Item storage facilities

Abstract

To convey an article onto different levels in the vertical direction and store the article in a storage section on different levels while reducing restrictions on article conveying operations.SOLUTION: An article storage facility 100 includes a first stacker crane 1 arranged on a first level L1, a second stacker crane 2 arranged on a second level L2, and storage shelves S. The storage shelves S are arranged over the first level L1 and the second level L2. The storage shelves S have a common area CA that includes at least one storage section Sa in which an article 9 can be loaded to and unloaded from both sides in a second direction Y. The first stacker crane 1 is configured to be able to transfer the article 9 from a first side Y1 in the second direction to the storage section Sa of the common area CA. The second stacker crane 2 is configured to be able to transfer the article 9 from a second side Y2 in the second direction to the storage section Sa of the common area CA.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an item storage facility installed in a building having a first floor that constitutes the floor of the first level and a second floor that constitutes the floor of the second level, which is the level above the first level. [Background technology]

[0002] An example of such an article storage facility is disclosed in Japanese Patent Application Laid-Open No. 2017-114618 (Patent Document 1). In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] In the equipment disclosed in Patent Document 1, a first guide body (M1) and a second guide body (M2) are arranged in the vertical direction inside a cylindrical body (U) extending in the vertical direction. A first movable body (T1) is provided on the first guide body (M1) so as to be movable in the vertical direction. The first movable body (T1) is equipped with a first transfer device (TS1) capable of transferring an article (B). Similarly, a second movable body (T2) equipped with a second transfer device (TS2) is provided on the second guide body (M2) so as to be movable in the vertical direction.

[0004] The first movement trajectory of the first moving body (T1) when it moves in the vertical direction corresponds to a transportable area where the first moving body (T1) can transport the item (B). The second movement trajectory of the second moving body (T2) when it moves in the vertical direction corresponds to a transportable area where the second moving body (T2) can transport the item (B). The upper end portion of the first movement trajectory and the lower end portion of the second movement trajectory overlap each other in the vertical direction. That is, the transportable area of ​​the first moving body (T1) and the transportable area of ​​the second moving body (T2) partially overlap in the vertical direction. An intermediate support table (N) is provided in the overlapping area where both transportable areas overlap. The first moving body (T1) and the second moving body (T2) can exchange the item (B) with each other via the intermediate support table (N). In this way, the facility disclosed in Patent Document 1 allows the first moving body (T1) and the second moving body (T2) to transport the same item (B), thereby ensuring a wide vertical area in which the item (B) can be transported, making it possible for the facility to transport the item (B) across different floors. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2017-114618 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the facility disclosed in Patent Document 1, as shown in FIG. 2 of the same document, the first moving body (T1) and the second moving body (T2) are arranged so as to overlap in a vertical view. That is, the first moving trajectory of the first moving body (T1) and the second moving trajectory of the second moving body (T2) overlap in a vertical view. Therefore, interference between the first moving body (T1) and the second moving body (T2) may occur in an overlapping area where the transportable area of ​​the first moving body (T1) and the transportable area of ​​the second moving body (T2) overlap. Therefore, in the facility disclosed in Patent Document 1, control is performed to avoid interference between the two moving bodies (T1, T2). However, performing such interference avoidance control significantly restricts the item transport operation by the first moving body (T1) and the second moving body (T2), which imposes constraints on improving the efficiency of item transport.

[0007] In light of the above situation, it is desirable to realize a technology that can transport items across different levels in the vertical direction and store items in storage sections on different levels while reducing constraints on item transport operations. [Means for solving the problem]

[0008] In view of the above, the characteristic configuration of the article storage facility is as follows: An article storage facility installed in a building having a first floor constituting a floor of a first level and a second floor constituting a floor of a second level that is a level above the first level, a first stacker crane disposed on the first floor; a second stacker crane disposed on the second floor; a storage shelf in which a plurality of storage sections are arranged in a first direction along the horizontal direction and in a vertical direction, and each of the storage sections is capable of storing an item; The storage shelves are arranged across the first level and the second level, A direction perpendicular to the first direction when viewed in the up-down direction along the up-down direction is defined as a second direction, one side of the second direction is defined as a second direction first side, and the other side of the second direction is defined as a second direction second side, the first stacker crane is disposed on a first side in the second direction with respect to the storage shelf, the second stacker crane is disposed on a second side in the second direction with respect to the storage shelf, A common area including at least one storage section that allows the item to be put in and taken out from both sides in the second direction is set in the storage shelf, The first stacker crane is configured to be able to transfer the article from the first side in the second direction to the storage section in the common area, The second stacker crane is configured to be able to transfer the article from the second side in the second direction to the storage section in the common area. 、 The common area includes a plurality of the storage units, some of the plurality of storage sections included in the common area are configured as first relay sections which are storage sections dedicated to relaying the delivery of the article from the first stacker crane to the second stacker crane, and other sections are configured as second relay sections which are storage sections dedicated to relaying the delivery of the article from the second stacker crane to the first stacker crane; Further, a control device that controls the first stacker crane and the second stacker crane is provided, The control device prohibits the second stacker crane from delivering the article to the first relay section, and also prohibits the first stacker crane from delivering the article to the second relay section.

[0009] According to this configuration, the area where an item can be transported by the first stacker crane and the area where an item can be transported by the second stacker crane are located at different positions in the second direction and do not overlap with each other. Therefore, the first stacker crane and the second stacker crane do not interfere with each other except in the storage section in the common area, and restrictions on the operation of the first stacker crane and the second stacker crane can be reduced. This makes it easier to improve the efficiency of transporting items by each of the first stacker crane and the second stacker crane. With this configuration, the first stacker crane can transfer items to the storage section in the common area of ​​the storage shelf from the first side in the second direction, and the second stacker crane can transfer items from the second side in the second direction. This allows the first stacker crane and the second stacker crane to exchange items with each other via the storage section in the common area, transport items across different floors, and store items in any storage section on different floors. In this case, each of the first stacker crane and the second stacker crane can transport articles not only in the vertical direction but also in the first direction, and since the storage shelves are configured with a plurality of storage sections arranged in the first direction as well as in the vertical direction, it is easier to store more articles on the storage shelves than in conventional examples. As described above, with this configuration, it is possible to transport articles across different floors and store articles in storage sections on different floors while reducing restrictions on the operation of the first stacker crane and the second stacker crane. Furthermore, with this configuration, it is possible to prevent both the first stacker crane and the second stacker crane from simultaneously delivering and receiving items to and from the same storage section located in the shared area.

