Article transport facility

Abstract

The goods transport equipment includes a first track R1 and a second track R2. The second track R2 is positioned above the first track R1 and is configured to intersect the first track R1 from a vertical perspective. The transport vehicle V includes: a vehicle body Va, positioned between the first track R1 and the second track R2 in the vertical direction; a first traveling unit U1 that moves the vehicle body Va along a first direction X; and a second traveling unit U2 that moves the vehicle body Va along a second direction Y.

Description

Technical Field

[0001] This invention relates to a goods transport device equipped with a transport vehicle for transporting goods. Prior Technology

[0002] An example of such article conveying equipment has been disclosed in International Publication No. WO2017-150005A1 (Patent Document 1). In the following description of the prior art, the symbols shown in parentheses are those of Patent Document 1.

[0003] Patent Document 1 discloses an article conveying device having a travel track (4) for a conveyor (8) to travel. The travel track (4) is formed by intersecting a first track (9) and a second track (11) that extend in different directions on the same horizontal plane. The conveyor (8) is configured to travel along the first track (9) and along the second track (11). That is, the conveyor (8) can travel in two different directions. Summary of the Invention

[0004] In the article conveying device disclosed in Patent Document 1, since the two travel paths, namely the first track (9) and the second track (11), intersect in the same horizontal plane, a drop is easily generated at the intersection (14) where the two tracks intersect. Therefore, when the transport vehicle (8) passes through the intersection (14), the possibility of vibration is relatively high. Furthermore, for example, if the travel track (4) is integrally formed to eliminate the seam between the intersecting first track (9) and the second track (11), it will result in the travel track (4) being larger. In this case, the limitations of setting the travel track (4) in the article conveying device will increase.

[0005] In view of the above actual situation, it is desirable to suppress the vibration of the transport vehicle and ensure the degree of freedom in setting the travel path in a transport equipment with multiple intersecting paths in different directions.

[0006] The techniques used to solve the above problems are as follows. A goods handling device, equipped with a transport vehicle for transporting goods. The aforementioned goods conveying equipment has the following features: The first track has the first running surface; and The second track has a second running surface. The aforementioned second track is positioned above the aforementioned first track and is configured to intersect the aforementioned first track from a vertical perspective. Let the extension direction of the first track be defined as the first direction, and let the extension direction of the second track be defined as the second direction. The aforementioned transport vehicle comprises: a vehicle body disposed between the aforementioned first track and the aforementioned second track in a vertical direction; a first traveling unit for moving the aforementioned vehicle body along the aforementioned first direction; a second traveling unit for moving the aforementioned vehicle body along the aforementioned second direction; and a control unit for controlling the operation of the aforementioned first traveling unit and the aforementioned second traveling unit. The aforementioned first traveling unit includes: a first wheel; and a first posture changing mechanism, which changes the posture of the first wheel relative to the vehicle body, and the aforementioned first traveling unit is configured to change the posture to: a first wheel mounting posture, in which the first wheel is mounted on the first traveling surface; and a first wheel retraction posture, in which the first wheel is separated from the first traveling surface. The aforementioned second traveling unit includes: a second wheel; and a second posture changing mechanism, which changes the posture of the second wheel relative to the vehicle body, and the aforementioned second traveling unit is configured to change the posture to: a second wheel mounting posture, in which the second wheel is mounted on the second traveling surface; and a second wheel retraction posture, in which the second wheel is separated from the second traveling surface. The aforementioned control unit is configured to change the mode to: a first mode, in which the aforementioned first traveling unit is set to the aforementioned first wheel mounting posture, and the aforementioned second traveling unit is set to the aforementioned second wheel retraction posture, so that the aforementioned vehicle body travels along the aforementioned first track; and a second mode, in which the aforementioned second traveling unit is set to the aforementioned second wheel mounting posture, and the aforementioned first traveling unit is set to the aforementioned first wheel retraction posture, so that the aforementioned vehicle body travels along the aforementioned second track.

[0007] According to this configuration, the transport vehicle can travel along the first track in the first direction, and can also travel along the second track in the second direction. The second track is arranged separately from the first track on the upper side. That is, the first track and the second track are arranged at different positions in the vertical direction. This allows the travel path along the first track and the travel path along the second track to intersect from a vertical perspective and be arranged on different horizontal planes. Therefore, according to this configuration, since there is no seam between the first track and the second track, there is no difference in elevation caused by the seam, thus preventing vibration when the transport vehicle travels at the intersection of the two tracks. Furthermore, since the first track and the second track are physically separate, they can be set at different times. This ensures a high degree of freedom in setting the travel path formed by the first track and the second track in the goods transport equipment. As described above, according to this configuration, in a goods transport device having multiple intersecting paths with different extension directions, the vibration of the transport vehicle can be suppressed, and the freedom of setting the travel path can be ensured.

[0008] Further features and advantages of the technology disclosed herein should become clearer through the following illustrative and non-limiting description of embodiments illustrated with reference to figures. Simple Explanation of the Diagram

[0009] Figure 1 is a plan view showing the intersection area of ​​the goods conveying equipment. Figure 2 is a first-direction view of the transport vehicle during the execution of the first mode. Figure 3 is a second-direction view of the transport vehicle during the execution of the second mode. Figure 4 is an illustration of the relocation operation at the location of the object to be moved. Figure 5 is an illustration of the transfer operation of the storage rack. Figure 6 is a diagram showing the structure of the engaging part and the engaged part. Figure 7 is a first-direction view showing the state of the second embodiment, where the transport vehicle is performing the first mode and the second transport vehicle is performing the fourth mode. Figure 8 is a second-direction view showing the state in the second embodiment where the transport vehicle is performing the first mode and the second transport vehicle is performing the fourth mode. Figure 9 shows other examples of the engaging and engaged parts. Figure 10 is a diagram showing other examples of the engaging and engaged portions. Figure 11 is a diagram showing other examples of the engaging and engaged portions. Figure 12 is a diagram showing other examples of the engaging and engaged portions. Figure 13 is a second-direction view showing other examples of the second track. Figure 14 is a second-direction view showing other examples of the second track. Figure 15 is a second-direction view showing other examples of the second track. Figure 16 shows another example of a lifting device. Figure 17 shows another example of a lifting device. Figure 18 is a plan view showing the path connecting two intersections. Implementation

[0010] Forms used to implement inventions The following description, using reference diagrams, illustrates the implementation of the material handling equipment.

[0011] As shown in Figures 1-3, the goods conveying device 100 includes: a conveyor V for conveying goods G; a first track R1 having a first travel surface Fr1; and a second track R2 having a second travel surface Fr2. The conveyor V is configured to travel along the first track R1 and along the second track R2. That is, a travel path for the conveyor V is provided along each of the first track R1 and the second track R2.

[0012] Hereinafter, the extension direction of the first track R1 is defined as the first direction X, and the extension direction of the second track R2 is defined as the second direction Y. Furthermore, the direction orthogonal to the first direction X from a vertical perspective is defined as the first width direction Xw, and the direction orthogonal to the second direction Y from a vertical perspective is defined as the second width direction Yw. In this embodiment, the first direction X and the second direction Y are orthogonal from a vertical perspective. That is, in this embodiment, the first width direction Xw, orthogonal to the first direction X from a vertical perspective, is equal to the second direction Y. Also, the second width direction Yw, orthogonal to the second direction Y from a vertical perspective, is equal to the first direction X.

[0013] In this embodiment, the location where the item G is transferred between the transport vehicle V and the transport vehicle V is designated as the transfer target location S, and the item transport equipment 100 has a plurality of transfer target locations S (see Figures 4 and 5). As shown in Figure 4, the transfer target location S includes a loading platform 91. The item G is transported to the loading platform 91 for a specific purpose. This specific purpose varies depending on the type or state of the item G. Furthermore, as shown in Figure 5, the item transport equipment 100 includes a storage rack 8 for holding the item G. In this example, the transfer target location S also includes this storage rack 8. The storage rack 8 is located along the path for transporting the item G. In this way, the item G can be temporarily or permanently stored in the storage rack 8 during the transport of the item G by the transport vehicle V. In addition, although detailed illustrations are omitted, items such as inbound and outbound conveyors for item storage warehouses are also included in the transfer target locations S.

[0014] The goods transport equipment 100 is used in, for example, a semiconductor manufacturing plant. As shown in FIG4, in this embodiment, the goods transport equipment 100 includes a processing device 90 for processing goods G, and the aforementioned platform 91 is arranged adjacent to the processing device 90.

[0015] In this embodiment, the transport vehicle V transports the article G to the placement platform 91 before it undergoes processing by the processing device 90, and then transports the article G from the placement platform 91 to the designated transport destination after it has undergone processing by the processing device 90. For example, the article G is a container for holding the object to be processed, which is the object to be processed by the processing device 90. The term "processing of article G" refers to the processing of the object to be processed that is contained in the article G.

[0016] As an item G, examples include a wafer container (FOUP: Front Opening Unified Pod) for holding a wafer, or a photomask container (photomask cassette) for holding a photomask. When item G is a FOUP, the object being processed is a wafer. When item G is a photomask cassette, the object being processed is a photomask. In the semiconductor manufacturing plant illustrated here, the processing apparatus 90 performs various processes on the semiconductor substrate, such as thin film formation, photolithography, and etching.

[0017] As shown in Figures 2 and 3, the second track R2 is positioned above the first track R1 and is arranged to intersect the first track R1 from a vertical perspective. That is, the first track R1 and the second track R2 are positioned at different vertical locations. This allows the walking path along the first track R1 and the walking path along the second track R2 to intersect from a vertical perspective and be positioned on different horizontal planes.

[0018] With this configuration, the first track R1 and the second track R2 are not connected, and therefore there is no seam between them. Consequently, since there is no drop caused by the seam, vibration can be avoided when the transport vehicle V travels along the intersection of the two tracks (R1, R2). Furthermore, since the first track R1 and the second track R2 are physically separate, they can be installed at staggered intervals. This ensures greater operational flexibility when setting the travel path formed by the first track R1 and the second track R2 in the goods transport equipment 100.

[0019] As shown in Figure 1, in this embodiment, the goods conveying device 100 includes an intersection area CA, which is the region where the travel path along the first track R1 intersects with the travel path along the second track R2. In this example, the first track R1 and the second track R2 are orthogonal in a vertical view. Furthermore, a plurality of first tracks R1 are arranged in a direction orthogonal to the first direction X (first width direction Xw, second direction Y) in a vertical view, and a plurality of second tracks R2 are arranged in a direction orthogonal to the second direction Y (second width direction Yw, first direction X) in a vertical view. Thus, in this example, the plurality of first tracks R1 and the plurality of second tracks R2 form a grid-like travel path in the intersection area CA in a vertical view.

[0020] As described above, the first track R1 has a first traveling surface Fr1, which is used to allow the transport vehicle V to travel along the first direction X. As shown in Figures 2 and 3, in this embodiment, the first track R1 has a first guiding surface Fg1, which faces a direction orthogonal to the first direction X from a vertical perspective (in this example, the second direction Y). In other words, the first track R1 has a first guiding surface Fg1 facing the first width direction Xw. The first guiding surface Fg1 is a surface used to guide the transport vehicle V along the first direction X.

[0021] Furthermore, as mentioned above, the second track R2 has a second traveling surface Fr2, which is used to allow the transport vehicle V to travel along the second direction Y. In this embodiment, the second track R2 has a second guiding surface Fg2, which faces a direction orthogonal to the second direction Y in a vertical view (in this example, the first direction X). In other words, the second track R2 has a second guiding surface Fg2 facing the second width direction Yw. The second guiding surface Fg2 is used to guide the transport vehicle V along the second direction Y.

