Automated warehouse

Abstract

An automated warehouse is desired that can improve the efficiency of goods transport while keeping the size of the automated warehouse down. [Solution] An automated warehouse comprising a storage rack 3 and a first transport device 4, wherein a plurality of storage units 2 are arranged in the X direction and vertical direction, with the X direction being a specific direction along the horizontal plane, and further comprising a second transport device 5, an article station 6, and an intermediate transport device 10, wherein the first transport device 4 comprises a traveling trolley 41, a transfer device 42, and a lifting device 43 for raising and lowering the transfer device 42, the storage range 20 being the range in the X direction in which the plurality of storage units 2 are arranged, and the intermediate transport device 10 is arranged so as to overlap at least a part of the storage range 20 when viewed in the vertical direction, the first transport device 4 transports articles W between the intermediate transport device 10 and the storage units 2, and the second transport device 5 transports articles W between the article station 6 and the intermediate transport device 10.

Description

Technical Field

[0001] The present invention relates to an automated warehouse.

Background Art

[0002] For example, International Publication WO2021 / 190084 (Patent Document 1) discloses a technology related to an automated warehouse. Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The automated warehouse of Patent Document 1 includes a shelf (100) capable of storing articles, a first robot (200), a second robot (300), an article station (connection platform 400), and a temporary storage shelf (120). The temporary storage shelf (120) is provided at the lowermost stage of the shelf (100). Further, the shelf (100) is arranged at a stage above the lowermost stage and includes a plurality of storage shelves (130) for storing articles. The first robot (200) is an automated guided vehicle, and when it receives an article from the article station, it transports the article to a designated temporary storage shelf (120). Further, the second robot (300) is a transport device that travels along the front of the shelf (100), receives the article stored on the temporary storage shelf (120) by the first robot (200), and transfers the article to a designated storage shelf (130).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the automated warehouse described in Patent Document 1, the first robot (200) travels along the bottom of the shelves (100) to transport items to the temporary storage trays (120). As a result, the distance over which the first robot (200) transports items tends to be long, and there was room for improvement from the standpoint of item transport efficiency. Furthermore, in the above automated warehouse, the aisles of the first robot (200) and the second robot (300) are arranged to minimize overlap, and there was also room for improvement from the standpoint of preventing the automated warehouse from becoming too large.

[0006] Therefore, there is a need for an automated warehouse that can improve the efficiency of goods transport while suppressing the need for an automated warehouse to be large. [Means for solving the problem]

[0007] The automated warehouse relating to this disclosure comprises a storage shelf having a plurality of storage sections capable of storing articles, and a first conveying device that moves along the storage shelf to transport the articles, With the X-direction being a specific direction along the horizontal plane, the multiple housing units are arranged in the X-direction and the vertical direction. The system further comprises: a second conveying device for transporting the articles; an article station where at least one of supplying the articles to the second conveying device and performing work on the articles transported by the second conveying device is carried out; and an intermediate conveying device for transporting the articles between the first conveying device and the second conveying device. The first transport device comprises a traveling trolley, a transfer device for holding and transferring the articles, and a lifting device mounted on the traveling trolley for raising and lowering the transfer device. With the storage area defined as the range in the X direction in which the multiple storage sections of the storage rack are arranged, the intermediate transport device is positioned so as to overlap with the storage area when viewed from above, and transports the articles along the X direction. The first conveying device conveys the article between the intermediate conveying device and the storage section. The second conveying device conveys the articles between the article station and the intermediate conveying device.

[0008] This configuration allows for the transfer of goods between the first and second conveying devices using an intermediate conveying device, which can transport the goods in the X direction. Therefore, compared to the case where goods are transferred between the first and second conveying devices without an intermediate conveying device, the distance the goods are transported in at least one of the first and second conveying devices can be reduced. Consequently, it is easier to improve the efficiency of transporting goods between the goods station and the storage shelves. Furthermore, with this configuration, the intermediate conveying device is positioned so as to overlap with at least a portion of the storage area when viewed from above, making it easier to suppress the increase in size of the automated warehouse caused by the installation of the intermediate conveying device. Thus, this configuration makes it possible to improve the efficiency of goods transport while suppressing the need for larger automated warehouses.

[0009] Further features and advantages of the automated warehouse will become clear from the following description of exemplary and non-limiting embodiments, which will be illustrated with reference to the drawings. [Brief explanation of the drawing]

[0010] [Figure 1] Overall schematic diagram of the automated warehouse [Figure 2] Side view of the first conveying device, the second conveying device, the intermediate conveying device, and the storage rack. [Figure 3] Control block diagram [Figure 4] Schematic diagram of an automated warehouse in another embodiment [Figure 5] Side view of the first conveying device, second conveying device, intermediate conveying device, and storage rack in another embodiment. [Figure 6] A schematic perspective view showing the operation of an item transport vehicle in another embodiment. [Modes for carrying out the invention]

[0011] The following describes an embodiment of an automated warehouse based on the drawings.