[0010] In view of the above, another characteristic configuration of the article storage facility is: An article storage facility installed in a building having a first floor constituting a floor of a first level and a second floor constituting a floor of a second level that is a level above the first level, a first stacker crane disposed on the first floor; a second stacker crane disposed on the second floor; a storage shelf in which a plurality of storage sections are arranged in a first direction along the horizontal direction and in a vertical direction, and each of the storage sections is capable of storing an item; The storage shelves are arranged across the first level and the second level, A direction perpendicular to the first direction when viewed from above is defined as a second direction, one side of the second direction is defined as a second direction first side, and the other side of the second direction is defined as a second direction second side, the first stacker crane is disposed on a first side in the second direction with respect to the storage shelf, the second stacker crane is disposed on a second side in the second direction with respect to the storage shelf, A common area including at least one storage section that allows the item to be put in and taken out from both sides in the second direction is set in the storage shelf, The first stacker crane is configured to be able to transfer the article from the first side in the second direction to the storage section in the common area, The second stacker crane is configured to be able to transfer the item from the second side in the second direction to the storage section in the common area, the storage shelf includes a transfer restriction unit that restricts the transfer of the item by the first stacker crane or the second stacker crane, The transfer restriction section is positioned within an overlapping range where the area in which the item can be transported by the first stacker crane and the area in which the item can be transported by the second stacker crane overlap when viewed in the second direction, and in an area other than the common area. Further features and advantages of the techniques according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief explanation of the drawings]

[0011] [Figure 1] Side view of the storage facility [Figure 2] Schematic plan view of the storage facility [Figure 3] An explanatory diagram showing how to transfer items [Figure 4] Control Block Diagram [Figure 5] Illustration of the common area [Figure 6] FIG. 10 is an explanatory diagram of a shared area in the second embodiment. [Figure 7] 10 is a schematic side view showing an article storage facility according to a third embodiment. [Figure 8] FIG. 10 is a schematic side view showing an article storage facility according to another embodiment. [Figure 9] FIG. 10 is a schematic side view showing an article storage facility according to another embodiment. [Figure 10] FIG. 10 is a schematic plan view showing an article storage facility according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] [First embodiment] As shown in Figure 1, the item storage facility 100 is installed in a building having a first floor F1 that constitutes the floor of the first floor L1, and a second floor F2 that constitutes the floor of the second floor L2, which is the floor above the first floor L1.

[0013] In the following description, the direction in which multiple floors are connected, i.e., the vertical direction, will be denoted by the symbol "Z." A specific direction along the horizontal direction will be referred to as the "first direction X," and a direction perpendicular to the first direction X as viewed along the vertical direction Z will be referred to as the "second direction Y." In this example, the second direction Y is a horizontal direction perpendicular to the first direction X. One side of the second direction Y will be referred to as the "second direction first side Y1," and the other side of the second direction Y will be referred to as the "second direction second side Y2."

[0014] As shown in Figures 1 and 2, the article storage facility 100 includes a first stacker crane 1 arranged on a first floor L1, a second stacker crane 2 arranged on a second floor L2, and a storage shelf S. The first stacker crane 1 and the second stacker crane 2 are transport devices that transport articles 9. The stacker crane is capable of transporting articles 9 on the floor on which the stacker crane is arranged. Note that, with regard to the arrangement of a stacker crane, "arranged on a certain floor" means that the stacker crane is arranged on at least that floor. The storage shelf S has a plurality of storage sections Sa arranged in both a first direction X along the horizontal direction and a vertical direction Z, and each storage section Sa is capable of storing an article 9.

[0015] There are various types of articles 9 that can be handled by article storage facility 100. For example, when article storage facility 100 is used in a semiconductor manufacturing factory, the articles 9 include wafer storage containers that store wafers (so-called FOUPs: Front Opening Unified Pods), reticle storage containers that store reticles (so-called reticle pods), and the like.

[0016] The storage shelves S are arranged across the first floor L1 and the second floor L2. In this embodiment, the storage shelves S are erected upward from the first floor F1 and penetrate the second floor F2 in the vertical direction Z. In this example, the storage shelves S are arranged from the first floor F1 to the ceiling 7 of the second floor L2. The upper end of the storage shelves S may be arranged above the second floor F2. For example, as shown in the figure, the upper end of the storage shelves S may be arranged near the ceiling 7 or may even be in contact with the ceiling 7.

[0017] The first stacker crane 1 is disposed on the first side Y1 in the second direction relative to the storage shelf S. The first stacker crane 1 is configured to be able to transfer articles 9 from the first side Y1 in the second direction to some of the multiple storage sections Sa provided on the storage shelf S.

[0018] The second stacker crane 2 is disposed on the second side Y2 in the second direction relative to the storage shelf S. The second stacker crane 2 is configured to be able to transfer articles 9 from the second side Y2 in the second direction to some of the multiple storage sections Sa provided on the storage shelf S.

[0019] In this embodiment, the article storage facility 100 includes a first shelf S1 in addition to the storage shelf S. The first shelf S1 has a plurality of first storage sections S1a arranged in both the first direction X and the vertical direction Z, and each of the first storage sections S1a can store an article 9. The first shelf S1 is disposed on the first side Y1 in the second direction relative to the first stacker crane 1.

[0020] In this embodiment, the first shelf S1 is arranged across the first floor L1 and the second floor L2. More specifically, the first shelf S1 is erected upward from the first floor F1 and penetrates the second floor F2 in the vertical direction Z. In this example, the first shelf S1 and the storage shelf S are both erected from the first floor F1. Therefore, the lower end of the first shelf S1 is arranged at the same height as the lower end of the storage shelf S. On the other hand, the upper end of the first shelf S1 is arranged at a position lower than the upper end of the storage shelf S. In other words, the area in the vertical direction Z in which the first shelf S1 is arranged is narrower than the area in the vertical direction Z in which the storage shelf S is arranged.