[0022] As shown in Figure 2, in this embodiment, the first track R1 includes a pair of first track bodies RB1 separately arranged in the first width direction Xw. In this example, each of the plurality of first tracks R1 arranged in the first width direction Xw includes a pair of first track bodies RB1 separately arranged in the first width direction Xw. That is, one first track R1 is constituted by a pair of first track bodies RB1 separately arranged in the first width direction Xw, and the plurality of first tracks R1 are arranged in the first width direction Xw.

[0023] In this embodiment, two adjacent first tracks R1 in the first width direction Xw share a single first track body RB1, and a pair of first traveling surfaces Fr1 are formed on this first track body RB1. The aforementioned pair of first traveling surfaces Fr1 belongs to each of the two adjacent first tracks R1 in the first width direction Xw. Therefore, the number of first track bodies RB1 installed in the equipment as a whole can be reduced. Consequently, the working time for installing the first tracks R1 can be easily reduced.

[0024] In this embodiment, the first track body RB1 includes: a first body portion R11 extending along a first direction X; and a first wall portion R12 protruding upward from the first body portion R11 and extending along the first direction X. A first traveling surface Fr1 is formed on the upward-facing surface of the first body portion R11. In this example, the first traveling surface Fr1 is disposed on each side of the first wall portion R12 in the first width direction Xw. Furthermore, a first guide surface Fg1 is formed on each of the two surfaces of the first wall portion R12 facing the first width direction Xw. With the above configuration, both the transport vehicle V traveling on one side of the first wall portion R12 in the first width direction Xw and other transport vehicles V traveling on the other side of the first wall portion R12 in the first width direction Xw can travel appropriately by means of a pair of first traveling surfaces Fr1 provided by a first track body RB1, and can be appropriately guided by means of a pair of first guiding surfaces Fg1 provided by a first track body RB1. In this example, the cross-section of the first track body RB1 orthogonal to the first direction X is formed in an inverted T-shape.

[0025] As shown in Figure 3, in this embodiment, the second track R2 includes a pair of second track bodies RB2 separately arranged in the second width direction Yw. In this example, each of the plurality of second tracks R2 arranged in the second width direction Yw includes a pair of second track bodies RB2 separately arranged in the second width direction Yw. That is, one second track R2 is constituted by a pair of second track bodies RB2 separately arranged in the second width direction Yw, and the plurality of second tracks R2 are arranged in the second width direction Yw.

[0026] In this embodiment, two adjacent second tracks R2 in the second width direction Yw share one second track body RB2, and a pair of second traveling surfaces Fr2 are formed on this second track body RB2. The aforementioned pair of second traveling surfaces Fr2 belongs to each of the two adjacent second tracks R2 in the second width direction Yw. Therefore, the number of second track bodies RB2 installed as a whole can be reduced. Consequently, the working time for installing the second tracks R2 can be reduced.

[0027] In this embodiment, the second track body RB2 includes: a second body portion R21 extending along a second direction Y; and a second wall portion R22 protruding upward from the second body portion R21 and extending along the second direction Y. A second traveling surface Fr2 is formed on the upward-facing surface of the second body portion R21. In this example, the second traveling surface Fr2 is disposed on each side of the second wall portion R22 in the second width direction Yw. Furthermore, a second guide surface Fg2 is formed on each surface of the second wall portion R22 facing the second width direction Yw. With the above configuration, both the transport vehicle V traveling on one side of the second wall portion R22 in the second width direction Yw and other transport vehicles V traveling on the other side of the second wall portion R22 in the second width direction Yw can travel appropriately using a pair of second traveling surfaces Fr2 provided by a second track body RB2, and can be appropriately guided using a pair of second guiding surfaces Fg2 provided by a second track body RB2. In this example, the cross-section of the second track body RB2 orthogonal to the second direction Y is formed in an inverted T-shape.

[0028] As shown in Figures 2 and 3, the transport vehicle V includes: a vehicle body Va; a first traveling unit U1 that moves the vehicle body Va along a first direction X; a second traveling unit U2 that moves the vehicle body Va along a second direction Y; and a control unit C that controls the operation of the first traveling unit U1 and the second traveling unit U2. The vehicle body Va is positioned between the first track R1 and the second track R2 in the vertical direction. Specifically, the vehicle body Va is positioned between the upper end of the first track body RB1 (the upper end of the first wall portion R12) and the lower end of the second track body RB2 (the lower end of the second body portion R21) in the vertical direction.

[0029] In this embodiment, the transport vehicle V has a accommodating portion Vb for accommodating an item G during movement. The accommodating portion Vb is provided on the vehicle body Va. Furthermore, in this example, the transport vehicle V has: a lifting body Vc connected to the vehicle body Va; a lifting device Vd for raising and lowering the lifting body Vc relative to the vehicle body Va; and a holding portion Ve, supported by the lifting body Vc and holding the item G.

[0030] In this embodiment, the vehicle body Va is configured to cover the article G contained in the accommodating part Vb from multiple directions. In this example, the vehicle body Va is configured to cover the top of the article G contained in the accommodating part Vb and both sides in the second direction Y. Therefore, the bottom of the article G contained in the accommodating part Vb and both sides in the first direction X are open. These open portions are used for transferring the article G between the accommodating platform 91 or the storage rack 8. Details regarding the transfer of the article G will be described later.

[0031] The first traveling unit U1 includes: a first wheel 11; and a first posture changing mechanism 13, which changes the posture of the first wheel 11 relative to the vehicle body Va. The first traveling unit U1 is configured to change the posture to: a first wheel mounting posture, in which the first wheel 11 is mounted on a first traveling surface Fr1; and a first wheel retraction posture, in which the first wheel 11 is separated from the first traveling surface Fr1. In this embodiment, the first wheel 11 is configured to be rotatably driven. This generates a propulsive force for moving the vehicle body Va along a first direction X. Figure 2 shows the first wheel mounting posture of the first traveling unit U1. Figure 3 shows the first wheel retraction posture of the first traveling unit U1.

[0032] In this embodiment, the first traveling unit U1 includes a first guide wheel 12 guided by a first guide surface Fg1. The first guide wheel 12 is configured to contact the first guide surface Fg1 in the first wheel-mounted position of the first traveling unit U1, and to separate from the first guide surface Fg1 in the first wheel-retreating position of the first traveling unit U1. With this configuration, when the first traveling unit U1 moves the vehicle body Va along the first track R1 in the first wheel-mounted position, the first guide wheel 12 can be used to properly guide the vehicle body Va along the first track R1.

[0033] In this embodiment, in the first wheel mounting posture of the first traveling unit U1, with the rotation axis of the first wheel 11 facing the first width direction Xw (the second direction Y), the first wheel 11 is mounted on the first traveling surface Fr1. Furthermore, in the first wheel mounting posture of the first traveling unit U1, with the rotation axis of the first guide wheel 12 facing the vertical direction, the first guide wheel 12 is in contact with the first guide surface Fg1.

[0034] In this embodiment, the transport vehicle V has a plurality of first traveling units U1. The transport vehicle V is configured to travel along a first track R1 using a plurality of first traveling units U1. As described above, the first track R1 for the transport vehicle V to travel along the first direction X includes a pair of first track bodies RB1 separately arranged in the first width direction Xw. Furthermore, in this embodiment, each of the first traveling units U1 is provided corresponding to each of the pair of first track bodies RB1 separately arranged in the first width direction Xw. In this example, in each of the two sides of the vehicle body Va in the first width direction Xw (second direction Y), a pair of first traveling units U1 are separately arranged in the first direction X (see Figure 3). That is, in this example, the transport vehicle V has a total of 4 first traveling units U1.

[0035] The second traveling unit U2 includes a second wheel 21 and a second posture changing mechanism 23, which changes the posture of the second wheel 21 relative to the vehicle body Va. The second traveling unit U2 is configured to change the posture to: a second wheel mounting posture, in which the second wheel 21 is mounted on a second traveling surface Fr2; and a second wheel retraction posture, in which the second wheel 21 separates from the second traveling surface Fr2. In this embodiment, the second wheel 21 is configured to be rotatably driven. This generates a propulsive force for moving the vehicle body Va along the second direction Y. Figure 2 shows the second wheel retraction posture of the second traveling unit U2. Figure 3 shows the second wheel mounting posture of the second traveling unit U2.

[0036] As shown in Figure 3, in this embodiment, the second traveling unit U2 includes a second guide wheel 22 guided by a second guide surface Fg2. The second guide wheel 22 is configured to contact the second guide surface Fg2 in the second wheel-mounted position of the second traveling unit U2, and to separate from the second guide surface Fg2 in the second wheel-retreating position of the second traveling unit U2. With this configuration, when the second traveling unit U2 moves the vehicle body Va along the second track R2 in the second wheel-mounted position, the second guide wheel 22 can appropriately guide the vehicle body Va along the second track R2.

[0037] In this embodiment, in the second wheel mounting posture of the second traveling unit U2, with the rotation axis of the second wheel 21 facing the second width direction Yw (the first direction X), the second wheel 21 is mounted on the second traveling surface Fr2. Furthermore, in the second wheel mounting posture of the second traveling unit U2, with the rotation axis of the second guide wheel 22 facing the vertical direction, the second guide wheel 22 is in contact with the second guide surface Fg2.

[0038] In this embodiment, the transport vehicle V has a plurality of second traveling units U2. The transport vehicle V is configured to travel along a second track R2 using a plurality of second traveling units U2. As described above, the second track R2 for the transport vehicle V to travel along the second direction Y includes a pair of second track bodies RB2 separately arranged in the second width direction Yw. Moreover, in this embodiment, each of the second traveling units U2 is provided corresponding to each of the pair of second track bodies RB2 separately arranged in the second width direction Yw. In this example, in each of the two sides of the vehicle body Va in the first width direction Xw (second direction Y), a pair of second traveling units U2 are separately arranged in the first direction X (see Figure 3). That is, in this example, the transport vehicle V has a total of 4 second traveling units U2.

[0039] The control unit C is configured to change the mode to: a first mode, in which the first traveling unit U1 is set to the first wheel mounting posture and the second traveling unit U2 is set to the second wheel retraction posture, causing the vehicle body Va to travel along the first track R1; and a second mode, in which the second traveling unit U2 is set to the second wheel mounting posture and the first traveling unit U1 is set to the first wheel retraction posture, causing the vehicle body Va to travel along the second track R2. Figure 2 shows the state of the control unit C executing the first mode. Figure 3 shows the state of the control unit C executing the second mode.

[0040] In this embodiment, before changing the mode between the first and second modes, the control unit C sets the first traveling unit U1 to the first wheel mounting position and the second traveling unit U2 to the second wheel mounting position, thus creating two support states where the vehicle body Va is supported by both the first track R1 and the second track R2. When executing the first mode, the control unit C changes the second traveling unit U2 from the aforementioned two support states to the second wheel retraction position. Similarly, when executing the second mode, the control unit C changes the first traveling unit U1 from the aforementioned two support states to the first wheel retraction position. With this configuration, the vehicle body Va can be properly supported and the mode change can be performed. Furthermore, the mode change between the first and second modes is performed when the vehicle body Va is positioned at the intersection point where the first track R1 and the second track R2 intersect from a vertical perspective.

[0041] In this embodiment, in the retracted position of the first wheel of the first traveling unit U1, the first wheel 11 and the first guide wheel 12 are positioned above the first track R1 (see Figure 3). Therefore, when the control unit C executes the second mode and the transport vehicle V travels along the second direction Y, the first wheel 11 and the first guide wheel 12 can be prevented from interfering with the first track R1. Thus, the transport vehicle V can travel appropriately along the second direction Y.