[0012] [First Embodiment] As shown in Figures 1 and 2, the automated warehouse 1 comprises a storage rack 3 having a plurality of storage sections 2 capable of accommodating articles W, and a first conveying device 4 that moves along the storage rack 3 to transport articles W. The first conveying device 4 is configured to load and unload articles into and from the plurality of storage sections 2. The automated warehouse 1 further comprises a second conveying device 5 for transporting articles W, an article station 6 where at least one of supplying articles W to the second conveying device 5 or performing work on articles W transported by the second conveying device 5 is performed, and an intermediate conveying device 10 for transporting articles W between the first conveying device 4 and the second conveying device 5. In this embodiment, work is performed on articles W transported by the second conveying device 5 at the article station 6. In this example, the automated warehouse 1 comprises a plurality of storage racks 3, a plurality of first conveying devices 4, a plurality of second conveying devices 5, a plurality of article stations 6, and a plurality of intermediate conveying devices 10. In the following description, a specific direction along the horizontal plane will be described as the X direction. Furthermore, we will explain by defining one side in the X direction as the first X direction side X1, the other side in the X direction as the second X direction side X2, and the direction perpendicular to the X direction when viewed vertically as the Y direction.

[0013] In this embodiment, as shown in Figure 1, the automated warehouse 1 includes a pair of storage shelves 3 arranged separately on both sides in the Y direction relative to the first conveying device 4. Each of the pair of storage shelves 3 is arranged along the X direction. The first conveying device 4 is also arranged along the X direction. The first conveying device 4 is positioned between the pair of storage shelves 3 in the Y direction. Furthermore, the automated warehouse 1 includes a plurality of warehouse units 7, each comprising a storage shelf 3, a first conveying device 4, and an intermediate conveying device 10. Specifically, each warehouse unit 7 includes the aforementioned pair of storage shelves 3, a first conveying device 4 positioned between the pair of storage shelves 3 (here, between them in the Y direction), and an intermediate conveying device 10 corresponding to each of the pair of storage shelves 3. In this example, as shown in Figure 1, a plurality of warehouse units 7 are arranged in a line in the Y direction. In addition, an item station 6 is arranged spaced apart in the X direction from these warehouse units 7. Here, a plurality of item stations 6 are arranged in a line in the Y direction. In the illustrated example, the warehouse unit 7 is positioned on the second X side X2 in the X direction relative to the item station 6. Furthermore, a transport path 51 for the goods W, operated by the second transport device 5, is located between the goods station 6 and the warehouse unit 7 in the X direction.

[0014] The storage shelf 3 has multiple storage compartments 2 for storing articles W. The multiple storage compartments 2 are arranged in the X direction and vertically. Article W is stored in each of the multiple storage compartments 2. In the example in Figure 1, two articles W can be stored in one storage compartment 2 so as to be aligned in the Y direction. Thus, the storage shelf 3 has a so-called double-deep structure, but it may also have a multi-deep structure in which two or more articles W can be stored in one storage compartment 2 so as to be aligned in the Y direction, or it may have a structure in which one article W can be stored in one storage compartment 2. In this example, the storage shelf 3 has multiple shelves 21 along the X direction. The multiple shelves 21 are arranged with space between them in the vertical direction. Each shelf 21 is configured so that multiple articles W can be placed on it in the X direction (and here, further in the depth direction (Y direction) of the storage shelf 3). Each of the multiple storage compartments 2 consists of a storage space for articles W between two shelves 21 arranged vertically, and a mounting surface (upper surface) of the shelf 21. This allows the multiple storage compartments 2 to be arranged in multiple tiers. In the example in Figure 1, the pair of storage shelves 3 are at least open to the side where the first conveying device 4 is located (inward in the Y direction). Therefore, the first conveying device 4 can load and unload articles W into and from each of the storage compartments 2 of the pair of storage shelves 3. Figure 1 shows the storage range 20, which is the range in the X direction where the multiple storage compartments 2 in the storage shelf 3 are arranged.

[0015] As shown in FIGS. 1 and 2, the first transfer device 4 includes a traveling carriage 41, a transfer device 42 for holding and transferring the article W, and a lifting device 43 mounted on the traveling carriage 41 for lifting and lowering the transfer device 42. The traveling carriage 41 is guided by a rail laid on the floor surface and is configured to be able to travel along the X direction. The first transfer device 4 further includes a plurality of masts 44 along the vertical direction. The plurality of masts 44 are erected on the upper surface of the traveling carriage 41. The lifting device 43 includes a lifting platform 43a guided by the mast 44 for lifting and lowering. The transfer device 42 is supported from below by the lifting platform 43a. In this example, the transfer device 42 is a conveyor-type device, but it may be a fork-type device. The article W is conveyed in a state of being placed on the transfer device 42. Thus, in this example, the first transfer device 4 is a stacker crane, but it is not limited thereto. The first transfer device 4 may be a transfer vehicle having a lifting function and a transfer function other than a stacker crane. As shown in FIGS. 1 and 2, the first transfer device 4 transfers the article W between the intermediate transfer device 10 and the storage unit 2. In the present embodiment, the first transfer device 4 travels along the X direction and transfers the article W between the intermediate transfer device 10 arranged in each of the pair of storage shelves 3 and the storage units 2 (a plurality of storage units 2) of each of the pair of storage shelves 3. Also, in this example, the first transfer device 4 takes in and out the article W with respect to the storage units 2 of each of the pair of storage shelves 3.

[0016] In the present embodiment, the article W is a container for storing the stored items. Specifically, the article W is a carton container, but it may be a container such as an oricon container. Examples of the stored items stored in the article W include industrial products including machine parts, food products including drinking water and frozen foods, and other daily necessities, but are not limited thereto.