[0021] 2, the area in the first direction X where the first shelf S1 is arranged is equivalent to the area in the first direction X where the storage shelves S are arranged. In this example, the area in the first direction X where the first shelf S1 is arranged is also equivalent to the area in the first direction X where the second shelf S2, which will be described later, is arranged.

[0022] In the illustrated example, an entry / exit section 8 for storing or retrieving items 9 from the first shelf S1 is connected to a portion of the first shelf S1. The entry / exit section 8 connected to the first shelf S1 is configured to transport items 9 between the inside and outside of the first shelf S1. For example, the entry / exit section 8 is configured using a conveyor or a transport cart. The items 9 are transported to or from the entry / exit section 8 by an external transport device (for example, a floor-traveling unmanned transport vehicle, an overhead traveling transport vehicle, a forklift, etc.) arranged outside the first shelf S1, or by a worker.

[0023] In this embodiment, the first stacker crane 1 is configured to be able to transfer the article 9 from the second side Y2 in the second direction to the first storage section S1a of the first shelf S1. Also in this example, the first stacker crane 1 is configured to be able to transfer the article 9 to the loading / unloading section 8 connected to the first shelf S1.

[0024] In this embodiment, the article storage facility 100 includes a second shelf S2 in addition to the storage shelf S. The second shelf S2 has a plurality of second storage sections S2a arranged in both the first direction X and the vertical direction Z, and each of the second storage sections S2a can store an article 9. The second shelf S2 is disposed on the second side Y2 in the second direction relative to the second stacker crane 2.

[0025] In this embodiment, the second shelf S2 is arranged only on the second floor L2. More specifically, the second shelf S2 is erected upward from the second floor F2. In this example, the upper end of the second shelf S2 is arranged at the same height as the upper end of the storage shelf S. On the other hand, the lower end of the second shelf S2 is arranged at a higher position than the lower end of the storage shelf S. In other words, the area in the vertical direction Z in which the second shelf S2 is arranged is narrower than the area in the vertical direction Z in which the storage shelf S is arranged.

[0026] 2, the area in the first direction X in which the second shelf S2 is arranged is equivalent to the area in the first direction X in which the storage shelf S is arranged. Also in this example, the area in the first direction X in which the second shelf S2 is arranged is equivalent to the area in the first direction X in which the above-mentioned first shelf S1 is arranged. That is, in this example, the arrangement areas in the first direction X of the first shelf S1, storage shelf S, and second shelf S2 are equivalent.

[0027] In the illustrated example, an entry / exit section 8 for storing or retrieving items 9 from the second shelf S2 is connected to a portion of the second shelf S2. The entry / exit section 8 connected to the second shelf S2 is configured to transport items 9 between the inside and outside of the second shelf S2. For example, the entry / exit section 8 is configured using a conveyor or a transport cart. The items 9 are transported to or from the entry / exit section 8 by an external transport device (for example, a floor-traveling unmanned transport vehicle, an overhead traveling transport vehicle, a forklift, etc.) arranged outside the second shelf S2, or by a worker.

[0028] In this embodiment, the second stacker crane 2 is configured to be able to transfer the article 9 from the first side Y1 in the second direction to the second storage section S2a of the second shelf S2. Also in this example, the second stacker crane 2 is configured to be able to transfer the article 9 to the loading / unloading section 8 connected to the second shelf S2.

[0029] In this embodiment, the first stacker crane 1 comprises a first running rail 10 arranged along a first direction X, a first running section 11 running along the first running rail 10, a first mast 12 erected from the first running section 11 along the vertical direction Z, a first main body section 13 supported on the first mast 12 so as to be able to move up and down freely, a first lifting section 14 (see Figure 4) that lifts and lowers the first main body section 13, and a first transfer section 15 that is supported on the first main body section 13 and transfers items 9.

[0030] In this embodiment, the first stacker crane 1 is supported on the first floor L1. Specifically, the first stacker crane 1 is supported on the first floor F1. In this example, the first traveling rail 10 includes a lower rail 10d disposed on the first floor F1 and an upper rail 10u disposed above the lower rail 10d. The first traveling section 11 is supported on the lower rail 10d and travels along the lower rail 10d. The upper end of the first mast 12 is supported on the upper rail 10u.

[0031] The area in which the first stacker crane 1 can transport articles 9 in the vertical direction Z corresponds to the arrangement area of ​​the first shelf S1 in the vertical direction Z. In particular, the area in which the first main body section 13 supporting the first transfer section 15 can move in the vertical direction Z depends on the dimension of the first mast 12 in the vertical direction Z. The dimension of the first mast 12 in the vertical direction Z corresponds to the arrangement area of ​​the first shelf S1 in the vertical direction Z. As a result, the area in which the first stacker crane 1 can transport articles 9 in the vertical direction Z corresponds to the arrangement area of ​​the first shelf S1 in the vertical direction Z.

[0032] 2, the area in which the first stacker crane 1 can transport the articles 9 in the first direction X corresponds to the arrangement area of ​​the first shelf S1 in the first direction X. In particular, the area in which the first main body 13 supporting the first transfer unit 15 can move in the first direction X depends on the dimension of the first traveling rail 10 in the first direction X. The dimension of the first traveling rail 10 in the first direction X corresponds to the arrangement area of ​​the first shelf S1 in the first direction X. As a result, the area in which the first stacker crane 1 can transport the articles 9 in the first direction X corresponds to the arrangement area of ​​the first shelf S1 in the first direction X.

[0033] In this embodiment, the second stacker crane 2 includes a second running rail 20 arranged along the first direction X, a second running section 21 running along the second running rail 20, a second mast 22 erected in the vertical direction Z from the second running section 21, a second main body section 23 supported on the second mast 22 so as to be freely raised and lowered, a second lifting section 24 (see Figure 4) that raises and lowers the second main body section 23, and a second transfer section 25 that is supported on the second main body section 23 and transfers items 9.