[0042] In this embodiment, in the second wheel retraction posture, the second traveling unit U2 has the second wheel 21 and the second guide wheel 22 positioned lower than the second track R2 (see Figure 2). Therefore, when the control unit C executes the first mode, allowing the transport vehicle V to travel along the first direction X, the second wheel 21 and the second guide wheel 22 can be prevented from interfering with the second track R2. This allows the transport vehicle V to travel appropriately along the first direction X.

[0043] In this embodiment, the first posture change mechanism 13 includes: a first support arm 131, which is swayably connected to the vehicle body Va and supports the first wheel 11; and a first drive unit 132, which drives the first support arm 131.

[0044] In this embodiment, the first support arm 131 supports both the first wheel 11 and the first guide wheel 12. The first support arm 131 rotatably supports both the first wheel 11 and the first guide wheel 12 such that the rotation axes of the first wheel 11 and the first guide wheel 12 are in different directions. More specifically, the first support arm 131 supports the first wheel 11 and the first guide wheel 12 such that the direction along the rotation axis of the first wheel 11 is orthogonal to the direction along the rotation axis of the first guide wheel 12.

[0045] In this embodiment, the first drive unit 132 is configured to swing the first support arm 131 about a first swing axis Ax1 along the second direction Y, thereby changing the posture of the first wheel 11 relative to the vehicle body Va. In this example, the first drive unit 132 changes the posture of the first guide wheel 12 relative to the vehicle body Va by swinging the first support arm 131 about the first swing axis Ax1. The first drive unit 132 is configured, for example, to include a motor.

[0046] In this embodiment, the positions of the first wheel 11 and the first guide wheel 12 of the first traveling unit U1 in the first wheel retraction posture (shown as solid lines in FIG. 3) are positioned further towards the center of the vehicle body Va in the first direction X than the positions of the first wheel 11 and the first guide wheel 12 of the first traveling unit U1 in the first wheel mounting posture (shown as dashed lines in FIG. 3). In this example, the first wheel 11 and the first guide wheel 12 of the first traveling unit U1 in the first wheel retraction posture are positioned to overlap with the vehicle body Va from the second direction Y viewpoint. This makes it easier to miniaturize the size of the transport vehicle V in the first direction X in the first wheel retraction posture of the first traveling unit U1.

[0047] In this embodiment, the second posture change mechanism 23 includes: a second support arm 231, which is swayably connected to the vehicle body Va and supports the second wheel 21; and a second drive unit 232, which drives the second support arm 231.

[0048] In this embodiment, the second support arm 231 supports not only the second wheel 21 but also the second guide wheel 22. The second support arm 231 rotatably supports both the second wheel 21 and the second guide wheel 22 such that the rotation axes of the second wheel 21 and the second guide wheel 22 are in different directions. More specifically, the second support arm 231 supports the second wheel 21 and the second guide wheel 22 such that the direction along the rotation axis of the second wheel 21 is orthogonal to the direction along the rotation axis of the second guide wheel 22.

[0049] In this embodiment, the second drive unit 232 is configured to change the posture of the second wheel 21 relative to the vehicle body Va by swinging the second support arm 231 about a second swing axis Ax2 along the second direction Y. In this example, the second drive unit 232 changes the posture of the second guide wheel 22 relative to the vehicle body Va by swinging the second support arm 231 about the second swing axis Ax2. The second drive unit 232 is configured, for example, to include a motor.

[0050] In this embodiment, the positions of the second wheel 21 and the second guide wheel 22 of the second traveling unit U2 in the second wheel retraction posture (shown as dashed lines in FIG. 3) are positioned further towards the center of the vehicle body Va in the first direction X than the positions of the second wheel 21 and the second guide wheel 22 of the second traveling unit U2 in the second wheel mounting posture (shown as solid lines in FIG. 3). In this example, the second wheel 21 and the second guide wheel 22 of the second traveling unit U2 in the second wheel retraction posture are positioned to overlap with the vehicle body Va from the second direction Y perspective. This makes it easier to miniaturize the size of the transport vehicle V in the first direction X in the second wheel retraction posture of the second traveling unit U2.

[0051] As shown in the enlarged view of Figure 3, in this embodiment, the second posture changing mechanism 23 is configured such that, when changing the posture of the second traveling unit U2 from the second wheel retraction posture to the second wheel mounting posture, the second wheel 21 is mounted on the second traveling surface Fr2 at a position that has passed the highest position Pt of the second wheel 21's movement trajectory formed by the swing of the second support arm 231. This allows the second wheel 21 to approach and mount the second traveling surface Fr2 from above. Therefore, when changing the posture from the second wheel retraction posture to the second wheel mounting posture, the friction between the second wheel 21 and the second traveling surface Fr2 can be reduced while appropriately performing the posture change. By doing so, wear and dust generation on the second wheel 21 can be minimized.

[0052] With the configuration described above, the transport vehicle V can travel along the first track R1 in the first direction X, and can also travel along the second track R2 in the second direction Y.

[0053] Next, the configuration of the transport vehicle V for carrying items G will be explained with reference to Figures 4 and 5.

[0054] As described above, in this embodiment, the transport vehicle V includes: a lifting body Vc connected to the vehicle body Va; a lifting device Vd that causes the lifting body Vc to rise or fall relative to the vehicle body Va; and a holding part Ve that is supported by the lifting body Vc and holds the item G. The transport vehicle V is configured to transfer the item G between the platform 91 and the storage rack 8.

[0055] In this embodiment, the lifting device Vd includes: a belt Vda connected to the lifting body Vc; and a lifting drive unit Vdb that drives the belt Vda. Although detailed drawings are omitted, the lifting drive unit Vdb includes: a pulley around which the belt Vda is wound; and a motor that rotates and drives the pulley.

[0056] In this embodiment, the holding part Ve is configured to change the posture to: a holding posture, holding the item G; and a holding release posture, releasing the holding of the item G. In this example, the holding part Ve includes: a pair of holding claws Vea that can approach or separate from each other; and a holding drive part Veb that drives the pair of holding claws Vea. The pair of holding claws Vea are in a holding posture by approaching each other, and in a holding release posture by separating from each other.

[0057] In this embodiment, the lifting device Vd is configured to raise and lower the lifting body Vc between a pair of first track bodies RB1 in the first width direction Xw from a vertical perspective. In this example, the control unit C allows the lifting body Vc to be raised and lowered by the lifting device Vd during the execution of the first mode. To further clarify, when the control unit C executes the first mode, the vehicle body Va will be positioned between a pair of first track bodies RB1 in the first width direction Xw from a vertical perspective. That is, when the control unit C executes the first mode, the lifting body Vc is positioned so as not to overlap with the first track bodies RB1 from a vertical perspective. In this case, the lifting body Vc can be raised and lowered without interfering with the first track bodies RB1.

[0058] Ideally, during the execution of the second mode, the control unit C prohibits the lifting of the lifting body Vc by the lifting device Vd. To further explain, when the control unit C executes the second mode, the position of the lifting body Vc in the second direction Y is determined by the current position of the vehicle body Va traveling along the second track R2. Therefore, the first track body RB1 may be positioned directly below the lifting body Vc. When the lifting body Vc is lowered in this state, it will interfere with the first track body RB1. However, by prohibiting the lifting of the lifting body Vc by the lifting device Vd during the execution of the second mode, the interference between the lifting body Vc and the first track body RB1 described above can be avoided. Furthermore, even during the execution of the second mode, the lifting of the lifting body Vc by the lifting device Vd can be permitted under the condition that the first track body RB1 is not positioned directly below the lifting body Vc. In this case, the fact that the first track body RB1 is not positioned directly below the lifting body Vc can be confirmed by, for example, using a sensor to detect the position of the first track body RB1 relative to the vehicle body Va.

[0059] The transport vehicle V further includes: a sliding device Vf, which allows the holding part Ve to slide horizontally relative to the lifting body Vc; and a locking device Vg, which is supported by the lifting body Vc.

[0060] In this embodiment, the sliding device Vf includes: a sliding body Vfa, a supporting and retaining portion Ve, which moves forward and backward in the horizontal direction; and a sliding drive unit (not shown) that drives the sliding body Vfa to move forward and backward. By moving the sliding body Vfa forward and backward, the retaining portion Ve supported by the sliding body Vfa can be displaced in the horizontal direction. In this embodiment, the sliding device Vf is configured to slide the retaining portion Ve along the second direction Y. Therefore, as shown in FIG4, even when the platform 91 is positioned offset from the first track R1 in the first width direction Xw (second direction Y), the article G can be properly transferred between the platform 91 and the platform 91. Furthermore, as shown in FIG5, in this embodiment, the storage rack 8 is positioned offset from the first track R1 in the first width direction Xw (second direction Y). Thus, by means of the sliding device Vf, the article G can be properly transferred even between the storage rack 8 and the storage rack 8. Additionally, the storage rack 8 is supported by the first track R1, which is located lower than the first track R1. In the illustrated example, the storage rack 8 is supported by a pair of first track bodies RB1, which are other first tracks R1 adjacent to the first track R1 with the conveyor V in the first width direction Xw (second direction Y).

[0061] In this embodiment, the transport vehicle V further includes a second lifting device Vd2, which is located below the sliding device Vf and causes the holding part Ve to move up and down relative to the sliding device Vf. The lifting device Vd and the second lifting device Vd2 are different devices. To distinguish it from the second lifting device Vd2, the lifting device Vd can also be referred to as the "first lifting device Vd".

[0062] In this embodiment, when the maximum lifting range that the lifting device Vd can raise and lower the lifting body Vc is defined as the first lifting range, and the maximum lifting range that the second lifting device Vd2 can raise and lower the holding part Ve is defined as the second lifting range, the first lifting range and the second lifting range are different. In this example, the first lifting range is shorter than the second lifting range. That is, the range that the lifting body Vc can rise and fall is shorter than the range that the holding part Ve can rise and fall.

[0063] In this embodiment, the second lifting device Vd2 includes: a belt Vd2a connected to the holding part Ve; and a lifting drive part (not shown) that drives the belt Vd2a. Although detailed illustrations are omitted, the lifting drive part of the second lifting device Vd2 includes: a pulley around which the belt Vd2a is wound; and a motor that rotates and drives the pulley.

[0064] Here, the first track R1 has a locking part Rg. In this embodiment, the locking part Rg is positioned in the first direction X at a position corresponding to the location S of the transfer object. In this example, the locking part Rg is positioned in the first direction X at a position corresponding to the loading platform 91 and a position in the first direction X corresponding to the storage rack 8.

[0065] The engaging portion Rg is provided on at least one of the pair of first track bodies RB1. In this embodiment, the engaging portion Rg is provided on both sides of the pair of first track bodies RB1. The engaging portion Rg provided on each of the pair of first track bodies RB1 is arranged at the same position relative to each other in the first direction X. Specifically, the engaging portion Rg provided on each of the pair of first track bodies RB1 is arranged at the same position relative to each other in both the first direction X and the vertical direction. In other words, the engaging parts Rg of each of the pair of first orbital bodies RB1 are configured to face each other in the second direction Y.

[0066] In this embodiment, the engaging portion Rg is fixed to the first track R1 at a lower position than the first traveling surface Fr1. Specifically, each of the pair of first track bodies RB1, which are separately arranged in the first width direction Xw, is fixed with the engaging portion Rg. Furthermore, the engaging portion Rg is configured to protrude downward from the first track body RB1.

[0067] As shown in Figure 6, in this embodiment, the engaging portion Rg includes: a block portion Rga, which is formed in a block shape; and an engaging hole Rgb formed in the block portion Rga. The engaging hole Rgb is open on a surface of the block portion Rga facing inward in the first width direction Xw (second direction Y). In this example, the engaging hole Rgb is formed such that the opening area narrows from the inside of the first width direction Xw (second direction Y) towards the outside of the first width direction Xw (second direction Y). In the illustrated example, the engaging hole Rgb is formed in a conical shape.