[0017] The second transfer device 5 transfers the article W between the article station 6 and the intermediate transfer device 10. In the present embodiment, the second transfer device 5 includes an automated guided vehicle 8 that holds and transfers the article W. Here, the second transfer device 5 includes a plurality of automated guided vehicles 8. The plurality of automated guided vehicles 8 travel along the above-described transfer path 51 to transfer the article W. The automated guided vehicle 8 is an unguided cart, but it may be a guided cart. Also, each of the plurality of automated guided vehicles 8 transfers the article W between the article station 6 and the intermediate transfer device 10 provided in each of the plurality of warehouse units 7. In this example, the article station 6 is configured such that an operation (specifically, a picking operation by the operator P) for the article W transferred by the automated guided vehicle 8 is performed. Therefore, when the automated guided vehicle 8 transfers the article W to the article station 6, the operator P performs a picking operation (an operation of taking out the contents from the article W or putting new contents into the article W) on the article W. Then, the automated guided vehicle 8 transfers the article W after the picking operation from the article station 6. In this example, the automated guided vehicle 8 includes a transfer mechanism 81 that supports the article from below and is transferable. Here, the transfer mechanism 81 is a conveyor, but it is not limited to this. Note that the second transfer device 5 may include a means for transferring the article W other than the automated guided vehicle 8 (such as a conveyor or a drone).

[0018] As shown in FIGS. 1 and 2, the intermediate transfer device 10 is arranged so as to overlap with the storage range 20 in a top-down view, and transfers the article W along the X direction. In the present embodiment, the intermediate transfer device 10 includes a shuttle transfer vehicle 14 that reciprocates along the X direction. The travel path 15 of the shuttle transfer vehicle 14 is arranged so as to overlap with the storage range 20 in a top-down view, and the shuttle transfer vehicle 14 is configured to transfer the article W to and from the first transfer device 4 at a preset position within the travelable range. Here, "overlap" is not limited to a state where the whole of one overlaps with the whole of the other, but includes both a state where the whole of one overlaps with a part of the other and a state where a part of one overlaps with a part of the other.

[0019] More specifically, the intermediate transport device 10 is located in each of the multiple storage shelves 3. In this example, one intermediate transport device 10 is located in each pair of storage shelves 3. The travel path 15 for the shuttle transport vehicle 14 is located at the bottom of each storage shelf 3. Therefore, the shuttle transport vehicle 14 travels along the bottom of the storage shelves 3. The multiple storage units 2 are located on a level above the travel path 15 for the shuttle transport vehicle 14. The travel path 15 is arranged along the X direction and overlaps with the entire storage area 20 when viewed from above. That is, the shuttle transport vehicle 14 can travel back and forth across the entire area that overlaps with the entire storage area 20 when viewed from above. In this example, rails are laid along the travel path 15 to guide the movement of the shuttle transport vehicle 14. Note that the travel path 15 for the shuttle transport vehicle 14 may also be configured to overlap with a portion of the storage area 20 when viewed from above. For example, in Figure 2, items W may also be stored in the area of ​​the storage shelf 3 that overlaps with the transfer section 9 (described later) in a vertical view, thereby configuring the travel path 15 to overlap with a part of the storage range 20 in a vertical view. In the example in Figure 1, for clarity, the storage section 2 of one of the two warehouse units 7 is shown with a dashed line, and the travel path 15 of the shuttle transport vehicle 14 (dashed line) that overlaps with the storage section 2 in a vertical view is omitted. In addition, the storage section 2 of the other of the two warehouse units 7 is omitted, and the travel path 15 of the shuttle transport vehicle 14 (solid line) of the intermediate transport device 10 is shown with a dashed line.

[0020] In this embodiment, the intermediate transport device 10 further includes a transfer section 9. The transfer section 9 is used for transferring articles W between the automated guided vehicle 8 and the shuttle transport vehicle 14. The transfer section 9 is adjacent to the first side X1 in the X direction with respect to the travel path 15 of the shuttle transport vehicle 14. In the illustrated example, the transfer section 9 is arranged both inside (here, the end region on the first side X1 in the X direction) and outside the storage rack 3. The transfer section 9 transfers articles W between the shuttle transport vehicle 14 and the second transport device 5. In this example, the transfer section 9 is a conveyor that carries articles W, but it may also be a support platform on which articles are placed. The transfer section 9 is provided corresponding to each of the multiple storage racks 3. In this embodiment, the automated guided vehicle 8 holds and transports articles W between the article station 6 and the shuttle transport vehicle 14. More specifically, the automated guided vehicle 8 travels along the transport route 51 to transport goods W between the goods station 6 and the handover section 9.

[0021] The shuttle transport vehicle 14 is equipped with a transfer mechanism 14a for holding and transferring articles W. In this embodiment, the transfer mechanism 14a performs a transfer operation with respect to the first transport device 4 (here, the stacker crane) by moving the articles W along the Y direction. The transfer mechanism 14a also performs a transfer operation with respect to the transfer section 9 by moving the articles W along the X direction. Examples of such a transfer mechanism 14a include a combination of a Y-direction conveyor (roller conveyor) that moves articles W in the Y direction and an X-direction conveyor that moves articles W in the X direction. Examples of the X-direction conveyor include a belt conveyor using a vertically movable narrow belt arranged between multiple rollers in a roller conveyor. Preferably, the belt conveyor is configured to be vertically movable between above and below the conveying surface of the multiple rollers.

