transfer process. In the transfer-only process in the automated warehouse 210, if the level of the shelf 22 to which the item W is transferred is the same as the level of the shelf 22 from which the item W is transferred, the horizontal transport vehicle 50 of the second automated warehouse unit 20 that has received the item W stores the item W on the shelf 22 of the same level, thereby completing the transfer-only process. In this case, the transfer-only process can be completed without going through the lifting devices 30 of the first and second automated warehouse units 20.

[0069] In the case of a transfer-only process in the automated warehouse 210, when the level of the shelf 22 to which the item W is transferred is different from the level of the shelf 22 from which the item W is transferred, the item W is transported from the horizontal transport vehicle 50 of the second automated warehouse unit 20 that received the item W to the lifting device 30 via the transfer device 40 on one end side. Next, the lifting device 30 rises and falls, and the item W is transported to a predetermined level on the shelf 22 where the item W is to be stored. Then, at the predetermined level, the item W is stored on the target shelf 22 from the lifting device 30 via the transfer device 40 and the horizontal transport vehicle 50. Note that in the case of a transfer-only process to a shelf 22 on a different level, the item W may be transported to the target level by the lifting device 30 of the first automated warehouse unit 20 before being transported by the horizontal transport vehicle 70.

[0070] <Effects, etc.> According to the automated warehouse 10, 110, 210 configured as described above, the lateral transport vehicle 70 can transport the item W received from the relay path of the target automated warehouse unit 20 among the multiple automated warehouse units 20 to the relay path of the target automated warehouse unit 20. This allows the item W to be transferred between the multiple automated warehouse units 20.

[0071] Furthermore, in the automated warehouses 10 and 110, the lifting device 30 and the rails 60 are disposed on one end side of the shelf 22. This allows maintenance of the lifting device 30 and the lateral transport vehicle 70 to be performed on the one end side of the shelf 22.

[0072] Moreover, in the automated warehouses 10 and 110, the lifting device 30 is incorporated in the relay path. As a result, even if the lateral transport vehicles 70 are provided on only some of the shelves 22 having multiple levels, the lifting device 30 can relay the article W from a level where there is no lateral transport vehicle 70 to a level where there is a lateral transport vehicle.

[0073] Moreover, according to the automated warehouse 10, the relay path includes a relay conveyor 46 that is disposed between the lifting device 30 and the rail 60 and relays the article W between the lifting device 30 and the lateral transport vehicle 70. This eliminates the need to synchronize the operation of the lifting device 30 and the operation of the lateral transport vehicle 70 when the lifting device 30 is used as part of the relay path. This reduces the effect of the lifting device 30 on the storage process or the retrieval process.

[0074] More specifically, in the automated warehouse 110 in which the relay conveyor 46 is not provided, the article W is directly inserted and removed between the lateral transport vehicle 70 and the lifting device 30, so when transferring the article W between the automated warehouse units 20, it is necessary to synchronize the lateral transport vehicle 70 and the lifting device 30. Here, synchronizing the lateral transport vehicle 70 and the lifting device 30 means that the lateral transport vehicle 70 and the lifting device 30 are adjacent to each other at the same timing. In contrast, in the above-mentioned automated warehouse 10, the relay conveyor 46 is provided between the lateral transport vehicle 70 and the lifting device 30, so that the relay conveyor 46 plays a role of a so-called buffer. As a result, the lateral transport vehicle 70 and the lifting device 30 can transport the article W to the relay conveyor 46 and receive the article W from the relay conveyor 46 at different timings.

[0075] Furthermore, in the automated warehouse 10, the lifting device 30 is disposed at an end of the incoming or outgoing conveyor CV to transport the article W between the conveyor CV, and the relay conveyor 46 is disposed at a different height from the conveyor CV. This makes it possible to prevent interference between the incoming or outgoing conveyor CV and the relay conveyor 46.

[0076] Moreover, according to the automated warehouse 210, the lifting device 30 is disposed on one end side of the shelf 22, and the rail 60 is disposed on the other end side of the shelf 22. As a result, the rail 60 is disposed on the opposite side of the shelf 22 to the lifting device 30, and therefore the rail 60 can be disposed close to the shelf 22.

[0077] Moreover, according to the automated warehouse 210, a lateral transport vehicle 70 is arranged on each level corresponding to the multiple shelves 22. This allows the transfer of articles W between multiple automated warehouse units 20 on each level of the multiple shelves 22.

[0078] Moreover, the lateral transport vehicle 70 of the present disclosure can be regarded as a lateral transport vehicle 70 for an automated warehouse 10 that includes a plurality of automated warehouse units 20 and a rail 60 arranged between the plurality of automated warehouse units 20. The lateral transport vehicle 70 for the automated warehouse 10 receives an article W from an end of a relay path of an automatic warehouse unit 20 to be received among the plurality of automated warehouse units 20, and transports the article W to an end of the relay path of an automatic warehouse unit 20 to be transported. This allows the article W to be transferred between the plurality of automated warehouse units 20.