[0068] As shown in Figures 4 and 5, the engaging device Vg is supported by the lifting body Vc. The engaging device Vg includes: an engaging part Vga, which engages with the engaged part Rg; and an engaging drive part Vgb, which changes the position of the engaging part Vga to an engaging position and a disengaging position.

[0069] In this embodiment, the engaging device Vg includes a pair of engaging portions Vga. The pair of engaging portions Vga are configured to protrude outward relative to the lifting body Vc in the first width direction Xw (second direction Y), at least in the engaging position. In this example, each of the pair of engaging portions Vga is formed as a rod and is supported by the lifting body Vc in a position along the first width direction Xw (second direction Y). In this example, the front end of each of the pair of engaging portions Vga is formed to taper outward toward the outer side (the side with the engaging hole Rgb) in the first width direction Xw (second direction Y). In the illustrated example, the front end of the engaging portion Vga is formed as a hemispherical shape.

[0070] The engagement drive unit Vgb is configured to change the posture of the engagement part Vga by moving it forward and backward along the first width direction Xw (second direction Y), changing the posture to an engagement posture and a disengagement posture. In this example, the engagement drive unit Vgb is configured to change the posture of a pair of engagement parts Vga. The engagement drive unit Vgb preferably has a known mechanism for moving the object (engaging part Vga), such as a ball screw mechanism or a linkage mechanism.

[0071] In the engaged position, the engaging part Vga engages with the engaged part Rg, restricting the lifting and tilting of the lifting body Vc. In the disengaged position, the engaging part Vga separates from the engaged part Rg, allowing the lifting body Vc to move up and down. Figures 4 and 5 show the engaged position of the engaging part Vga. Figure 2 shows the disengaged position of the engaging part Vga.

[0072] When the lifting body Vc is raised or lowered by the lifting device Vd, the control unit C sets the engaging part Vga to a released position, and when the holding part Ve protrudes horizontally relative to the lifting body Vc by the sliding device Vf, the control unit C sets the engaging part Vga to an engaged position. In this embodiment, the control unit C sets the engaging part Vga to an engaged position, and the sliding device Vf either causes the holding part Ve to protrude relative to the lifting body Vc in the first width direction Xw (second direction Y), or causes the holding part Ve to retract relative to the lifting body Vc in the first width direction Xw (second direction Y). With the above configuration, when the item G is transferred to a position that is horizontally offset from directly below the transport vehicle V, setting the engaging part Vga to an engaged position can limit the tilting of the lifting body Vc. This allows for the appropriate transfer of the item G to a position that is horizontally offset from directly below the transport vehicle V. Furthermore, during the engagement position, the locking part Vga also positions the lifting body Vc in the first direction X. This allows for easy alignment in the first direction X when transferring items G between the platform 91 or the storage rack 8.

[0073] In this embodiment, the transport vehicle V is configured to slide the holding part Ve by means of the sliding device Vf, thereby performing the transfer operation of transferring the item G to the platform 91 and the receiving operation of receiving the item G from the platform 91.

[0074] As shown in Figure 4, when the control unit C causes the transport vehicle V to perform the transfer operation of item G to the loading platform 91, the lifting device Vd lowers the lifting body Vc and sets the engaging part Vga to an engaged position. Furthermore, the control unit C uses the sliding device Vf to make the holding part Ve protrude relative to the lifting body Vc in the first width direction Xw (second direction Y), positioning the holding part Ve directly above the loading platform 91. Then, the control unit C uses the second lifting device Vd2 to lower the holding part Ve and sets it to a released position, thus placing item G on the loading platform 91. When the control unit C causes the transport vehicle V to perform the receiving operation of item G to the loading platform 91, the devices perform the opposite operations described above.

[0075] Furthermore, when the platform 91 is not positioned offset from the first track R1 in the first width direction Xw (second direction Y), but rather positioned overlapping the first track R1 in a vertical view (directly below the transport vehicle V), it is not necessary to slide the holding part Ve using the sliding device Vf. In this case, the control unit C moves the item G between itself and the platform 91 positioned directly below the transport vehicle V by actuating at least one of the lifting device Vd and the second lifting device Vd2. In this case, depending on the situation, the engaging part Vga can be set to either an engaging or disengaged position.

[0076] As described above, the transport vehicle V is configured to transfer items G between the platform 91 and the storage rack 8. That is, in this embodiment, the transport vehicle V is configured to slide the holding part Ve by means of the sliding device Vf, thereby performing the transfer operation of transferring items G to the storage rack 8 and the receiving operation of receiving items G from the storage rack 8.

[0077] As shown in Figure 5, when the transport vehicle V performs the transfer or receiving action of item G to storage rack 8, the control unit C uses the lifting device Vd to position the lifting body Vc at a height corresponding to the storage rack 8, and sets the engaging part Vga to an engaged position. In this embodiment, when the transport vehicle V performs the transfer action of item G to storage rack 8, the control unit C uses the lifting device Vd to lower the lifting body Vc, and sets the engaging part Vga to an engaged position. Furthermore, the control unit C uses the sliding device Vf to make the holding part Ve protrude relative to the lifting body Vc in the first width direction Xw (second direction Y), positioning the holding part Ve directly above the storage rack 8. Then, the control unit C uses the second lifting device Vd2 to lower the holding part Ve, and sets the holding part Ve to a released position, thus placing item G on storage rack 8. When the transport vehicle V performs the receiving action of item G to storage rack 8, the control unit C causes each device to perform the opposite actions described above.

[0078] [Second Implementation] Next, a second embodiment of the goods conveying device 100 will be described with reference to Figures 7 and 8. The following description will focus primarily on the differences from the first embodiment described above. Points not specifically described are the same as in the first embodiment described above.

[0079] As shown in Figures 7 and 8, the article conveying equipment 100 of this embodiment includes: a second conveying vehicle V2; a third track R3 with a third traveling surface Fr3; and a fourth track R4 with a fourth traveling surface Fr4.

[0080] The second transport vehicle V2 is configured to travel on a different path than the transport vehicle V. Specifically, the second transport vehicle V2 is configured to travel along the third track R3 and the fourth track R4. That is, a travel path for the second transport vehicle V2 is set along each of the third track R3 and the fourth track R4.

[0081] The third track R3 is positioned below the first track R1 and is configured to intersect the first track R1 in a vertical view. In this example, the third track R3 is configured parallel to the second track R2. That is, in this example, the third track R3 extends along the second direction Y and is configured to be orthogonal to the first track R1 in a vertical view.

[0082] The fourth track R4 is positioned between the first track R1 and the third track R3 in the vertical direction, and is parallel to the first track R1 in the vertical direction. That is, in this example, the fourth track R4 extends along the first direction X and is configured to be orthogonal to both the second track R2 and the third track R3 in the vertical direction.

[0083] Thus, in this embodiment, the third track R3 extends along the second direction Y, and the fourth track R4 extends along the first direction X. Therefore, the third track R3 and the fourth track R4 are orthogonal in a vertical view. Furthermore, a plurality of third tracks R3 are arranged in the second width direction Yw (first direction X). Also, a plurality of fourth tracks R4 are arranged in the first width direction Xw (second direction Y). Therefore, in this example, a plurality of third tracks R3 and a plurality of fourth tracks R4 form a grid-like walking path in a vertical view at the intersection CA.

[0084] As described above, the fourth track R4 has a fourth traveling surface Fr4, which is used to allow the second transport vehicle V2 to travel along the first direction X. In this embodiment, the fourth track R4 has a fourth guiding surface Fg4, which faces a direction orthogonal to the first direction X in a vertical view (in this example, the second direction Y). In other words, the fourth track R4 has a fourth guiding surface Fg4 facing the first width direction Xw. The fourth guide surface Fg4 is used to guide the second transport vehicle V2 along the first direction X.

[0085] Furthermore, as mentioned above, the third track R3 has a third traveling surface Fr3, which is used to allow the second transport vehicle V2 to travel along the second direction Y. In this embodiment, the third track R3 has a third guiding surface Fg3, which faces a direction orthogonal to the second direction Y in a vertical view (in this example, the first direction X). In other words, the third track R3 has a third guiding surface Fg3 facing the second width direction Yw. The third guiding surface Fg3 is a surface used to guide the second transport vehicle V2 along the second direction Y.

[0086] As shown in Figure 7, in this embodiment, the fourth track R4 includes a pair of fourth track bodies RB4 separately arranged in the first width direction Xw. In this example, each of the plurality of fourth tracks R4 arranged in the first width direction Xw includes a pair of fourth track bodies RB4 separately arranged in the first width direction Xw. That is, one fourth track R4 is constituted by a pair of fourth track bodies RB4 separately arranged in the first width direction Xw, and the plurality of fourth tracks R4 are arranged in the first width direction Xw.

[0087] In this embodiment, two adjacent fourth tracks R4 in the first width direction Xw share one fourth track body RB4, and a pair of fourth traveling surfaces Fr4 are formed on this fourth track body RB4. The aforementioned pair of fourth traveling surfaces Fr4 belongs to each of the two adjacent fourth tracks R4 in the first width direction Xw. Therefore, the number of fourth track bodies RB4 can be reduced as a whole. Consequently, the time required to install the fourth tracks R4 can be reduced.

[0088] In this embodiment, the fourth track body RB4 and the first track body RB1, which is adjacent to the fourth track body RB4 on its upper side, are integrally formed. This allows the transport vehicle V and the second transport vehicle V2 to travel at different positions in the vertical direction, and also reduces the number of first track bodies RB1 and fourth track bodies RB4 required for the entire device. Consequently, the time required to install the first track RB1 and the fourth track RB4 is easily reduced.

[0089] In this embodiment, the fourth track body RB4 includes: a fourth body portion R41 extending along a first direction X; and a fourth wall portion R42 protruding upward from the fourth body portion R41 and extending along the first direction X. Furthermore, a fourth traveling surface Fr4 is formed on the upward-facing surface of the fourth body portion R41. In this example, the fourth traveling surface Fr4 is disposed on each side of the fourth wall portion R42 in the first width direction Xw. Furthermore, a fourth guide surface Fg4 is formed on each of the two surfaces of the fourth wall portion R42 facing the first width direction Xw. With the above configuration, the second transport vehicle V2 that travels on one side of the fourth wall portion R42 in the first width direction Xw and another second transport vehicle V2 (not shown) that travels on the other side of the fourth wall portion R42 in the first width direction Xw can travel appropriately by means of a pair of fourth travel surfaces Fr4 provided by a fourth track body RB4, and can be properly guided by a pair of fourth guide surfaces Fg4 provided by a fourth track body RB4.

[0090] As described above, in this embodiment, the fourth orbital body RB4 and the first orbital body RB1, which is adjacent to the fourth orbital body RB4 on its upper side, are integrally formed. In this example, the fourth wall portion R42 of the fourth orbital body RB4 is connected to the first body portion R11 of the first orbital body RB1 from below. This allows the fourth orbital body RB4 and the first orbital body RB1 to be integrally formed. For example, the fourth orbital body RB4 and the first orbital body RB1 can also be integrally formed by connecting the components constituting the fourth orbital body RB4 with other components constituting the first orbital body RB1. Alternatively, the fourth orbital body RB4 and the first orbital body RB1 can also be constituted by a single identical component. That is, a portion of this identical component constitutes the fourth orbital body RB4, and the other portion constitutes the first orbital body RB1.

[0091] As shown in Figure 8, in this embodiment, the third track R3 includes a pair of third track bodies RB3 separately arranged in the second width direction Yw. In this example, each of the plurality of third tracks R3 arranged in the second width direction Yw includes a pair of third track bodies RB3 separately arranged in the second width direction Yw. That is, one third track R3 is constituted by a pair of third track bodies RB3 separately arranged in the second width direction Yw, and the plurality of third tracks R3 are arranged in the second width direction Yw.