[0034] In this embodiment, the second stacker crane 2 is supported on the second floor L2. Specifically, the second stacker crane 2 is supported on the second floor F2. In this example, the second traveling rail 20 includes a lower rail 20d disposed on the second floor F2 and an upper rail 20u disposed above the lower rail 20d. The second traveling section 21 is supported by the lower rail 20d and travels along the lower rail 20d. The upper end of the second mast 22 is supported by the upper rail 20u.

[0035] The area in which the second stacker crane 2 can transport articles 9 in the vertical direction Z corresponds to the arrangement area of ​​the second shelf S2 in the vertical direction Z. In particular, the area in which the second main body section 23 supporting the second transfer section 25 can move in the vertical direction Z depends on the dimension of the second mast 22 in the vertical direction Z. The dimension of the second mast 22 in the vertical direction Z corresponds to the arrangement area of ​​the second shelf S2 in the vertical direction Z. As a result, the area in which the second stacker crane 2 can transport articles 9 in the vertical direction Z corresponds to the arrangement area of ​​the second shelf S2 in the vertical direction Z.

[0036] 2, the area in which the second stacker crane 2 can transport the articles 9 in the first direction X corresponds to the arrangement area of ​​the second shelf S2 in the first direction X. In detail, the area in which the second main body section 23 supporting the second transfer section 25 can move in the first direction X depends on the dimension of the second traveling rail 20 in the first direction X. The dimension of the second traveling rail 20 in the first direction X corresponds to the arrangement area of ​​the second shelf S2 in the first direction X. As a result, the area in which the second stacker crane 2 can transport the articles 9 in the first direction X corresponds to the arrangement area of ​​the second shelf S2 in the first direction X.

[0037] Next, the transfer of the item 9 will be described. The first stacker crane 1 is configured to be able to transfer the item 9 to some of the multiple storage sections Sa provided on the storage shelf S, and to be able to transfer the item 9 to each of the multiple first storage sections S1a provided on the first shelf S1. The second stacker crane 2 is configured to be able to transfer the item 9 to some of the multiple storage sections Sa provided on the storage shelf S, and to be able to transfer the item 9 to each of the multiple second storage sections S2a provided on the second shelf S2.

[0038] The following describes the structure for transferring and loading an article 9 by the first stacker crane 1 and the second stacker crane 2, with reference to Fig. 3. Fig. 3 shows the first stacker crane 1 transferring an article 9 to the storage section Sa of the storage shelf S. The transfer of the article 9 to the storage section Sa by the second stacker crane 2, the transfer to the first storage section S1a by the first stacker crane 1, and the transfer to the second storage section S2a by the second stacker crane 2 are also performed in the same manner as the transfer shown in Fig. 3.

[0039] As shown in Fig. 3, the first stacker crane 1 is configured to transfer an item 9 using a first transfer section 15. Here, "transferring an item" is a concept that includes both handing over the item 9 to the transfer target location (storage section Sa in the illustrated example) and receiving the item 9 from the transfer target location.

[0040] In this embodiment, the first transfer unit 15 includes an arm 150 that is extendable and retractable in the horizontal direction (here, the second direction Y), and a support unit 151 such as a fork provided at the tip of the arm 150. The arm 150 is configured using, for example, a SCARA (Selective Compliance Assembly Robot Arm). The support unit 151 is configured to support the article 9 from below.

[0041] Although detailed illustration is omitted, in this embodiment, the storage unit Sa is equipped with a loading plate having an opening through which the support portion 151 can pass in the vertical direction Z. The first transfer unit 15 places the item 9 on the loading plate by having the support portion 151 pass from top to bottom through the opening of the loading plate while the support portion 151 is supporting the item 9. In this way, the first transfer unit 15 delivers the item 9 to the storage unit Sa. Also, in a state where the loading plate supports the item 9, the first transfer unit 15 has the support portion 151 pass from bottom to top through the opening of the loading plate, causing the support portion 151 to support the item 9. In this way, the first transfer unit 15 receives the item 9 from the storage unit Sa. The support portion 151 is raised and lowered by the first lifting unit 14 (see FIG. 4) raising and lowering the first main body portion 13.

[0042] The second stacker crane 2 also has a transfer structure similar to that of the first stacker crane 1. That is, the second stacker crane 2 transfers articles 9 using a second transfer unit 25. The second transfer unit 25 has an arm 250 that is extendable and retractable along the horizontal direction (here, the second direction Y), and a support unit 251 such as a fork provided at the tip of the arm 250. The detailed configuration of the second transfer unit 25 is similar to that of the first transfer unit 15 described above, so a description thereof will be omitted.

[0043] Here, depending on the structure of the article 9 and the structure of the storage section Sa that receives it, the posture of the article 9 in the storage section Sa may be limited to a predetermined appropriate posture. In this embodiment, at least one of the first stacker crane 1 and the second stacker crane 2 is provided with a posture change mechanism 6 that changes the posture of the article 9 as viewed in the vertical direction Z. This allows the posture change mechanism 6 to change the posture of the article 9 as viewed in the vertical direction Z according to the appropriate posture of the article 9 required at each transfer target location.

[0044] In this embodiment, the position change mechanism 6 is provided in both the first stacker crane 1 and the second stacker crane 2. Specifically, the first stacker crane 1 is provided with a first swivel unit 16 as the position change mechanism 6. The second stacker crane 2 is provided with a second swivel unit 26 as the position change mechanism 6.

[0045] The first swivel unit 16 is provided on the support portion 151 of the first transfer unit 15, and changes the posture of the article 9 supported on the support portion 151. The second swivel unit 26 is provided on the support portion 251 of the second transfer unit 25, and changes the posture of the article 9 supported on the support portion 251. For example, the first swivel unit 16 and the second swivel unit 26 are configured using a swivel table that rotates around an axis along the vertical direction Z.

[0046] 4, in this embodiment, the article storage facility 100 includes a host controller Ct that controls the first stacker crane 1 and the second stacker crane 2. The host controller Ct corresponds to the "controller."

[0047] In this embodiment, the first stacker crane 1 is equipped with a first transfer control unit C1 that controls the operation of each unit of the first stacker crane 1. The first transfer control unit C1 controls the first traveling unit 11, the first lifting unit 14, and the first transfer unit 15. In this embodiment, the first transfer control unit C1 also controls the first swivel unit 16 in addition to the above.