[0079] <Additional Notes> The horizontal rail 26 may be associated with two or more shelves 22 among the multiple shelves 22. For example, the horizontal rail 26 may be associated with every two shelves 22. When the horizontal rail 26 is provided corresponding to two or more shelves 22, the horizontal transport vehicle may transfer the article W to the two or more shelves 22 and the support base 41. In this case, the horizontal transport vehicle may include a plurality of entrance / exit mechanisms 55, and the plurality of entrance / exit mechanisms 55 may be arranged separately in the vertical direction so as to correspond to the two or more shelves 22.

[0080] A belt conveyor may be provided instead of various roller conveyors. The entrance / exit mechanism of the lateral transport vehicle 70 may be configured to have an arm and a claw, similar to the entrance / exit mechanism 55 of the horizontal transport vehicle 50. In this case, the platform adjacent to the lateral transport vehicle for holding the article W may be a shelf without a function for taking the article W in and out, similar to the shelf 22, instead of a conveyor.

[0081] The configurations described in the above embodiment and modifications can be combined as appropriate as long as they are not mutually inconsistent.

[0082] The present specification and drawings disclose the following aspects.

[0083] A first aspect is an automated warehouse comprising a plurality of automated warehouse units, rails arranged across the plurality of automated warehouse units, and a lateral transport vehicle running on the rails, each of the plurality of automated warehouse units including a plurality of shelves, a lifting device that transports articles along the height direction of the plurality of shelves, a plurality of horizontal rails that are associated with the plurality of shelves and are stacked one above the other and arranged to extend along the horizontal direction adjacent to the shelves, and a plurality of horizontal transport vehicles that run on the corresponding horizontal rails and transport articles between the lifting device and the shelves, each of the plurality of automated warehouse units is provided with an intermediate path for transferring articles between the horizontal transport vehicle and the lateral transport vehicle, ends of the intermediate paths of the plurality of automated warehouse units are aligned along the rail extending in a direction different from the horizontal rail, the rail includes an above-floor rail that is arranged at a position higher than the floor, and the lateral transport vehicle includes an entry / exit mechanism that inserts and removes articles between the end of the intermediate path and the lateral transport vehicle, and a running unit that supports the entry / exit mechanism and runs on the rail.

[0084] According to this automated warehouse, an article received from a relay path of a target automated warehouse unit among the multiple automated warehouse units can be transported by a lateral transport vehicle to the relay path of a target automated warehouse unit, thereby enabling the transfer of articles between the multiple automated warehouse units.

[0085] A second aspect is the automated warehouse according to the first aspect, wherein the lifting device and the rail are disposed on one end side of the shelf.

[0086] This allows maintenance of the lifting device and the lateral transport vehicle to be performed at one end of the shelf.

[0087] A third aspect is the automated warehouse according to the second aspect, wherein the lifting device is incorporated in the relay path.

[0088] As a result, even if lateral transport vehicles are provided on only some of the shelves having multiple levels, the lifting device can relay articles from a level where there are no lateral transport vehicles to a level where there are lateral transport vehicles.

[0089] A fourth aspect is an automated warehouse according to the third aspect, wherein the relay path includes a relay conveyor that is arranged between the lifting device and the rail and relays items between the lifting device and the lateral transport vehicle.

[0090] As a result, when the lifting device is used as part of the relay route, it is not necessary to synchronize the operation of the lifting device with the operation of the lateral transport vehicle, which reduces the effect of the lifting device on the entrance and exit processes.

[0091] A fifth aspect is an automated warehouse according to the fourth aspect, wherein the lifting device is arranged at an end of a conveyor for incoming or outgoing goods to transport goods between the conveyor, and the relay conveyor is arranged at a different height from the conveyor.

[0092] This makes it possible to prevent interference between the inbound or outbound conveyors and the relay conveyor.

[0093] A sixth aspect is the automated warehouse according to the first aspect, wherein the lifting device is disposed on one end side of the shelf, and the rail is disposed on the other end side of the shelf.

[0094] This allows the rail to be disposed on the opposite side of the shelf from the lifting device, allowing the rail to be disposed close to the shelf.

[0095] A seventh aspect is the automated warehouse according to the sixth aspect, wherein the lateral transport vehicles are arranged on each of the shelves corresponding to the plurality of shelves.

[0096] This allows items to be transferred between multiple automated warehouse units on each level of multiple shelves.