[0092] In this embodiment, two adjacent third tracks R3 in the second width direction Yw share one third track body RB3, and a pair of third traveling surfaces Fr3 are formed on this third track body RB3. The aforementioned pair of third traveling surfaces Fr3 belongs to each of the two adjacent third tracks R3 in the second width direction Yw. Therefore, the number of third track bodies RB3 can be reduced as a whole. Consequently, the working time for installing the third tracks R3 can be reduced.

[0093] In this embodiment, the third track body RB3 includes: a third body portion R31 extending along the second direction Y; and a third wall portion R32 protruding upward from the third body portion R31 and extending along the second direction Y. Furthermore, a third traveling surface Fr3 is formed on the upward-facing surface of the third body portion R31. In this example, the third traveling surface Fr3 is disposed on each side of the third wall portion R32 in the second width direction Yw. Furthermore, a third guiding surface Fg3 is formed on each of the two surfaces of the third wall portion R32 facing the second width direction Yw. With the above configuration, the second transport vehicle V2, which travels on one side of the third wall portion R32 in the second width direction Yw, and another second transport vehicle V2 (not shown), which travels on the other side of the third wall portion R32 in the second width direction Yw, can travel appropriately using a pair of third travel surfaces Fr3 provided by a third track body RB3, and can be appropriately guided using a pair of third guide surfaces Fg3 provided by a third track body RB3. In this example, the cross-section of the third track body RB3 orthogonal to the second direction Y is formed in an inverted T-shape.

[0094] The second transport vehicle V2 includes: a second vehicle body V2a; a third traveling unit U3 for moving the second vehicle body V2a along the third track R3; a fourth traveling unit U4 for moving the second vehicle body V2a along the fourth track R4; and a second control unit C2 (see Figure 8) for controlling the operation of the third traveling unit U3 and the fourth traveling unit U4. The second vehicle body V2a is positioned vertically between the third track R3 and the fourth track R4. Specifically, the second vehicle body V2a is positioned vertically between the upper end of the third track body RB3 (the upper end of the third wall portion R32) and the lower end of the fourth track body RB4 (the lower end of the fourth body portion R41). Other configurations of the second transport vehicle V2 (e.g., configurations for transferring items G) may be the same as those of the transport vehicle V described above, or may differ in some aspects.

[0095] The third traveling unit U3 includes: a third wheel 31; and a third posture changing mechanism 33, which changes the posture of the third wheel 31 relative to the second vehicle body V2a. The third traveling unit U3 is configured to change the posture to: a third wheel mounting posture, in which the third wheel 31 is mounted on the third traveling surface Fr3; and a third wheel retraction posture, in which the third wheel 31 is separated from the third traveling surface Fr3. Figures 7 and 8 show the third wheel retraction posture of the third traveling unit U3.

[0096] In this embodiment, the third traveling unit U3 includes a third guide wheel 32 guided by a third guide surface Fg3. The third guide wheel 32 is configured to contact the third guide surface Fg3 in the third wheel-mounted position of the third traveling unit U3, and to separate from the third guide surface Fg3 in the third wheel-retreating position of the third traveling unit U3. With this configuration, when the third traveling unit U3 moves the second vehicle body V2a along the third track R3 in the third wheel-mounted position, the third guide wheel 32 can appropriately guide the second vehicle body V2a along the third track R3.

[0097] Although detailed illustrations are omitted, in this embodiment, in the third wheel mounting posture of the third traveling unit U3, with the rotation axis of the third wheel 31 facing the second width direction Yw (first direction X), the third wheel 31 is mounted on the third traveling surface Fr3. Furthermore, in the third wheel mounting posture of the third traveling unit U3, with the rotation axis of the third guide wheel 32 facing the vertical direction, the third guide wheel 32 is in contact with the third guide surface Fg3.

[0098] In this embodiment, the second transport vehicle V2 has a plurality of third traveling units U3. The second transport vehicle V2 is configured to travel along the third track R3 using the plurality of third traveling units U3. As described above, the third track R3 for the second transport vehicle V2 to travel along the second direction Y includes a pair of third track bodies RB3 (see FIG8) separately arranged in the second width direction Yw. Moreover, in this embodiment, the third traveling units U3 are provided corresponding to each of the pair of third track bodies RB3 separately arranged in the second width direction Yw. In this example, in each of the two sides of the second vehicle body V2a in the second width direction Yw (first direction X), a pair of third traveling units U3 are separately arranged in the second direction Y (see FIG7). That is, in this example, the second transport vehicle V2 has a total of 4 third traveling units U3.

[0099] The fourth traveling unit U4 includes: a fourth wheel 41; and a fourth posture changing mechanism 43, which changes the posture of the fourth wheel 41 relative to the second vehicle body V2a. The fourth traveling unit U4 is configured to change the posture to: a fourth wheel mounting posture, in which the fourth wheel 41 is mounted on the fourth traveling surface Fr4; and a fourth wheel retraction posture, in which the fourth wheel 41 is separated from the fourth traveling surface Fr4. Figures 7 and 8 show the fourth wheel mounting posture of the fourth traveling unit U4.

[0100] In this embodiment, the fourth traveling unit U4 includes a fourth guide wheel 42 guided by a fourth guide surface Fg4. The fourth guide wheel 42 is configured to contact the fourth guide surface Fg4 in the fourth wheel-mounted position of the fourth traveling unit U4, and to separate from the fourth guide surface Fg4 in the fourth wheel-retreating position of the fourth traveling unit U4. With this configuration, when the fourth traveling unit U4 moves the second vehicle body V2a along the fourth track R4 in the fourth wheel-mounted position, the fourth guide wheel 42 can appropriately guide the second vehicle body V2a along the fourth track R4.

[0101] In this embodiment, in the fourth wheel mounting posture of the fourth traveling unit U4, with the rotation axis of the fourth wheel 41 facing the first width direction Xw (the second direction Y), the fourth wheel 41 is mounted on the fourth traveling surface Fr4. Furthermore, in the fourth wheel mounting posture of the fourth traveling unit U4, with the rotation axis of the fourth guide wheel 42 facing the vertical direction, the fourth guide wheel 42 is in contact with the fourth guide surface Fg4.

[0102] In this embodiment, the second transport vehicle V2 has a plurality of fourth traveling units U4. The second transport vehicle V2 is configured to travel along the fourth track R4 using the plurality of fourth traveling units U4. As described above, the fourth track R4 for the second transport vehicle V2 to travel along the first direction X includes a pair of fourth track bodies RB4 (see FIG7) separately arranged in the first width direction Xw. Furthermore, in this embodiment, the fourth traveling units U4 are provided corresponding to each of the pair of fourth track bodies RB4 separately arranged in the first width direction Xw. Also, in this example, in each of the two sides of the second width direction Yw (first direction X) of the second vehicle body V2a, a pair of fourth traveling units U4 are separately arranged in the second direction Y (see FIG7). That is, in this example, the second transport vehicle V2 has a total of 4 fourth traveling units U4.

[0103] The second control unit C2 is configured to change the mode to: a third mode, in which the third traveling unit U3 is set to the third wheel mounting position and the fourth traveling unit U4 is set to the fourth wheel retraction position, causing the second vehicle body V2a to travel along the third track R3; and a fourth mode, in which the fourth traveling unit U4 is set to the fourth wheel mounting position and the third traveling unit U3 is set to the third wheel retraction position, causing the second vehicle body V2a to travel along the fourth track R4. Figures 7 and 8 show the state of the second control unit C2 executing the fourth mode. Furthermore, the mode change between the third and fourth modes is performed when the second vehicle body V2a is positioned at the intersection of the third track R3 and the fourth track R4 in a vertical view.

[0104] In this embodiment, in the retracted position of the third wheel of the third traveling unit U3, the third wheel 31 and the third guide wheel 32 are positioned higher than the third track R3. Therefore, when the second control unit C2 executes the fourth mode and the second transport vehicle V2 travels along the first direction X, the third wheel 31 and the third guide wheel 32 can be prevented from interfering with the third track R3. Thus, the second transport vehicle V2 can travel appropriately along the first direction X.

[0105] Although detailed illustrations are omitted, in this embodiment, in the fourth traveling unit U4, the fourth wheel 41 and the fourth guide wheel 42 are positioned below the fourth track R4 in the fourth wheel reversing posture. Therefore, when the second control unit C2 executes the third mode and the second transport vehicle V2 moves along the second direction Y, it is possible to prevent the fourth wheel 41 and the fourth guide wheel 42 from interfering with the fourth track R4. Thus, the second transport vehicle V2 can move appropriately along the second direction Y.

[0106] In this embodiment, the third posture change mechanism 33 includes: a third support arm 331, which is swayably connected to the second vehicle body V2a and supports the third wheel 31; and a third drive unit 332, which drives the third support arm 331.

[0107] In this embodiment, the third support arm 331 supports not only the third wheel 31 but also the third guide wheel 32. The third support arm 331 rotatably supports both the third wheel 31 and the third guide wheel 32 such that the rotation axes of the third wheel 31 and the third guide wheel 32 are in different directions. More specifically, the third support arm 331 supports the third wheel 31 and the third guide wheel 32 such that the direction along the rotation axis of the third wheel 31 is orthogonal to the direction along the rotation axis of the third guide wheel 32.

[0108] In this embodiment, the third drive unit 332 is configured to swing the third support arm 331 around a third swing axis Ax3 along the first direction X, thereby changing the posture of the third wheel 31 relative to the second vehicle body V2a. In this example, the third drive unit 332 changes the posture of the third guide wheel 32 relative to the second vehicle body V2a by swinging the third support arm 331 around the third swing axis Ax3. The third drive unit 332 is configured, for example, to include a motor.

[0109] In this embodiment, the fourth posture change mechanism 43 includes: a fourth support arm 431, which is swayably connected to the second vehicle body V2a and supports the fourth wheel 41; and a fourth drive unit 432, which drives the fourth support arm 431.

[0110] In this embodiment, the fourth support arm 431 supports not only the fourth wheel 41 but also the fourth guide wheel 42. The fourth support arm 431 rotatably supports both the fourth wheel 41 and the fourth guide wheel 42 such that the rotation axes of the fourth wheel 41 and the fourth guide wheel 42 are in different directions. More specifically, the fourth support arm 431 supports the fourth wheel 41 and the fourth guide wheel 42 such that the direction along the rotation axis of the fourth wheel 41 is orthogonal to the direction along the rotation axis of the fourth guide wheel 42.

[0111] In this embodiment, the fourth drive unit 432 is configured to change the posture of the fourth wheel 41 relative to the second vehicle body V2a by swinging the fourth support arm 431 about a fourth swing axis Ax4 along the first direction X. In this example, the fourth drive unit 432 changes the posture of the fourth guide wheel 42 relative to the second vehicle body V2a by swinging the fourth support arm 431 about the fourth swing axis Ax4. The fourth drive unit 432 is configured, for example, to include a motor.

[0112] [Other Implementation Forms] Next, other implementations of the material handling equipment will be described.

[0113] (1) In the above embodiment, the following example is described: the engaging portion Rg has a block portion Rga and an engaging hole Rgb formed in the block portion Rga, and the engaging hole Rgb is formed in a conical shape. However, it is not limited to this example. For example, as shown in FIG9, the engaging portion Rg may also have a through hole Rgc through which the plate-shaped member passes. In this case, it is more ideal that the engaging portion Vga of the engaging device Vg has, for example, a hook Vgaa that engages with the engaging portion Rg. In this case, the engaging portion Vga is engaged by having the hook Vgaa engage with the engaging portion Rg.