[0022] In this embodiment, the shuttle transport vehicle 14 can stop at any position along the travel path 15 and transfer the articles W to the first transport device 4. Here, the shuttle transport vehicle 14 can transfer the articles to the first transport device 4 at positions corresponding to each of the multiple storage compartments 2 arranged in the X direction on each level (positions directly below each of the multiple storage compartments 2).

[0023] As shown in Figure 3, the automated warehouse 1 is equipped with a control system 100 that controls the entire facility. The control system 100 also includes a control device H that controls the first transport device 4, the second transport device 5, and the intermediate transport device 10, and a higher-level controller C that controls the entire facility and communicates with the control device H. The higher-level controller C and the control device H each include, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each function is realized through the cooperation of this hardware and a program executed on the processor such as a computer. The higher-level controller C stores, for example, the type of goods W stored in each storage shelf 3 (type of stored item), the number of goods W, the usage status of each storage unit 2, information on goods W being entered into or exited from the automated warehouse 1 (type, number, etc.), and work information performed at the goods station 6. The higher-level controller C also transmits command information to the control device H based on this stored information.

[0024] The control device H comprises a processing unit 101 and a storage unit 102. The processing unit 101 determines the transport route 51 between the item station 6 and the storage unit 2 for the item W to be transported, based on commands from the higher-level controller C. Based on the determined transport route 51, it controls the second transport device 5 (automated guided vehicle 8), the intermediate transport device 10, and the first transport device 4. The determined transport route 51 is stored in the storage unit 102. The storage unit 102 has pre-stored information on all the routes along which the item W will be transported. The control device H also acquires operational information regarding the operation and processing of the first transport device 4, the second transport device 5, and the intermediate transport device 10 from each device and transmits the operational information to the higher-level controller C.

[0025] When transporting goods W from the goods station 6 to a designated storage unit 2, the control device H drives the automated guided vehicle (AGV) 8, which is carrying the goods W, toward the transfer unit 9 of the warehouse unit 7 where the destination storage unit 2 is located. In this example, the transfer unit 9 includes a handover unit 9b that hands over the goods W to the shuttle transport vehicle 14 and stores them in the storage racks 3, and a receiving unit 9a that receives the goods W from the shuttle transport vehicle 14. The handover unit 9b is located on one side of a pair of storage racks 3, and the receiving unit 9a is located on the other side. Here, the control device H drives the AGV 8, which is carrying the goods W, toward the transfer unit 9b of the warehouse unit 7. Subsequently, the control device H transfers the goods W from the AGV 8 to the transfer unit 9b.

[0026] The control device H controls the transfer unit 9b and the shuttle transport vehicle 14 to transfer the item W from the transfer unit 9b to the shuttle transport vehicle 14 corresponding to the transfer unit 9b. Here, the shuttle transport vehicle 14 receives the item W from the transfer unit 9b at a position adjacent to the transfer unit 9b on the second side X2 in the X direction. Next, the control device H moves the lowest shuttle transport vehicle 14 to a position corresponding to the designated storage unit 2 (a position directly below the designated storage unit 2). It also moves the first transport device 4 (stacker crane) to a position corresponding to the designated storage unit 2 (a position directly in front of the designated storage unit 2). Here, the first transport device 4 moves the transfer device 42 to the position of the transfer mechanism 14a of the lowest shuttle transport vehicle 14. After that, the item W on the shuttle transport vehicle 14 is transferred to the transfer device 42 of the first transport device 4. The first transport device 4 moves the transfer device 42 to the designated storage unit 2 and transfers the item W to the storage unit 2.

[0027] Furthermore, when transporting an item W from a designated storage unit 2 to a designated item station 6, the control device H moves the shuttle transport vehicle 14 corresponding to the receiving unit 9a to a position corresponding to the storage unit 2 (a position directly below the designated storage unit 2). The control device H also moves the first transport device 4 to a position corresponding to the storage unit (a position directly in front of the designated storage unit 2). Here, the first transport device 4 raises and lowers the transfer device 42 to receive the item W from the storage unit 2. After that, the first transport device 4 moves the transfer device 42 supporting the item W to the position of the transfer mechanism 14a of the lowest shuttle transport vehicle 14. After the item W is transferred from the first transport device 4 to the shuttle transport vehicle 14, the control device H moves the shuttle transport vehicle 14 to a position adjacent to the receiving unit 9a (a position at the end of the first side X1 in the X direction of the travel path 15). Then, when the item W is transferred from the shuttle transport vehicle 14 to the receiving unit 9a, the control device H controls the transfer of the item W from the receiving unit 9a to the automated guided vehicle 8. The control device H first moves an empty automated guided vehicle 8, which does not have any item W loaded on it, toward the receiving unit 9a. After that, the control device H moves the automated guided vehicle 8, which has received the item W, to the designated item station 6.

[0028] Here, the transport path 51 on which multiple automated guided vehicles (AGVs) 8 transport goods comprises multiple travel paths on which the AGVs 8 travel. In the illustrated example, the transport path 51 comprises a pair of transfer paths 51a along the Y direction (a transfer path 51a on the goods station 6 side and a transfer path 51a on the storage rack 3 side), a plurality of (in this case, three) connecting paths 51b along the X direction that connect the pair of transfer paths 51a, and a plurality of Y-direction paths 51c along the Y direction that connect the plurality of connecting paths 51b. The pair of transfer paths 51a are arranged separately in the X direction. The transfer path 51a on the goods station 6 side is arranged along the goods station 6. The transfer path 51a on the storage rack 3 side is arranged along a plurality of transfer sections 9 (a handover section 9b and a receiving section 9a). The plurality of connecting paths 51b are arranged spaced apart from each other in the Y direction. In the illustrated example, of the three connection paths 51b, the central connection path 51b in the Y direction (central connection path) is located between the two handover sections 9b belonging to adjacent warehouse units 7 in the Y direction. The remaining two connection paths 51b (outer connection paths) are located on the outside in the Y direction (away from the warehouse unit 7) relative to the two receiving sections 9a belonging to adjacent warehouse units 7. In this case, the two receiving sections 9a in adjacent warehouse units 7 are located on the inside in the Y direction relative to the two handover sections 9b. Multiple Y-direction paths 51c are arranged to connect the outer connection path and the central connection path.