[0097] An eighth aspect is a lateral transport vehicle for an automated warehouse comprising a plurality of automated warehouse units and rails arranged across the plurality of automated warehouse units, the lateral transport vehicle comprising an entrance / exit mechanism for entering and retrieving articles, and a running section that supports the entrance / exit mechanism and runs on the rails, each of the plurality of automated warehouse units comprising a plurality of shelves, a lifting device that transports articles along the height direction of the plurality of shelves, a plurality of horizontal rails that are associated with the plurality of shelves and are stacked vertically and arranged adjacent to the shelves to extend along the horizontal direction, and a rail that travels on the corresponding horizontal rails and connects the lifting device to the shelves. and a plurality of horizontal transport vehicles that transport goods between the horizontal transport vehicle and the lateral transport vehicle, each of the plurality of automated warehouse units is provided with an intermediate path for transferring goods between the horizontal transport vehicle and the lateral transport vehicle, and the ends of the intermediate paths of the plurality of automated warehouse units are aligned along the rail extending in a direction different from the horizontal rail, and the rail includes an above-floor rail that is positioned higher than the floor, and the lateral transport vehicle receives an item from the end of the intermediate path of an automated warehouse unit that is a target for receiving an item among the plurality of automated warehouse units, and transports the item to the end of the intermediate path of an automated warehouse unit that is a target for transporting the item.

[0098] This lateral transport vehicle can be used to transfer items between multiple automated warehouse units.

[0099] The above description is illustrative in all respects, and the present invention is not limited thereto. It is understood that countless variations not illustrated can be assumed without departing from the scope of the present invention. [Explanation of symbols]

[0100] 10 Automated Warehouse 20 Automated Warehouse Unit 22 Shelves 26 Horizontal Rail 30 Lifting device 32 Lifting platform 40, 40A Transfer device 41 Support stand 46 Relay Conveyor 50 Horizontal transport vehicle 60 Rail 70 Horizontal transport vehicle 71 Access mechanism 74 Running part 90 Control section CV Conveyor CV1 Stocking Conveyor CV2 Outgoing conveyor W Goods FL floor

Claims

1. A plurality of automated storage units; A rail disposed across the plurality of automated storage units; A lateral transport vehicle that travels on the rail; Equipped with Each of the plurality of automated warehouse units is With multiple shelves, a lifting device that transports an article along a height direction of the plurality of shelves; a plurality of horizontal rails that are stacked one on top of the other and associated with the plurality of shelves and that are disposed adjacent to the shelves and extend along a horizontal direction; a plurality of horizontal transport vehicles that travel on the corresponding horizontal rails and transport articles between the lifting device and the shelf; Including, Each of the plurality of automated warehouse units is provided with a relay path for transferring items between the horizontal transport vehicle and the lateral transport vehicle, The ends of the multiple relay paths of the multiple automated warehouse units are aligned along the rail extending in a direction different from the horizontal rail, The rail includes an above-floor rail that is disposed at a position higher than the floor, The lateral transport vehicle includes an access mechanism for loading and unloading articles between the end of the relay path, and a running section for supporting the access mechanism and running on the rail.

2. The automated warehouse according to claim 1, The automated warehouse, wherein the lifting device and the rail are disposed on one end side of the shelf.

3. The automated warehouse according to claim 2, The automated warehouse, wherein the lifting device is incorporated in the relay path.

4. The automated warehouse according to claim 3, The relay path includes an relay conveyor disposed between the lifting device and the rail, relaying articles between the lifting device and the lateral transport vehicle.

5. The automated warehouse according to claim 4, The lifting device is disposed at an end of a conveyor for receiving or retrieving goods, and transports goods between the conveyor and the lifting device; The automated warehouse, wherein the relay conveyor is disposed at a different height from the conveyor.

6. The automated warehouse according to claim 1, The lifting device is disposed on one end side of the shelf, and the rail is disposed on the other end side of the shelf.

7. The automated warehouse according to claim 6, The automated warehouse, wherein the lateral transport vehicles are arranged on each of the shelves corresponding to the plurality of shelves.

8. A lateral transport vehicle for an automated warehouse comprising a plurality of automated warehouse units and a rail disposed across the plurality of automated warehouse units, an access mechanism for inserting and removing an article; a running part that supports the entry / exit mechanism and runs on the rail; Equipped with Each of the plurality of automated warehouse units is With multiple shelves, a lifting device that transports an article along a height direction of the plurality of shelves; a plurality of horizontal rails that are stacked one on top of the other and associated with the plurality of shelves and that are disposed adjacent to the shelves and extend along a horizontal direction; a plurality of horizontal transport vehicles that travel on the corresponding horizontal rails and transport articles between the lifting device and the shelf; Including, Each of the plurality of automated warehouse units is provided with a relay path for transferring items between the horizontal transport vehicle and the lateral transport vehicle, The ends of the multiple relay paths of the multiple automated warehouse units are aligned along the rail extending in a direction different from the horizontal rail, The rail includes an above-floor rail that is disposed at a position higher than the floor, A lateral transport vehicle that receives an item from the end of the relay path of an automatic warehouse unit that is a target for receiving an item among the plurality of automatic warehouse units, and transports the item to the end of the relay path of an automatic warehouse unit that is a target for transporting the item.

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