[0114] Furthermore, as another example of the engaging portion Vga and the engaged portion Rg, as shown in Figure 10, one of the engaged portion Rg and the engaging portion Vga can be constructed by a magnetic component, and the other can be constructed by a magnet (permanent magnet or electromagnet). In this case, the engaging portion Vga is engaged by magnetically adsorbing onto the engaged portion Rg.

[0115] Furthermore, as another example of the engaging portion Vga and the engaged portion Rg, as shown in Figure 11, the engaged portion Rg may also have an adsorption surface Rgd that adsorbs the engaging portion Vga. In this case, it is more ideal that the engaging portion Vga has an attraction portion Vgab that generates an attractive force. In this case, the engaging portion Vga is engaged by adsorbing onto the adsorption surface Rgd of the engaged portion Rg through the attractive force of the attraction portion Vgab. As the attraction portion Vgab, a pump that generates negative pressure can be used, for example.

[0116] Furthermore, as another example of the engaging portion Vga and the engaged portion Rg, as shown in Figure 12, the engaging portion Vga may also have a roller Vgac, and the engaged portion Rg may also have an opening Rge for guiding the roller Vgac. In this case, the engaging portion Vga is engaged by inserting the roller Vgac into the opening Rge.

[0117] (2) In the above embodiment, the following example was described: the second track R2 has a second running surface Fr2 and a second guide surface Fg2. However, it is not limited to this example; the second track R2 may also not have a second guide surface Fg2. In this case, for example, as shown in FIG13, the second running surface Fr2 may also be configured to slope downward toward the inside of the second width direction Yw. Furthermore, it is more ideal that the second track R2 has a detachment prevention part R23 to prevent the second wheel 21 from detaching from the second running surface Fr2. In the example shown in FIG13, the detachment prevention part R23 is formed to stand upright from the end of the second running surface Fr2 in the second width direction Yw. In addition, in the above configuration, the second traveling unit U2 may also not have a second guide wheel 22. The above content also applies to the first track R1 and the first traveling unit U1. That is, the first track R1 may not have a first guide surface Fg1, and the first traveling unit U1 may not have a first guide wheel 12. In this case, the first traveling surface Fr1 is preferably formed to be inclined relative to the first width direction Xw, and the first track R1 is preferably provided with a detachment prevention part to prevent the first wheel 11 from detaching.

[0118] (3) In the above embodiment, the following example is described: a second track R2 is formed by a pair of second track bodies RB2 arranged separately in the second width direction Yw. However, it is not limited to this example, and a second track R2 can also be formed by a single second track body RB2. In this case, for example, as shown in FIG14, the cross section of the second track body RB2 orthogonal to the second direction Y can also be formed as an inverted L-shape. Furthermore, more ideally, the second traveling unit U2 has a plurality of second wheels 21 arranged in the second width direction Yw (the first direction X) in the second wheel mounting posture (two second wheels 21 in the illustrated example), and the second traveling unit U2 is configured to mount these plurality of second wheels 21 on the second traveling surface Fr2. Based on this configuration, even when the second wheel of the second traveling unit U2 is mounted in a certain position, the transport vehicle V can be easily stabilized by suspending and supporting it with a second track body RB2.

[0119] Furthermore, as another example of a second track R2 constructed by a single second track body RB2, as shown in FIG15, the second track body RB2 can also be formed as a cylindrical shape open at the bottom, and has a pair of second traveling surfaces Fr2 separately arranged in the second width direction Yw. In this case, it is more ideal that the second traveling unit U2 has a pair of second wheels 21 separately arranged in the second width direction Yw, and the second traveling unit U2 is configured to raise and lower the pair of second wheels 21, and to bring the pair of second wheels 21 closer together or separate them along the second width direction Yw. The second traveling unit U2 aligns the pair of second wheels 21 vertically with the pair of second traveling surfaces Fr2 by raising the pair of second wheels 21. Furthermore, the second traveling unit U2 aligns the pair of second wheels 21 with the pair of second traveling surfaces Fr2 in the second width direction Yw by separating the pair of second wheels 21 from each other. In this way, the second traveling unit U2 becomes the second wheel mounting position. In addition, although detailed illustrations are omitted, the first track R1 can also be constructed by one first track body RB1 instead of two first track bodies RB1.

[0120] (4) In the above embodiment, the following example was described: the lifting device Vd raises and lowers the lifting body Vc by means of a belt Vda connected to the lifting body Vc and a lifting drive part Vdb of the drive belt Vda. However, it is not limited to this example. For example, as shown in FIG16, the lifting device Vd may also be configured to raise and lower the lifting body Vc by means of a ball screw mechanism Vdc. In this case, it is more ideal that the lifting device Vd has a drive source such as a motor that rotates the screw part of the ball screw mechanism Vdc.

[0121] Furthermore, as another example of the lifting device Vd, as shown in Figure 17, the lifting device Vd can also be configured to use a scaling element Vdd to raise and lower the lifting body Vc. Although detailed illustrations are omitted, in other cases, the lifting device Vd can also be configured to use a cross linkage or the like to raise and lower the lifting body Vc.

[0122] (5) In the above embodiment, the following example is used for illustration: the goods conveying device 100 has an intersection area CA, which is the area where the walking path along the first track R1 intersects with the walking path along the second track R2. For example, as shown in FIG18, the goods conveying device 100 may also have a plurality of intersection areas CA. In this case, it is more ideal that the goods conveying device 100 has a connecting path CR connecting the plurality of intersection areas CA. The connecting path CR may also be formed by extending the first track R1 or the second track R2 provided in the intersection area CA (in the example shown, the first track R1 is extended). Furthermore, as shown in the figure, the connecting path CR may also have a straight section or a curved section.

[0123] (6) In the above implementation, the following example is used for illustration: the first track R1 and the second track R2 are orthogonal in the vertical direction. However, the first track R1 and the second track R2 only need to intersect in the vertical direction, or they do not have to be orthogonal.

[0124] (7) In the above embodiment, the following example is described: the first track body RB1 has a first body portion R11 and a first wall portion R12, and the cross section of the first track body RB1 orthogonal to the first direction X is formed in reverse T shape. However, it is not limited to this example. The first track body RB1 can have a first travel surface Fr1 for allowing the transport vehicle V to travel along the first direction X, and it can also be any cross section shape.

[0125] (8) In the above embodiment, the following example is described: the second track body RB2 has a second body portion R21 and a second wall portion R22, and the cross section of the second track body RB2 orthogonal to the second direction Y is formed in the form of an inverted T-shape. However, it is not limited to this example. The second track body RB2 may have a second traveling surface Fr2 for allowing the transport vehicle V to travel along the second direction Y, and may also have any cross section shape.

[0126] (9) In the above embodiment, the following example is used for illustration: the fourth orbital body RB4 and the first orbital body RB1 which is adjacent to the fourth orbital body RB4 on the upper side are integrally formed. However, it is not limited to this example, the fourth orbital body RB4 and the first orbital body RB1 which is adjacent to the fourth orbital body RB4 on the upper side may also be separated in the vertical direction.

[0127] (10) In the above embodiment, the following example is described: the engaging part Rg is fixed to the first track R1 at a lower position than the first traveling surface Fr1. However, it is not limited to this example; the engaging part Rg may also be positioned at a higher position than the first traveling surface Fr1, instead of at a lower position than the first traveling surface Fr1. Furthermore, the engaging part Rg may also be fixed to a component different from the first track R1. Other components may include, for example, a frame or bracket connected to the first track R1.

[0128] (11) In the above embodiment, the following example was described: the first drive unit 132 is configured to swing the first support arm 131 about a first swing axis Ax1 along the second direction Y, thereby changing the posture of the first wheel 11 relative to the vehicle body Va. However, it is not limited to this example. The configuration for changing the posture of the first wheel 11 relative to the vehicle body Va can be any configuration as long as it can realize the first wheel mounting posture and the first wheel retraction posture of the first walking unit U1. For example, the first drive unit 132 may also be configured to slide the first wheel 11 in the vertical direction or swing about an axis different from the above embodiment, thereby changing the posture of the first wheel 11 relative to the vehicle body Va.

[0129] (12) In the above embodiment, the following example was described: the second drive unit 232 is configured to swing the second support arm 231 about a second swing axis Ax2 along the second direction Y, thereby changing the posture of the second wheel 21 relative to the vehicle body Va. However, it is not limited to this example. The configuration for changing the posture of the second wheel 21 relative to the vehicle body Va can be any configuration as long as it can realize the second wheel mounting posture and the second wheel retraction posture of the second travel unit U2. For example, the second drive unit 232 may also be configured to slide the second wheel 21 in the vertical and horizontal directions, or swing about an axis different from the above embodiment, thereby changing the posture of the second wheel 21 relative to the vehicle body Va.

[0130] (13) In the above embodiment, the following example was described: the first drive unit 132 causes the first support arm 131 to swing, thereby changing the posture of the first wheel 11 relative to the vehicle body Va and the posture of the first guide wheel 12 relative to the vehicle body Va. However, it is not limited to this example. The posture change of the first guide wheel 12 may also be performed using a drive source different from the first drive unit 132 or a component different from the first support arm 131.

[0131] (14) In the above embodiment, the following example was described: the second drive unit 232 causes the second support arm 231 to swing, thereby changing the posture of the second wheel 21 relative to the vehicle body Va and the posture of the second guide wheel 22 relative to the vehicle body Va. However, it is not limited to this example. The posture change of the second guide wheel 22 may also be performed using a drive source different from the second drive unit 232 or a component different from the second support arm 231.

[0132] (15) In the above embodiment, the following example was described: the first wheel 11 is configured to be rotatably driven, thereby generating a propulsive force for moving the vehicle body Va along the first direction X. However, it is not limited to this example, and the propulsive force for moving the vehicle body Va along the first direction X can also be generated by other configurations. For example, the propulsive force can also be generated by the meshing of a rack provided along the first track R1 and a gear provided on the vehicle body Va, driven by the gear. Alternatively, the propulsive force can also be generated by a linear motor. The same configuration can also be used to generate a propulsive force for moving the vehicle body Va along the second direction Y.

[0133] (16) Furthermore, the configurations disclosed in the above embodiments can be combined with those disclosed in other embodiments, provided there is no contradiction. Regarding other configurations, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be made appropriately without departing from the spirit of this disclosure.

[0134] [Summary of the above implementation methods] The following description pertains to the transport equipment described above.

[0135] A goods handling device, equipped with a transport vehicle for transporting goods. The aforementioned goods conveying equipment has the following features: The first track has the first running surface; and The second track has a second running surface. The aforementioned second track is positioned above the aforementioned first track and is configured to intersect the aforementioned first track from a vertical perspective. Let the extension direction of the first track be defined as the first direction, and let the extension direction of the second track be defined as the second direction. The aforementioned transport vehicle comprises: a vehicle body disposed between the aforementioned first track and the aforementioned second track in a vertical direction; a first traveling unit for moving the aforementioned vehicle body along the aforementioned first direction; a second traveling unit for moving the aforementioned vehicle body along the aforementioned second direction; and a control unit for controlling the operation of the aforementioned first traveling unit and the aforementioned second traveling unit. The aforementioned first traveling unit includes: a first wheel; and a first posture changing mechanism, which changes the posture of the first wheel relative to the vehicle body, and the aforementioned first traveling unit is configured to change the posture to: a first wheel mounting posture, in which the first wheel is mounted on the first traveling surface; and a first wheel retraction posture, in which the first wheel is separated from the first traveling surface. The aforementioned second traveling unit includes: a second wheel; and a second posture changing mechanism, which changes the posture of the second wheel relative to the vehicle body, and the aforementioned second traveling unit is configured to change the posture to: a second wheel mounting posture, in which the second wheel is mounted on the second traveling surface; and a second wheel retraction posture, in which the second wheel is separated from the second traveling surface. The aforementioned control unit is configured to change the mode to: a first mode, in which the aforementioned first traveling unit is set to the aforementioned first wheel mounting posture, and the aforementioned second traveling unit is set to the aforementioned second wheel retraction posture, so that the aforementioned vehicle body travels along the aforementioned first track; and a second mode, in which the aforementioned second traveling unit is set to the aforementioned second wheel mounting posture, and the aforementioned first traveling unit is set to the aforementioned first wheel retraction posture, so that the aforementioned vehicle body travels along the aforementioned second track.