[0029] In this embodiment, the automated guided vehicle (AGV) 8 travels toward the second side X2 in the X direction to deliver the item W to the receiving unit 9a, and then travels toward the Y direction to receive another item W from the handover unit 9b. In this example, the AGV 8 travels toward the second side X2 in the X direction from the item station 6. In the illustrated example, the AGV 8, having departed from the item station 6, travels along the central connecting path to the handover path 51a on the storage rack 3 side. After that, the AGV 8 moves toward the Y direction and stops just before the receiving unit 9a belonging to the destination warehouse unit 7 (target warehouse unit) (a position adjacent to the first side X1 in the X direction relative to the receiving unit 9a). When the AGV 8 moves toward the Y direction, it may travel in a straight line along the Y direction, or, for example, it may travel in the Y direction while the overall travel path is curved. When the AGV 8 transfers the loaded item W to the receiving unit 9a, it travels along the Y direction and stops just before the handover unit 9b belonging to the target warehouse unit. The automated guided vehicle (AGV) 8 receives another item W from the handover section 9b, travels along the external connection path located on the target warehouse unit side, and moves to the handover path 51a on the item station 6 side. After that, the AGV 8 returns to the item station 6. The AGV 8 may also travel along the Y-direction path 51c.

[0030] [Second Embodiment] A second embodiment of the automated warehouse will be described with reference to Figures 4 and 5. Below, the differences between the transport vehicle of this embodiment and that of the first embodiment will be described. Unless otherwise specified, the same reference numerals are used, and detailed explanations will be omitted.

[0031] As shown in Figures 4 and 5, the intermediate transport device 10 includes a transport conveyor 12 that transports articles W along the X direction. The transport conveyor 12 is positioned so as to overlap with the storage area 20 when viewed from above. The automated guided vehicle 8 transports articles W between the article station 6 and the transport conveyor 12. In this example, the transport conveyor 12 is positioned so as to overlap with the entire storage area 20 when viewed from above. The transport conveyor 12 is provided corresponding to each of the multiple storage shelves 3. In this embodiment, the transport conveyor 12 is provided at the bottom of the storage shelves 3. Thus, in the second embodiment, the transport conveyor 12 is provided instead of the shuttle transport vehicle 14. In this example, the transport conveyor 12 is a roller conveyor, but is not limited to this. The transport conveyor 12 may be, for example, a chain conveyor. Furthermore, as described in the first embodiment above, the conveying conveyor 12 may be arranged so as to overlap with a portion of the storage range 20 when viewed in the vertical direction.

[0032] In this embodiment, as shown in Figure 4, the intermediate transport device 10 corresponding to one of the pair of storage shelves 3 is equipped with an inbound transport conveyor 12a, which is a transport conveyor 12 for loading articles W into the storage shelf 3. The intermediate transport device 10 corresponding to the other of the pair of storage shelves 3 is equipped with an outbound transport conveyor 12b, which is a transport conveyor 12 for unloading articles W from the storage shelf 3. The end of the inbound transport conveyor 12a on the first side X1 in the X direction is a receiving section 9a for receiving articles W from the automated guided vehicle 8. The end of the outbound transport conveyor 12b on the first side X1 in the X direction is a handover section 9b for handing over articles W to the automated guided vehicle 8. The inbound transport conveyor 12a transports the articles W received from the automated guided vehicle 8 at the receiving section 9a to a position corresponding to the destination storage section 2 (a position directly below the destination storage section 2). Subsequently, the item W is handed over to the first conveying device 4 (in this case, a stacker crane). The outbound conveying conveyor 12b receives the item W from the first conveying device 4 at a position corresponding to the storage unit 2 from which it was transported (directly below the storage unit 2 from which it was transported), and then transports the item W to the handover unit 9b and hands it over to the automated guided vehicle 8. In this way, the conveying conveyors 12 (inbound conveying conveyor 12a, outbound conveying conveyor 12b) and the first conveying device 4 are able to transfer the item W to and from the first conveying device 4 at any position in the X direction. The first conveying device 4 can be equipped with, for example, a conveyor-type fork as a transfer device 42, thereby enabling the transfer of the item W to and from the conveying surface of the conveying conveyor 12. Alternatively, a mechanism for transferring the item W to the first conveying device 4 (for example, a lifting mechanism that can raise the item W from the conveying surface of the conveying conveyor 12) can be placed on the side of the conveying conveyor 12. Furthermore, the conveyor belt 12 and the first conveying device 4 can also be configured to transfer goods W at a predetermined position in the X direction of the conveyor belt 12 (for example, the end region or central region in the X direction).