[0048] The second stacker crane 2 is equipped with a second transfer control unit C2 that controls the operation of each unit of the second stacker crane 2. The second transfer control unit C2 controls the second traveling unit 21, the second lifting unit 24, and the second transfer unit 25. In this embodiment, the second transfer control unit C2 also controls the second swivel unit 26 in addition to the above.

[0049] The host control device Ct is configured to be able to communicate with each of the first transport control unit C1 and the second transport control unit C2. For example, the host control device Ct is configured to send a transport command specifying the origin and destination of the item 9 to each of the first transport control unit C1 and the second transport control unit C2. Upon receiving the transport command, the first transport control unit C1 controls each unit of the first stacker crane 1 to transport the item 9 based on the transport command. Similarly, upon receiving the transport command, the second transport control unit C2 controls each unit of the second stacker crane 2 to transport the item 9 based on the transport command.

[0050] The host control device Ct, the first transport control unit C1, and the second transport control unit C2 each include, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each process or function is realized by the cooperation of this hardware and a program executed on the processor of a computer or the like.

[0051] 5, a common area CA is defined in the storage shelf S, which includes at least one storage section Sa that can take in and out items 9 from both sides in the second direction Y. The common area CA is defined in an overlapping range OS in which the area in which the first stacker crane 1 can transport items 9 and the area in which the second stacker crane 2 can transport items 9 overlap as viewed in the second direction Y.

[0052] The first stacker crane 1 is configured to be able to transfer the article 9 from the first side Y1 of the second direction to the storage section Sa of the common area CA. The second stacker crane 2 is configured to be able to transfer the article 9 from the second side Y2 of the second direction to the storage section Sa of the common area CA.

[0053] This allows the first stacker crane 1 and the second stacker crane 2 to exchange articles 9 with each other via the storage section Sa in the shared area CA, and transport the articles 9 across the different floors L1 to L2. Furthermore, the area in which the first stacker crane 1 can transport the articles 9 and the area in which the second stacker crane 2 can transport the articles 9 are located at different positions in the second direction Y and do not overlap with each other. Therefore, the first stacker crane 1 and the second stacker crane 2 do not interfere with each other outside the storage section Sa in the shared area CA, and restrictions on the operation of the first stacker crane 1 and the second stacker crane 2 can be reduced. This makes it easier to improve the efficiency with which the first stacker crane 1 and the second stacker crane 2 transport the articles 9.

[0054] As described above, at least one of the first stacker crane 1 and the second stacker crane 2 (both in this example) is provided with a posture change mechanism 6 that changes the posture of the article 9 as viewed in the vertical direction Z (see FIG. 3 ). For example, the first stacker crane 1 and the second stacker crane 2 may each have a predetermined appropriate support posture for the article 9 when supporting the article 9. In this case, when the posture of the article 9 received from the storage section Sa in the common area CA is not the appropriate support posture, the first stacker crane 1 can use the posture change mechanism 6 to change the posture of the article 9 to the appropriate support posture. Furthermore, when the first stacker crane 1 delivers the article 9 to the storage section Sa in the common area CA, it can use the posture change mechanism 6 to change the posture of the article 9 to the appropriate support posture for the second stacker crane 2, which will receive the article 9 from the storage section Sa after the delivery. The second stacker crane 2 can also perform a posture change similar to that described above.

[0055] In this embodiment, the common area CA includes a plurality of storage sections Sa. This allows the first stacker crane 1 and the second stacker crane 2 to transfer items 9 to each other in each of the plurality of storage sections Sa in the common area CA. This further improves the efficiency of transporting the items 9 between the first floor L1 and the second floor L2.

[0056] In this embodiment, the common area CA is located above the second floor F2. This eliminates the need to extend the transportable area in the vertical direction Z by the second stacker crane 2 below the second floor F2, and enables the first stacker crane 1 and the second stacker crane 2 to transfer articles 9 to each other. Because the common area CA is located above the second floor F2, in this embodiment, the first stacker crane 1 is located across the first floor L1 and the second floor L2. On the other hand, in this embodiment, the second stacker crane 2 is located only on the second floor L2. Specifically, as described above, the first mast 12 extends from the first floor F1 to above the second floor F2, and therefore the transportable area in the vertical direction Z by the first stacker crane 1 extends above the second floor F2. On the other hand, because the second mast 22 is erected from the second floor F2, the area in which the second stacker crane 2 can transport the article 9 in the vertical direction Z does not exist below the second floor F2, but exists only above the second floor F2. Therefore, the area in which the articles 9 can be transported by both stacker cranes 1 and 2 exists above the second floor F2. Therefore, by arranging the common area CA above the second floor F2, the first stacker crane 1 and the second stacker crane 2 can transfer the article 9 to each other in the storage section Sa included in the common area CA.

[0057] In this embodiment, the storage shelf S is provided with a transfer restriction unit Sb that restricts the transfer of items 9 by the first stacker crane 1 or the second stacker crane 2 within an overlapping range OS in which an area where the first stacker crane 1 can transport items 9 and an area where the second stacker crane 2 can transport items 9 overlap as viewed in the second direction Y, but in an area other than the shared area CA. In this example, the transfer restriction unit Sb is a wall that covers the first side Y1 in the second direction of the storage shelf S within the overlapping range OS but in an area other than the shared area CA, and restricts the transfer of items 9 by the first stacker crane 1 in the area where the transfer restriction unit Sb is provided. This prevents the first stacker crane 1 and the second stacker crane 2 from handing over items 9 to each other in storage units Sa other than the storage unit Sa in the shared area CA.

[0058] In this embodiment, the host controller Ct (see FIG. 4) controls the transfer operations of the first stacker crane 1 and the second stacker crane 2 so that the first stacker crane 1 and the second stacker crane 2 do not simultaneously transfer items 9 to the same storage section Sa in the common area CA. This makes it possible to avoid interference between the first stacker crane 1 and the second stacker crane 2 while transferring items 9. In this example, the host controller Ct controls the transfer operation of the first stacker crane 1 via the first transport control unit C1, and controls the transfer operation of the second stacker crane 2 via the second transport control unit C2 (see FIG. 4).