[0136] According to this configuration, the transport vehicle can travel along the first track in the first direction, and can also travel along the second track in the second direction. The second track is arranged separately from the first track on the upper side. That is, the first track and the second track are arranged at different positions in the vertical direction. This allows the travel path along the first track and the travel path along the second track to intersect from a vertical perspective and be arranged on different horizontal planes. Therefore, according to this configuration, since there is no seam between the first track and the second track, there is no difference in elevation caused by the seam, thus preventing vibration when the transport vehicle travels at the intersection of the two tracks. Furthermore, since the first track and the second track are physically separate, they can be set at different times. This ensures a high degree of freedom in setting the travel path formed by the first track and the second track in the goods transport equipment. As described above, according to this configuration, in a goods transport device having multiple intersecting paths with different extension directions, the vibration of the transport vehicle can be suppressed, and the freedom of setting the travel path can be ensured.

[0137] Ideally, the aforementioned transport vehicle should have a storage compartment to hold the aforementioned items while moving. The aforementioned accommodating part is located on the aforementioned vehicle body.

[0138] According to this configuration, a container for holding items is provided in the vehicle body positioned vertically between the first and second tracks. Therefore, in either the first mode (moving the vehicle body along the first track) or the second mode (moving the vehicle body along the second track), the control unit can maintain the same distance between the wheels supporting the vehicle body and the items. Thus, according to this configuration, items can be stably held while being transported.

[0139] Ideally, the aforementioned second posture changing mechanism includes: a second support arm, which is pivotally connected to the aforementioned vehicle body and supports the aforementioned second wheel; and a second drive unit, which drives the aforementioned second support arm. The aforementioned second drive unit causes the aforementioned second support arm to swing around the second swing axis along the aforementioned second direction, thereby changing the posture of the aforementioned second wheel relative to the aforementioned vehicle body.

[0140] According to this configuration, a second wheel can be appropriately mounted on the second running surface of the second track, which is located above the vehicle body, and can be appropriately separated from the second running surface.

[0141] Ideally, the aforementioned second posture change mechanism is configured such that, when the posture of the aforementioned second traveling unit is changed from the aforementioned second wheel retraction posture to the aforementioned second wheel mounting posture, the aforementioned second wheel is mounted on the aforementioned second traveling surface at a position that has passed the highest position of the aforementioned second wheel's movement trajectory formed by the swing of the aforementioned second support arm.

[0142] According to this configuration, the second wheel can approach and be placed on the second running surface from above. Therefore, according to this configuration, when changing the posture from the second wheel retraction posture to the second wheel placement posture, the friction between the second wheel and the second running surface can be reduced while the posture change can be performed appropriately.

[0143] Ideally, the aforementioned first posture changing mechanism includes: a first support arm, which is pivotally connected to the aforementioned vehicle body and supports the aforementioned first wheel; and a first drive unit, which drives the aforementioned first support arm. The aforementioned first drive unit causes the aforementioned first support arm to swing around the first swing axis along the aforementioned second direction, thereby changing the posture of the aforementioned first wheel relative to the aforementioned vehicle body.

[0144] According to this configuration, the first swing axis, which serves as the swing center of the first support arm, and the second swing axis, which serves as the swing center of the second support arm, can be arranged parallel to each other along a second direction. Therefore, it is difficult for the range of motion of both the first and second support arms to expand in the second direction. Furthermore, by arranging the first and second swing axes parallel, there is also the advantage of easily making the first and second drive units common.

[0145] Ideally, the aforementioned first track includes: a first guiding surface oriented in a direction orthogonal to the aforementioned first direction from the perspective of the aforementioned vertical direction. The aforementioned second track includes: a second guiding surface, oriented in a direction orthogonal to the aforementioned second direction from the aforementioned vertical perspective. The aforementioned first traveling unit includes: a first guide wheel, guided by the aforementioned first guide surface. The aforementioned first guide wheel is configured to contact the aforementioned first guide surface in the aforementioned first wheel mounting posture of the aforementioned first traveling unit, and to separate from the aforementioned first guide surface in the aforementioned first wheel retraction posture of the aforementioned first traveling unit. The aforementioned second traveling unit includes: a second guide wheel, guided by the aforementioned second guide surface. The aforementioned second guide wheel is configured to contact the aforementioned second guide surface in the aforementioned second wheel mounting posture of the aforementioned second travel unit, and to separate from the aforementioned second guide surface in the aforementioned second wheel retraction posture of the aforementioned second travel unit.

[0146] According to this configuration, when the first traveling unit moves the vehicle body along the first track in the first wheel mounting position, the vehicle body can be properly guided along the first track by means of the first guide wheel. Furthermore, when the second traveling unit moves the vehicle body along the second track in the second wheel mounting position, the vehicle body can be properly guided along the second track by means of the second guide wheel.

[0147] Ideally, the plurality of the aforementioned first orbits are arranged in a direction orthogonal to the aforementioned first direction from the perspective of the aforementioned vertical direction. The plurality of the aforementioned second tracks are arranged in a direction orthogonal to the aforementioned second direction from the aforementioned vertical perspective.

[0148] According to this configuration, the range along the first and second directions can be covered to broadly ensure the travel range of the transport vehicle.

[0149] Ideally, the aforementioned transport vehicle includes: a lifting body connected to the aforementioned vehicle body; a lifting device that allows the aforementioned lifting body to move up and down relative to the aforementioned vehicle body; and a holding part that is supported by the aforementioned lifting body and holds the aforementioned items.

[0150] According to this configuration, items can be transferred to a position that is separated from the transport vehicle in the vertical direction.

[0151] Ideally, the aforementioned transport vehicle further includes: a lifting body connected to the aforementioned vehicle body; a lifting device for raising and lowering the aforementioned lifting body relative to the aforementioned vehicle body; a holding part supported by the aforementioned lifting body and holding the aforementioned items; a sliding device for sliding the aforementioned holding part relative to the aforementioned lifting body in a horizontal direction; and a locking device supported by the aforementioned lifting body. The aforementioned first track has a locking part, The aforementioned engaging device includes: an engaging portion that engages with the aforementioned engaged portion; and an engaging drive portion that changes the position of the aforementioned engaging portion to an engaging position and a disengaging position. In the aforementioned engaging position, the engaging portion engages with the engaged portion, restricting the lifting and tilting of the lifting body. In the aforementioned disengaging position, the engaging portion disengages from the engaged portion, allowing the lifting body to move up and down. When the aforementioned control unit raises or lowers the aforementioned lifting body using the aforementioned lifting device, it sets the aforementioned engaging portion to the aforementioned disengaged position. When the aforementioned holding portion protrudes relative to the aforementioned lifting body in the aforementioned horizontal direction using the aforementioned sliding device, it sets the aforementioned engaging portion to the aforementioned engaging position.

[0152] According to this configuration, the transport trolley can travel along the first track in the first direction, and can also travel along the second track in the second direction. The second track is arranged separately from the first track on the upper side. That is, the first track and the second track are arranged at different positions in the vertical direction. This allows the travel paths along the first track and the travel paths along the second track to intersect from a vertical perspective and be arranged on different horizontal planes. Therefore, according to this configuration, since there is no seam between the first track and the second track, there is no height difference caused by the seam, thus preventing vibration when the transport trolley travels at the intersection of the two tracks. Furthermore, according to this configuration, the item held by the holding part can be positioned at a position offset horizontally relative to the lifting body by the operation of the sliding device. Therefore, the item can be transferred to a position offset horizontally from directly below the transport trolley. Moreover, during this transfer, by setting the engaging part to an engaged position, the tilting of the lifting body can be restricted. This allows for the appropriate transfer of items to a position that deviates horizontally from directly below the transport vehicle. As described above, according to this configuration, in an item transport device having multiple intersecting paths with different extending directions, it becomes possible to suppress the vibration of the transport vehicle and appropriately transfer items to a position that deviates horizontally from directly below the transport vehicle.

[0153] Ideally, it should also have: storage racks to hold the aforementioned items. The aforementioned storage rack is located below the aforementioned first track and is supported by the aforementioned first track. The aforementioned transfer cart is configured to slide the aforementioned holding part via the aforementioned sliding device, thereby enabling the transfer action of transferring the aforementioned items to the aforementioned storage rack and the receiving action of receiving the aforementioned items from the aforementioned storage rack. When the aforementioned control unit causes the aforementioned transport vehicle to perform the aforementioned handover action or the aforementioned receiving action, it uses the aforementioned lifting device to position the aforementioned lifting body at a height corresponding to the aforementioned storage rack, and sets the aforementioned engaging part to the aforementioned engaging posture.

[0154] According to this configuration, a storage rack for temporarily or permanently storing items can be configured in the space below the first track. When transferring items between the storage rack and the storage rack, the lifting action of the lifting body performed by the lifting device and the sliding action of the holding part performed by the sliding device can be used. Furthermore, when the holding part slides, the engagement part is in an engaged position, thus preventing the lifting body from tilting. Therefore, the transfer of items to the storage rack becomes suitable.

[0155] Ideally, the location where the aforementioned items are transferred between the transport vehicle and the transport vehicle should be designated as the transfer destination. The aforementioned engaging part is positioned in the first direction at a location corresponding to the location of the aforementioned transfer object. In the aforementioned engaging position, the aforementioned engaging part also positions the aforementioned lifting body in the aforementioned first direction.

[0156] According to this configuration, by setting the engaging part to an engaging position, the lifting body can be positioned in the first direction at a location corresponding to the transfer target location. This makes it easier to transfer items to the transfer target location with high precision.

[0157] Ideally, the aforementioned transport vehicle further includes: a second lifting device, located below the aforementioned sliding device, which allows the aforementioned holding part to rise or fall relative to the aforementioned sliding device.

[0158] According to this configuration, the holding part can be raised or lowered by the second lifting device from a position where the holding part protrudes horizontally relative to the lifting body via the sliding device. Therefore, according to this configuration, the number of locations where items can be transferred by a transport vehicle can be increased, thereby improving versatility depending on the location of the item to be transferred.

[0159] Ideally, the direction orthogonal to the first direction from the aforementioned vertical perspective is defined as the first width direction. The aforementioned first track comprises a pair of first track bodies separately arranged in the aforementioned first width direction. From the aforementioned vertical perspective, the aforementioned lifting device causes the aforementioned lifting body to rise and fall between a pair of the aforementioned first track bodies in the aforementioned first width direction. The aforementioned engaging portion is disposed on at least one of the pair of aforementioned first track bodies. The aforementioned engaging drive unit changes the posture of the aforementioned engaging part by moving the aforementioned engaging part forward and backward along the aforementioned first width direction, between the aforementioned engaging posture and the aforementioned disengaging posture.

[0160] According to this configuration, in a configuration in which a lifting body is arranged between a pair of first track bodies in the first width direction, the engaging device supported by the lifting body can properly engage and disengage the engaging part with the engaging part provided on at least one of the pair of first track bodies by moving the engaging part forward and backward along the first width direction.

[0161] Ideally, the aforementioned engaging portion is fixed to the aforementioned first track on a lower side than the aforementioned first traveling surface.