[0033] In this embodiment, the automated guided vehicle (AGV) 8 travels toward the second side X2 in the X direction to deliver the item W to the receiving unit 9a, and then travels in the Y direction from the receiving conveyor 12a toward the outbound conveyor 12b to receive another item W from the handover unit 9b. After departing from the item station 6, the AGV 8 travels along the central connection path (the central path in the Y direction of the three connection paths 51b) and arrives at the receiving unit 9a belonging to the destination warehouse unit 7 (target warehouse unit). Thereupon, it delivers the item W to the receiving unit 9a, which is also the end of the first side X1 in the X direction of the receiving conveyor 12a. Subsequently, the AGV 8 moves in the Y direction to arrive at the handover unit 9b belonging to the target warehouse unit and receives a new item from the handover unit 9b, which is also the end of the first side X1 in the X direction of the outbound conveyor 12b. After that, in the same manner as in the first embodiment, the AGV 8 travels toward the item station 6.

[0034] As shown in Figure 6, in this embodiment, the automated guided vehicle (AGV) 8 may travel toward the second side X2 in the X direction to hand over the item W to the receiving unit 9a, then travel in the Y direction from the receiving conveyor 12a toward the outbound conveyor 12b, and then travel toward the first side X1 in the X direction to receive another item W from the handover unit 9b. Specifically, after the AGV 8 hands over the item W to the receiving unit 9a, it continues to travel beneath the receiving conveyor 12a toward the second side X2 in the X direction. Then, the AGV 8 travels in the Y direction, enters beneath the outbound conveyor 12b, and then travels toward the first side X1 in the X direction to receive another item from the handover unit 9b. It is preferable that the AGV 8 is equipped with a support mechanism 83 that supports the item W from below, instead of the transport mechanism 81. In the example shown in Figure 6, the support mechanism 83 includes a plurality of plate-shaped members 84 along the X direction and the vertical direction. These plate-shaped members 84 are arranged side by side in the Y direction with gaps between them. In this example, it is preferable that the receiving section 9a and the handover section 9b are separate conveyors from the transport conveyor 12. In the illustrated example, each of the receiving section 9a and the handover section 9b includes an inclined conveyor that slopes downward as it approaches the first side X1 in the X direction. The inclined conveyor includes a plurality of narrow belts arranged with gaps in the Y direction. These plurality of narrow belts are positioned between the plurality of plate-shaped members 84 of the support mechanism 83 when transferring goods W between the automated guided vehicle 8 and the support mechanism 8 in a vertical view. The lower ends of these narrow belts are positioned below the upper ends of the plurality of plate-shaped members 84 (the transport surface of the goods W).

[0035] When the automated guided vehicle (AGV) 8 travels from the first X-direction side X1 to the second X-direction side X2 and reaches the receiving section 9a, the articles W placed on the multiple plate-shaped members 84 ride up onto the inclined conveyor of the receiving section 9a. Similarly, when the AGV 8 travels from the second X-direction side X2 to the first X-direction side X1 and reaches the handover section 9b, the articles W are transferred from the inclined conveyor of the handover section 9b onto the multiple plate-shaped members 84 of the support mechanism 83. With this configuration, the AGV 8 can transfer articles between the receiving section 9 and the handover section 9 without stopping.

[0036] [Other Embodiments] (1) In the above embodiment, the item station 6 was described as having a configuration in which picking operations are performed on items W transported by the automated guided vehicle 8, but it is not limited to this. The item station 6 may also be configured to supply and retrieve items W to and from the automated guided vehicle 8, for example. Thus, the configuration of the item station 6 can be appropriately changed according to the purpose, such as receiving and retrieving items W to and from storage shelves 3, picking operations on items W, sorting operations on items W, etc.

[0037] (2) In the first and second embodiments described above, the first conveying device 4 is positioned between a pair of storage shelves 3 in the Y direction and is configured to load and unload items W into and out of the storage sections 2 of each storage shelf 3. However, the invention is not limited to this configuration. The first conveying devices 4 can be provided in the same number as the number of storage shelves 3, with one first conveying device 4 corresponding to one storage shelf 3. Furthermore, if the first conveying device 4 is a conveying device other than a stacker crane (for example, a transport vehicle with a lifting function), it can be configured to move between multiple storage shelves 3 and load and unload items W into and out of the storage sections 2 of these storage shelves 3.

[0038] (3) In the first embodiment described above, the shuttle transport vehicle 14 was described as being capable of stopping at any position in the travel path 15 and transferring the article W to the first transport device 4, but it is not limited to this. The shuttle transport vehicle 14 may be configured to stop at a specific position in the travel path 15 and transfer the article W to the first transport device 4. For example, the shuttle transport vehicle 14 may be configured to transfer the article to the first transport device 4 with the transfer position being the central part of the travel path 15 in the X direction.

[0039] (4) In the first embodiment described above, the intermediate transport device 10 was described as having a configuration that includes a transfer section 9, but it is not limited to this. The intermediate transport device 10 may be configured without a transfer section 9. For example, the shuttle transport vehicle 14 may be configured to directly transfer the items W to and from the automated transport vehicle 8.

[0040] (5) In the first embodiment described above, the transfer unit 9 was described as being positioned adjacent to the end of the first side X1 in the X direction of the travel path 15 of the shuttle transport vehicle 14 in the X direction, but the invention is not limited to this configuration. The transfer unit 9 may be positioned adjacent in the Y direction to the end of the first side X1 in the X direction of the travel path 15 of the shuttle transport vehicle 14 in the X direction. In this case, the transfer mechanism 14a of the shuttle transport vehicle 14 moves the article W in the Y direction to transfer the article between itself and the transfer unit 9.