[0059] According to the item storage facility 100 described above, it is possible to transport items 9 across different levels L1 to L2 in the vertical direction Z while reducing restrictions on item transport operations, and to store items 9 in storage sections (Sa, S1a, S2a) on different levels.

[0060] Second Embodiment Next, a second embodiment of the article storage facility 100 will be described with reference to Fig. 6. The following mainly describes the differences from the first embodiment. Points that are not particularly described are the same as those in the first embodiment.

[0061] As shown in FIG. 6, in this embodiment, similar to the first embodiment, a common area CA includes a plurality of storage units Sa.

[0062] In this embodiment, some of the multiple storage sections Sa included in the shared area CA are configured as dedicated storage sections Sa that relay the transfer of items 9 from the first stacker crane 1 to the second stacker crane 2, and some of the other storage sections Sa are configured as dedicated storage sections Sa that relay the transfer of items 9 from the second stacker crane 2 to the first stacker crane 1.

[0063] That is, some of the multiple storage units Sa included in the common area CA are dedicated storage units Sa for receiving items 9 from the first stacker crane 1 and handing over the items 9 to the second stacker crane 2. On the other hand, some of the multiple storage units Sa included in the common area CA are dedicated storage units Sa for receiving items 9 from the second stacker crane 2 and handing over the items 9 to the first stacker crane 1. In other words, in each of the multiple storage units Sa included in the common area CA, the transport direction of the items 9 is set to one direction.

[0064] According to this embodiment, it is possible to prevent items 9 from being delivered and received simultaneously by both the first stacker crane 1 and the second stacker crane 2 to the same storage section Sa located in the common area CA.

[0065] Furthermore, in the above-described first embodiment, a configuration has been described in which the host control device Ct controls the respective transfer operations of the first stacker crane 1 and the second stacker crane 2 so that the transfer of articles 9 to the same storage section Sa in the common area CA is not performed simultaneously by the first stacker crane 1 and the second stacker crane 2. However, according to this second embodiment, by dedicating each storage section Sa in the common area CA as described above, there is an advantage that there is no need to perform control to prohibit simultaneous transfers as in the above-described first embodiment, or even if such prohibition control is performed, the control configuration can be simplified.

[0066] Third Embodiment Next, a third embodiment of the article storage facility 100 will be described with reference to Fig. 7. The following mainly describes the differences from the first embodiment. Points that are not particularly described are the same as those in the first embodiment.

[0067] As shown in FIG. 7, in this embodiment, the building includes a third floor F3 that constitutes a floor of a third story L3 that is the story above the second story L2.

[0068] In this embodiment, the first stacker crane 1 is arranged across the first floor L1 and the second floor L2. The second stacker crane 2 is arranged across the second floor L2 and the third floor L3. The storage shelves S are arranged across the first floor L1, the second floor L2, and the third floor L3. Furthermore, in this embodiment, the first shelf S1 is arranged across the first floor L1 and the second floor L2. The second shelf S2 is arranged across the second floor L2 and the third floor L3. In addition, in the example shown in the figure, an entry / exit section 8 is provided on each of the floors L1 to L3. As shown in the figure, the entry / exit section 8 may be connected not only to the first shelf S1 and the second shelf S2, but also to the storage shelves S.

[0069] In this embodiment, a common area CA is set in the portion of the storage shelf S that is located on the second floor L2. According to this embodiment, an item 9 that has been handed over in a storage section Sa in the common area CA on the second floor L2 can be transported to the first floor L1 by the first stacker crane 1, or can be transported to the third floor L3 by the second stacker crane 2. Therefore, a wide transportable area for the item 9 can be secured, spanning from the first floor L1 to the third floor L3.

[0070] Furthermore, according to this embodiment, it is possible to ensure a wide overlapping range OS in which the area in which the first stacker crane 1 can transport an item 9 and the area in which the second stacker crane 2 can transport an item 9 overlap when viewed in the second direction Y. Therefore, within the overlapping range OS, a wide shared area CA can be set, or multiple shared areas CA can be set. In the illustrated example, multiple shared areas CA are set at positions spaced apart from each other.

[0071] Other Embodiments Next, other embodiments of the article storage facility will be described.

[0072] (1) In the above embodiment, an example has been described in which the storage shelf S is erected upward from the first floor F1. However, without being limited to such an example, for example, as shown in Fig. 8, the storage shelf S may be configured to include a portion suspended below the second floor F2 and a portion erected upward from the second floor F2. In this case, the storage shelf S does not need to be erected from the first floor F1.

[0073] (2) In the above embodiment, an example has been described in which the storage shelf S passes through the second floor F2 in the vertical direction. However, without being limited to such an example, as shown in Fig. 8, for example, the storage shelf S may be divided by the second floor F2 into a portion above the second floor F2 and a portion below the second floor F2.

[0074] (3) In the above embodiment, an example has been described in which the second stacker crane 2 is supported on the second floor F2. However, without being limited to this example, for example, as shown in FIG. 9, the second stacker crane 2 may be configured as a suspended stacker crane suspended from the ceiling 7. In this case, a second traveling rail 20 is provided on the ceiling 7, and a second traveling section 21 is supported on the second traveling rail 20. Furthermore, with such a suspended second stacker crane 2, the area in which the second stacker crane 2 can transport articles 9 can be expanded below the second floor F2. Note that, as shown in FIG. 9, the first stacker crane 1 does not have to penetrate the second floor F2 in the vertical direction Z as in the above embodiment, and may be supported on the ceiling portion that constitutes the second floor F2.

[0075] (4) In the above embodiment, an example in which the common area CA is located above the second floor F2 has been described. However, without being limited to this example, the common area CA may be located below the second floor F2, for example, as shown in FIG. 9 . By using the suspended second stacker crane 2 shown in FIG. 9 , the area in which the second stacker crane 2 can transport items 9 is expanded below the second floor F2, making it easy to realize a configuration in which the common area CA is located below the second floor F2. Because the common area CA is located below the second floor F2 in this way, in the example shown in FIG. 9 , the second stacker crane 2 is located across the first floor L1 and the second floor L2. On the other hand, in the example shown in FIG. 9 , the first stacker crane 1 is located only on the first floor L1. The location of the common area CA can be determined arbitrarily, and it may be located adjacent to the upper or lower side of the second floor F2, or it may be located above or below the second floor F2 at a distance. The common area CA may also be arranged across both the upper and lower sides of the second floor F2. In this case, both the first stacker crane 1 and the second stacker crane 2 are arranged across the first floor L1 and the second floor L2.

[0076] (5) In the above embodiment, an example has been described in which the placement areas in the first direction X of the first shelf S1, storage shelf S, and second shelf S2 are equal. However, without being limited to this example, the placement areas in the first direction X of the first shelf S1, storage shelf S, and second shelf S2 may be different from one another. For example, as shown in FIG. 10 , the placement area in the first direction X of the first shelf S1 and the placement area in the first direction X of the storage shelf S may be equal, and the placement area in the first direction X of the second shelf S2 may be offset in the first direction X. The relative positional relationship between the three in the first direction X is not limited to the example shown in FIG. 10 and can be set arbitrarily. However, as shown in FIG. 10 , the areas in the first direction X of the first shelf S1, storage shelf S, and second shelf S2 overlap at least partially. A shared area CA is set in this overlapping area.

[0077] (6) In the above embodiment, an example has been described in which at least one of the first stacker crane 1 and the second stacker crane 2 is provided with a position change mechanism 6 that changes the position of the article 9 as viewed in the up-down direction Z. However, without being limited to this example, the position change mechanism 6 may be provided in a location other than the first stacker crane 1 and the second stacker crane 2. For example, the position change mechanism 6 may be provided in the storage section Sa of the common area CA, or in the loading / unloading section 8.

[0078] (7) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[0079] [Summary of the above embodiment] The article storage facility described above will now be described.

[0080] An article storage facility installed in a building having a first floor constituting a floor of a first level and a second floor constituting a floor of a second level that is a level above the first level, a first stacker crane disposed on the first floor; a second stacker crane disposed on the second floor; a storage shelf in which a plurality of storage sections are arranged in a first direction along the horizontal direction and in a vertical direction, and each of the storage sections is capable of storing an item; The storage shelves are arranged across the first level and the second level, A direction perpendicular to the first direction when viewed in the up-down direction along the up-down direction is defined as a second direction, one side of the second direction is defined as a second direction first side, and the other side of the second direction is defined as a second direction second side, the first stacker crane is disposed on a first side in the second direction with respect to the storage shelf, the second stacker crane is disposed on a second side in the second direction with respect to the storage shelf, A common area including at least one storage section that allows the item to be put in and taken out from both sides in the second direction is set in the storage shelf, The first stacker crane is configured to be able to transfer the article from the first side in the second direction to the storage section in the common area, The second stacker crane is configured to be able to transfer the article to the storage section in the common area from a second side in the second direction.

[0081] According to this configuration, the area where an item can be transported by the first stacker crane and the area where an item can be transported by the second stacker crane are located at different positions in the second direction and do not overlap with each other. Therefore, the first stacker crane and the second stacker crane do not interfere with each other except in the storage section in the common area, and restrictions on the operation of the first stacker crane and the second stacker crane can be reduced. This makes it easier to improve the efficiency of transporting items by each of the first stacker crane and the second stacker crane. With this configuration, the first stacker crane can transfer items to the storage section in the common area of ​​the storage shelf from the first side in the second direction, and the second stacker crane can transfer items from the second side in the second direction. This allows the first stacker crane and the second stacker crane to exchange items with each other via the storage section in the common area, transport items across different floors, and store items in any storage section on different floors. In this case, each of the first stacker crane and the second stacker crane can transport articles not only in the vertical direction but also in the first direction, and since the storage shelves are configured with a plurality of storage sections arranged in the first direction as well as in the vertical direction, it is easier to store more articles on the storage shelves than in conventional examples. As described above, with this configuration, it is possible to transport articles across different floors and store articles in storage sections on different floors while reducing restrictions on the operation of the first stacker crane and the second stacker crane.

[0082] Preferably, the storage shelf is erected upward from the first floor and passes through the second floor in the vertical direction.

[0083] According to this configuration, it is easy to set a shared storage shelf area at a position where the vertical transportable areas of the first stacker crane and the second stacker crane overlap.

[0084] Preferably, the common area is located above the second floor.

[0085] According to this configuration, there is no need to expand the vertical transport area of ​​the second stacker crane below the second floor, and a configuration can be realized in which the first stacker crane and the second stacker crane can transfer items to each other.

[0086] The building has a third floor that constitutes a floor of a third story that is a story above the second story, The first stacker crane is disposed across the first story and the second story, The second stacker crane is disposed across the second story and the third story, the storage shelves are arranged across the first level, the second level, and the third level; It is preferable that the shared area is set in a portion of the storage shelf that is arranged on the second level.

[0087] According to this configuration, a wide area in which articles can be transported can be ensured from the first floor to the third floor.

[0088] a first shelf in which a plurality of first storage sections are arranged in the first direction and in the vertical direction, and in which the items can be stored in each of the first storage sections; a second shelf in which a plurality of second storage sections are arranged in each of the first direction and the vertical direction, and the items can be stored in each of the second storage sections; the first shelf is disposed on a first side in the second direction with respect to the first stacker crane, the second shelf is disposed on a second side in the second direction with respect to the second stacker crane, the first stacker crane is configured to be able to transfer the article to the first storage section of the first shelf from a second side in the second direction, Preferably, the second stacker crane is configured to be able to transfer the article to the second storage section of the second shelf from the first side in the second direction.

[0089] According to this configuration, the item storage capacity of the entire facility can be improved within the range in which the first stacker crane or the second stacker crane can transport items.

[0090] a control device for controlling the first stacker crane and the second stacker crane, It is preferable that the control device controls the transfer operations of the first stacker crane and the second stacker crane so that the transfer of the items to the same storage section in the common area is not performed simultaneously by the first stacker crane and the second stacker crane.

[0091] According to this configuration, it is possible to prevent interference between the first stacker crane and the second stacker crane during the transfer of articles.

[0092] The common area includes a plurality of the storage units, It is preferable that some of the multiple storage sections included in the shared area are configured as storage sections dedicated to relaying the transfer of the items from the first stacker crane to the second stacker crane, and other parts are configured as storage sections dedicated to relaying the transfer of the items from the second stacker crane to the first stacker crane.