[0041] (6) In the second embodiment described above, the intermediate transport device 10 was described as having a transport conveyor 12 that transports articles along the X direction, but it is not limited to this configuration. The intermediate transport device 10 may also be configured to include a shuttle transport vehicle 14 in addition to the transport conveyor 12. For example, a combination of the transport conveyor 12 and the shuttle transport vehicle 14 may be provided in multiple warehouse units 7.

[0042] (7) The configurations disclosed in each of the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0043] [Summary of the above embodiments] The following is a summary of the automated warehouse described above.

[0044] The automated warehouse relating to this disclosure comprises a storage shelf having a plurality of storage sections capable of storing articles, and a first conveying device that moves along the storage shelf to transport the articles, With the X-direction being a specific direction along the horizontal plane, the multiple housing units are arranged in the X-direction and the vertical direction. The system further comprises: a second conveying device for transporting the articles; an article station where at least one of supplying the articles to the second conveying device and performing work on the articles transported by the second conveying device is carried out; and an intermediate conveying device for transporting the articles between the first conveying device and the second conveying device. The first transport device comprises a traveling trolley, a transfer device for holding and transferring the articles, and a lifting device mounted on the traveling trolley for raising and lowering the transfer device. With the storage area defined as the range in the X direction in which the multiple storage sections of the storage rack are arranged, the intermediate transport device is positioned so as to overlap with the storage area when viewed from above, and transports the articles along the X direction. The first conveying device conveys the article between the intermediate conveying device and the storage section. The second conveying device conveys the articles between the article station and the intermediate conveying device.

[0045] This configuration allows for the transfer of goods between the first and second conveying devices using an intermediate conveying device, which can transport the goods in the X direction. Therefore, compared to the case where goods are transferred between the first and second conveying devices without an intermediate conveying device, the distance the goods are transported in at least one of the first and second conveying devices can be reduced. Consequently, it is easier to improve the efficiency of transporting goods between the goods station and the storage shelves. Furthermore, with this configuration, the intermediate conveying device is positioned so as to overlap with at least a portion of the storage area when viewed from above, making it easier to suppress the increase in size of the automated warehouse caused by the installation of the intermediate conveying device. Thus, this configuration makes it possible to improve the efficiency of goods transport while suppressing the need for larger automated warehouses.

[0046] Here, the intermediate conveying device includes a conveying conveyor that transports the article along the X direction, The aforementioned conveyor is positioned so as to overlap with the storage area when viewed from above. The second transport device includes an automated guided vehicle that holds and transports the article, The automated guided vehicle is preferably used to transport the goods between the goods station and the transport conveyor.

[0047] According to this configuration, by installing a conveyor belt so as to overlap with the storage area when viewed from above, multiple items being moved in and out of the storage shelves can be efficiently transported, and the need to install a conveyor belt can be suppressed, thereby preventing the automated warehouse from becoming too large. Furthermore, by using automated guided vehicles (AGVs) as a means of transporting goods between the goods station and the conveyor belt, it is easier to keep the space between the goods station and the storage shelves smaller compared to when using other means of transport such as conveyors. It also makes it easier to increase the flexibility of the layout in which goods stations and storage shelves are installed in an automated warehouse.

[0048] Furthermore, the intermediate transport device includes a shuttle transport vehicle that travels back and forth along the X direction. The travel path of the shuttle transport vehicle is arranged to overlap with the accommodation area when viewed from above and below. Preferably, the shuttle transport vehicle is configured to transfer the articles to and from the first transport device at a predetermined position within its drivable range.

[0049] With this configuration, since the shuttle transport vehicle transfers goods to the first transport device at a predetermined position within its drivable range, it is easy to minimize the travel distance of the first transport device that moves to transfer goods to the shuttle transport vehicle.

[0050] Furthermore, the second transport device includes an automated guided vehicle that holds and transports the articles between the article station and the shuttle transport vehicle. The intermediate transport device includes a transfer section, The transfer unit is preferably used for transferring the goods between the automated guided vehicle and the shuttle transport vehicle.

[0051] With this configuration, since goods are transferred between the automated guided vehicle (AGV) and the shuttle transport vehicle via the transfer unit, the possibility of the AGV waiting to receive or transfer goods from the shuttle transport vehicle, or the shuttle transport vehicle waiting to receive or transfer goods from the AGV, can be reduced. Therefore, the efficiency of goods transport can be improved.

[0052] Furthermore, the warehouse unit comprises multiple units, each equipped with the storage shelves, the first conveying device, and the intermediate conveying device. The second transport device comprises a plurality of automated guided vehicles that hold and transport the articles, Each of the multiple automated guided vehicles is preferably used to transport the goods between the goods station and the intermediate transport device provided in each of the multiple warehouse units.

[0053] In this configuration, multiple automated guided vehicles (AGVs) transport goods to intermediate transport devices provided in each of the multiple warehouse units. Therefore, in a configuration with multiple warehouse units, the efficiency of goods transport can be increased. Furthermore, by using AGVs, the space between the goods station and these warehouse units can be kept smaller compared to using other transport means such as conveyors, and consequently, the size of the automated warehouse can be suppressed. In addition, the degree of freedom in the layout of goods stations and multiple warehouse units in the automated warehouse can be increased.