[0093] According to this configuration, it is possible to prevent both the first stacker crane and the second stacker crane from simultaneously delivering and receiving items to and from the same storage unit located in the common area.

[0094] It is preferable that at least one of the first stacker crane and the second stacker crane is provided with a posture changing mechanism that changes the posture of the article when viewed in the up-down direction.

[0095] According to this configuration, the position change mechanism can change the position of the article when viewed from above. For example, depending on the structure of the article and the structure of the storage section that receives it, the position of the article in the storage section may be limited to a predetermined appropriate position. Even in such cases, according to this configuration, the position change mechanism provided in at least one of the first stacker crane and the second stacker crane can change the position of the article, so that the article can be appropriately delivered to or received from the storage section in the common area from either side in the second direction. [Industrial Applicability]

[0096] The technology disclosed herein can be used in an item storage facility installed in a building having a first floor that constitutes the floor of the first level and a second floor that constitutes the floor of the second level, which is the level above the first level. [Explanation of symbols]

[0097] 100: Goods storage facility 1: 1st stacker crane 2: Second stacker crane 6: Posture change mechanism 9: Goods S: Storage shelf Sa: Storage section S1: 1st shelf S1a: First storage section S2: 2nd shelf S2a: Second storage section CA: Shared area L1: 1st layer L2: 2nd layer L3: 3rd layer F1: 1st floor F2: 2nd floor F3: 3rd floor X: 1st direction Y: Second direction Y1: 2nd direction 1st side Y2: Second direction, second side Z: Vertical direction

Claims

1. An article storage facility installed in a building having a first floor constituting a floor of a first level and a second floor constituting a floor of a second level that is a level above the first level, a first stacker crane disposed on the first floor; a second stacker crane disposed on the second floor; a storage shelf in which a plurality of storage sections are arranged in a first direction along the horizontal direction and in a vertical direction, and each of the storage sections is capable of storing an item; The storage shelves are arranged across the first level and the second level, A direction perpendicular to the first direction when viewed in the up-down direction is defined as a second direction, one side of the second direction is defined as a second direction first side, and the other side of the second direction is defined as a second direction second side, the first stacker crane is disposed on a first side in the second direction with respect to the storage shelf, the second stacker crane is disposed on a second side in the second direction with respect to the storage shelf, a common area including at least one storage section that allows the item to be put in and taken out from both sides in the second direction is set in the storage shelf; The first stacker crane is configured to be able to transfer the article from the first side in the second direction to the storage section in the common area, The second stacker crane is configured to be able to transfer the article from the second side in the second direction to the storage section in the common area, The common area includes a plurality of the storage units, some of the storage sections included in the common area are configured as first relay sections which are storage sections dedicated to relaying the delivery of the article from the first stacker crane to the second stacker crane, and other sections are configured as second relay sections which are storage sections dedicated to relaying the delivery of the article from the second stacker crane to the first stacker crane, a control device that controls the first stacker crane and the second stacker crane, The control device prohibits the second stacker crane from handing over the item to the first relay section and prohibits the first stacker crane from handing over the item to the second relay section.

2. An item storage facility installed in a building having a first floor constituting a first floor and a second floor constituting a second floor above the first floor, a first stacker crane disposed on the first floor; a second stacker crane disposed on the second floor; a storage shelf in which a plurality of storage sections are arranged in a first direction along the horizontal direction and in a vertical direction, and each of the storage sections is capable of storing an item; The storage shelves are arranged across the first level and the second level, A direction perpendicular to the first direction when viewed in the up-down direction is defined as a second direction, one side of the second direction is defined as a second direction first side, and the other side of the second direction is defined as a second direction second side, the first stacker crane is disposed on a first side in the second direction with respect to the storage shelf, the second stacker crane is disposed on a second side in the second direction with respect to the storage shelf, a common area including at least one storage section that allows the item to be put in and taken out from both sides in the second direction is set in the storage shelf; The first stacker crane is configured to be able to transfer the article from the first side in the second direction to the storage section in the common area, The second stacker crane is configured to be able to transfer the article from the second side in the second direction to the storage section in the common area, the storage shelf includes a transfer restriction unit that restricts transfer of the article by the first stacker crane or the second stacker crane, The transfer restriction unit is located within an overlapping range where the area in which the item can be transported by the first stacker crane and the area in which the item can be transported by the second stacker crane overlap when viewed in the second direction, and in an area other than the common area.

3. The article storage facility according to claim 1 , wherein the storage shelf extends upward from the first floor and penetrates the second floor in the vertical direction.

4. The item storage facility according to claim 3 , wherein the common area is located above the second floor.

5. The building includes a third floor constituting a floor of a third story that is a story above the second story, the first stacker crane is disposed across the first story and the second story, the second stacker crane is disposed across the second story and the third story, the storage shelves are arranged across the first level, the second level, and the third level; The article storage facility according to claim 1 , wherein the common area is defined in a portion of the storage shelf that is arranged on the second level.

6. a first shelf having a plurality of first storage sections arranged in the first direction and in the vertical direction, each of which can store the item; a second shelf in which a plurality of second storage sections are arranged in the first direction and in the vertical direction, and in which the items can be stored in each of the second storage sections; the first shelf is disposed on a first side in the second direction with respect to the first stacker crane, the second shelf is disposed on a second side in the second direction with respect to the second stacker crane, the first stacker crane is configured to be able to transfer the article to the first storage section of the first shelf from a second side in the second direction, 5. The article storage facility according to claim 1, wherein the second stacker crane is configured to be able to transfer the article to the second storage section of the second shelf from the first side in the second direction.

7. a control device for controlling the first stacker crane and the second stacker crane, 5. The item storage facility according to claim 1, wherein the control device controls the transfer operations of the first stacker crane and the second stacker crane so that the transfer of the item to the same storage section in the common area is not performed simultaneously by the first stacker crane and the second stacker crane.

8. 5. The article storage facility according to claim 1, wherein at least one of the first stacker crane and the second stacker crane is provided with a posture change mechanism that changes the posture of the article when viewed in the vertical direction.

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