[0054] Furthermore, one side in the X direction is designated as the first X direction side, the other side in the X direction as the second X direction side, and the direction perpendicular to the X direction when viewed from above and below is designated as the Y direction. The first transport device is provided with a pair of storage shelves arranged separately on both sides in the Y direction, The intermediate transport device corresponding to one of the pair of storage shelves includes a storage conveyor, which is a transport conveyor for storing the articles in the storage shelf, The intermediate transport device corresponding to the other of the pair of storage shelves includes a transport conveyor for unloading the items from the storage shelf, The end of the receiving conveyor on the first side in the X direction is a receiving section for receiving the goods from the automated guided vehicle. The end of the aforementioned outbound transport conveyor on the first side in the X direction is a transfer section for handing over the articles to the automated guided vehicle. Preferably, the automated guided vehicle travels toward the second side in the X direction to deliver the item to the receiving section, and then travels toward the Y direction from the receiving conveyor side toward the outbound conveyor side to receive another item from the delivery section.

[0055] According to this configuration, the automated guided vehicle (AGV) can hand over the goods it is currently transporting to the receiving unit, and then receive and transport other goods from the handover unit. This improves the efficiency of goods transport by the AGV, and consequently, improves the overall efficiency of goods transport in the automated warehouse.

[0056] The automated warehouse relating to this disclosure only needs to achieve at least one of the effects described above. [Explanation of Symbols]

[0057] 1: Automated warehouse 2: Containment section 3: Storage shelves 4: First conveying device 5: Second conveying device 6: Item Station 7: Warehouse Unit 8: Automated Guided Vehicles 9: Delivery department 9a: Receiving Department 9b: Delivery department 10: Intermediate transport device 12: Conveyor 12a: Conveyor for receiving goods into storage 12b: Outbound transport conveyor 14: Shuttle transport vehicle 15: Route 20: Capacity 41: Running bogie 42:Transfer device 43: Lifting device 100: Shelf X1: 1st side in X direction X2: 2nd side in X direction

Claims

1. An automated warehouse comprising a storage rack having a plurality of storage compartments capable of accommodating articles, and a first conveying device that moves along the storage rack to transport the articles, With the X-direction being a specific direction along the horizontal plane, the multiple housing units are arranged in the X-direction and the vertical direction. The system further comprises: a second conveying device for transporting the articles; an article station where at least one of supplying the articles to the second conveying device and performing work on the articles transported by the second conveying device is carried out; and an intermediate conveying device for transporting the articles between the first conveying device and the second conveying device. The first transport device comprises a traveling trolley, a transfer device for holding and transferring the articles, and a lifting device mounted on the traveling trolley for raising and lowering the transfer device. With the storage area defined as the range in the X direction in which the multiple storage sections of the storage rack are arranged, the intermediate transport device is positioned so as to overlap with the storage area when viewed from above, and transports the articles along the X direction. The first conveying device conveys the article between the intermediate conveying device and the storage section. The second transport device is an automated warehouse that transports the goods between the goods station and the intermediate transport device.

2. The intermediate conveying device includes a conveying conveyor that transports the articles along the X direction, The aforementioned conveyor is positioned so as to overlap with the storage area when viewed from above. The second transport device includes an automated guided vehicle that holds and transports the article, The automated warehouse according to claim 1, wherein the automated guided vehicle transports the articles between the article station and the conveying conveyor.

3. The intermediate transport device includes a shuttle transport vehicle that travels back and forth along the X direction, The travel path of the shuttle transport vehicle is arranged to overlap with the accommodation area when viewed from above and below. The automated warehouse according to claim 1, wherein the shuttle transport vehicle is configured to transfer the articles to and from the first transport device at a predetermined position within its drivable range.

4. The second transport device includes an automated guided vehicle that holds and transports the articles between the article station and the shuttle transport vehicle. The intermediate transport device includes a transfer section, The automated warehouse according to claim 3, wherein the transfer unit is used for transferring the goods between the automated guided vehicle and the shuttle transport vehicle.

5. The warehouse comprises a plurality of warehouse units, each equipped with the aforementioned storage shelves, the first conveying device, and the intermediate conveying device. The second transport device comprises a plurality of automated guided vehicles that hold and transport the articles, The automated warehouse according to claim 1, wherein each of the plurality of automated guided vehicles transports the articles between the article station and the intermediate transport device provided in each of the plurality of warehouse units.

6. One side of the aforementioned X direction will be designated as the first X direction side, the other side of the aforementioned X direction will be designated as the second X direction side, and the direction perpendicular to the X direction when viewed in the vertical direction will be designated as the Y direction. The first transport device is provided with a pair of storage shelves arranged separately on both sides in the Y direction, The intermediate transport device corresponding to one of the pair of storage shelves includes a storage conveyor, which is a transport conveyor for storing the articles in the storage shelf, The intermediate transport device corresponding to the other of the pair of storage shelves includes a transport conveyor for unloading the items from the storage shelf, The end of the receiving conveyor on the first side in the X direction is a receiving section for receiving the goods from the automated guided vehicle. The end of the aforementioned outbound transport conveyor on the first side in the X direction is a transfer section for handing over the goods to the automated guided vehicle. The automated warehouse according to claim 2, wherein the automated guided vehicle travels toward the second side in the X direction to deliver the item to the receiving section, and then travels toward the Y direction from the receiving conveyor side toward the outbound conveyor side to receive another item from the delivery section.

Images