[0162] According to this configuration, the engaging part can be positioned so as not to obstruct the first traveling wheel placed on the first traveling surface. Furthermore, by fixing the engaging part to the first track, the structure for supporting the engaging part can be simplified.

[0163] Ideally, the direction orthogonal to the first direction from the aforementioned vertical perspective is defined as the first width direction. The plurality of the aforementioned first tracks are arranged in the aforementioned first width direction. Each of the plurality of the aforementioned first orbits comprises a pair of first orbital bodies separately arranged in the aforementioned first width direction. Two adjacent first tracks in the first width direction share one first track body, and a pair of first travel surfaces are formed in the first track body, the pair of first travel surfaces belonging to each of the two adjacent first tracks in the first width direction.

[0164] According to this configuration, the transport vehicle can travel along the first track in the first direction, and can also travel along the second track in the second direction. The second track is arranged separately from the first track on the upper side. That is, the first track and the second track are arranged at different positions in the vertical direction. This allows the travel paths along the first track and the travel paths along the second track to intersect from a vertical perspective and be arranged on different horizontal planes. Therefore, according to this configuration, since there is no seam between the first track and the second track, there is no drop caused by the seam, thus preventing vibration when the transport vehicle travels at the intersection of the two tracks. Furthermore, according to this configuration, since two adjacent first tracks in the first width direction share one first track body, the number of first track bodies can be reduced as a whole. This makes it easier to reduce the time spent installing the first tracks. As described above, according to this configuration, it becomes possible to suppress the vibration of the transport vehicle and reduce the time required to set up the transport path in a transport equipment having multiple intersecting paths with different extension directions.

[0165] Ideally, the aforementioned first track includes: a first guiding surface, oriented towards the aforementioned first width direction. The aforementioned first traveling unit includes: a first guide wheel, guided by the aforementioned first guide surface. The aforementioned first guide wheel is configured to contact the aforementioned first guide surface in the aforementioned first wheel mounting posture of the aforementioned first traveling unit, and to separate from the aforementioned first guide surface in the aforementioned first wheel retraction posture of the aforementioned first traveling unit. The aforementioned first track body includes: a first body portion extending along the aforementioned first direction; and a first wall portion protruding upward from the aforementioned first body portion and extending along the aforementioned first direction. The first traveling surface is formed on the upward-facing surface of the first body portion. The first travel surface is provided on each side of the first wall portion in the first width direction. The first guide surface is formed on each of the two sides of the first wall portion facing the first width direction.

[0166] According to this configuration, when the first traveling unit moves the vehicle body along the first track in the first wheel-mounted position, the vehicle body can be properly guided along the first track by means of the first guide wheel. Furthermore, a first guide surface for guiding the first guide wheel is formed on each of the two surfaces of the first wall portion of the first track body facing the first width direction. In this way, both the first guide wheel used by a transport vehicle moving relative to one side of the first wall portion in the first width direction and the first guide wheel used by another transport vehicle moving relative to the first wall portion on the other side of the first width direction can be properly guided by a pair of first guide surfaces provided by a single first track body.

[0167] Ideally, the direction orthogonal to the aforementioned second direction from the perspective of the aforementioned vertical direction should be defined as the second width direction. The plurality of the aforementioned second tracks are arranged in the aforementioned second width direction. Each of the plurality of the aforementioned second orbits comprises a pair of second orbital bodies separately arranged in the aforementioned second width direction. Two adjacent second tracks in the aforementioned second width direction share one aforementioned second track body, and a pair of aforementioned second travel surfaces are formed in the second track body, the pair of aforementioned second travel surfaces belonging to each of the two adjacent second tracks in the aforementioned second width direction.

[0168] According to this configuration, since two adjacent second tracks share one second track body in the second width direction, the number of second track bodies can be reduced as a whole. Consequently, the time required to install the second tracks can also be reduced.

[0169] Ideally, the aforementioned second track includes: a second guiding surface, oriented towards the aforementioned second width direction. The aforementioned second traveling unit includes: a second guide wheel, guided by the aforementioned second guide surface. The aforementioned second guide wheel is configured to contact the aforementioned second guide surface in the aforementioned second wheel mounting posture of the aforementioned second traveling unit, and to separate from the aforementioned second guide surface in the aforementioned second wheel retraction posture of the aforementioned second traveling unit. The aforementioned second track body includes: a second body portion extending along the aforementioned second direction; and a second wall portion protruding upward from the aforementioned second body portion and extending along the aforementioned second direction. The aforementioned second traveling surface is formed on the upward-facing surface of the second body portion. The aforementioned second traveling surface is provided on each side of the aforementioned second wall portion in the aforementioned second width direction. The aforementioned second guide surface is formed on each of the two sides of the aforementioned second wall portion facing the aforementioned second width direction.

[0170] According to this configuration, when the second traveling unit moves the vehicle body along the second track in the second wheel-mounted position, the vehicle body can be properly guided along the second track by means of the second guide wheel. Furthermore, a second guide surface for guiding the second guide wheel is formed on each of the two surfaces facing the second width direction in the second wall of the second track body. In this way, the second guide wheel used by a transport vehicle moving relative to one side of the second wall in the second width direction and the second guide wheel used by another transport vehicle moving relative to the second wall on the other side of the second width direction can be properly guided by a pair of second guide surfaces provided by one second track body.

[0171] Ideally, it should possess: Second transport vehicle; The third track has a third running surface; and The fourth track has a fourth running surface. The aforementioned third track is positioned below the aforementioned first track and is configured to intersect the aforementioned first track from the aforementioned vertical perspective. The aforementioned fourth track is positioned between the aforementioned first track and the aforementioned third track in the vertical direction, and is arranged parallel to the aforementioned first track from the aforementioned vertical perspective. The aforementioned second transport vehicle includes: a second vehicle body; a third traveling unit for moving the second vehicle body along the third track; a fourth traveling unit for moving the second vehicle body along the fourth track; and a second control unit for controlling the operation of the third and fourth traveling units. The aforementioned third traveling unit includes: a third wheel; and a third posture changing mechanism, which changes the posture of the third wheel relative to the second vehicle body, and the aforementioned third traveling unit is configured to change the posture to: a third wheel mounting posture, in which the third wheel is mounted on the third traveling surface; and a third wheel retraction posture, in which the third wheel separates from the third traveling surface. The aforementioned fourth traveling unit includes: a fourth wheel; and a fourth posture changing mechanism, which changes the posture of the fourth wheel relative to the second vehicle body, and the aforementioned fourth traveling unit is configured to change the posture to: a fourth wheel mounting posture, in which the fourth wheel is mounted on the fourth traveling surface; and a fourth wheel retraction posture, in which the fourth wheel is separated from the fourth traveling surface. The aforementioned second control unit is configured to change the mode to: a third mode, in which the aforementioned third traveling unit is set to the aforementioned third wheel mounting posture, and the aforementioned fourth traveling unit is set to the aforementioned fourth wheel retraction posture, so that the aforementioned second vehicle body travels along the aforementioned third track; and a fourth mode, in which the aforementioned fourth traveling unit is set to the aforementioned fourth wheel mounting posture, and the aforementioned third traveling unit is set to the aforementioned third wheel retraction posture, so that the aforementioned second vehicle body travels along the aforementioned fourth track. The plurality of the aforementioned fourth tracks are arranged in the aforementioned first width direction. Each of the aforementioned fourth orbitals comprises a pair of fourth orbital bodies separately arranged in the aforementioned first width direction. The aforementioned fourth orbital body and the aforementioned first orbital body, which is adjacent to the fourth orbital body on the upper side, are integrally formed.

[0172] According to this configuration, a second transport vehicle can travel between the vertical directions of the first and second tracks, in addition to the transport vehicle traveling between the vertical directions of the third and fourth tracks. Furthermore, the second transport vehicle can travel along the third track and also along the fourth track. Moreover, according to this configuration, since the first and fourth track bodies, which are adjacent in the vertical direction, are integrally formed, it is possible to achieve a configuration where the transport vehicle and the second transport vehicle can travel at different positions in the vertical direction. Furthermore, as a whole, the number of first and fourth track bodies can be reduced. Therefore, it is easier to reduce the working time when installing the first and fourth tracks.

[0173] Ideally, two adjacent fourth tracks in the first width direction share one fourth track body, and a pair of fourth travel surfaces are formed in the fourth track body, the pair of fourth travel surfaces belonging to each of the two adjacent fourth tracks in the first width direction.

[0174] According to this configuration, since two adjacent fourth tracks share one fourth track body in the first width direction, the number of fourth track bodies can be reduced as a whole. Therefore, it is easier to reduce the time required to install the fourth tracks.

[0175] Industrial availability The technology disclosed herein can be used in material handling equipment equipped with a material handling vehicle.

[0176] 8: Storage rack 11: First wheel 12: First Guide Wheel 13: First Posture Change Mechanism 21: Second wheel 22: Second guide wheel 23: Second Posture Changing Mechanism 31: The third wheel 32: Third guide wheel 33: Third Posture Changing Mechanism 41: The 4th wheel 42: Fourth guide wheel 43: Fourth Posture Changing Mechanism 90: Processing device 91: Platform 100: Goods conveying equipment 131: First Support Arm 132: First Drive Unit 231: Second Support Arm 232: Second Drive Unit 331: Third Support Arm 332: Third Drive Unit 431: Fourth Support Arm 432: Fourth Drive Unit Ax1: First oscillation axis Ax2: Second oscillation axis Ax3: Third oscillation axis Ax4: Fourth oscillation axis C: Control Department C2: Second Control Unit CA: Crossover CR: Connection path Fg1: First guiding surface Fg2: Second guiding surface Fg3: Third guiding surface Fg4: Fourth guiding surface Fr1: First Walking Plane Fr2: Second walking face Fr3: Third Walking Plane Fr4: Fourth Walking Plane G: Items Pt: Highest position R1: Track 1 R2: Track 2 R3: Track 3 R4: Track 4 R11: 1st body part R12: 1st wall R21: Second Body Section R22: Second wall section R23: Anti-detachment section R31: Third Body Section R32: 3rd wall part R41: 4th main body part R42: 4th wall RB1: First orbital body RB2: Second orbital body RB3: Third orbital body RB4: The 4th orbital body Rg: The stuck part Rga: Block Rgb: Engaged hole Rgc: Through hole Rgd: Adsorption surface Rge: Opening S: Location of the object to be moved U1: First Walking Unit U2: Second Walking Unit U3: Third Walking Unit U4: Fourth Walking Unit V: Delivery vehicle V2: Second Transport Vehicle V2a: Second hull Va: Vehicle body Vb: Reception section Vc: Lifting body Vd: Lifting device Vd2: Second lifting device Vda, Vd2a: Belt Vdb: Lifting drive unit Vdc: Ball screw mechanism Vdd: scaling component Ve: Maintaining part Vea: retaining claw Veb: Keep the drive unit Vf: Sliding device Vfa: sliding body Vg: Locking device Vga: Kahebu Vgaa: Hook Vgab: Attraction Vgac: roller Vgb: Engagement drive unit X: First direction Xw: First width direction Y: 2nd direction Yw: Second width direction

Claims

1. A goods conveying device comprising a conveying trolley for conveying goods, the goods conveying device comprising: a first track having a first traveling surface; and a second track having a second traveling surface, the second track being separately arranged above the first track and arranged to intersect the first track in a vertical direction view, the extension direction of the first track being defined as a first direction, and the extension direction of the second track being defined as a second direction; the conveying trolley comprising: a vehicle body disposed between the first track and the second track in the vertical direction; a first traveling unit for moving the vehicle body along the first direction; a second traveling unit for moving the vehicle body along the second direction; and a control unit for controlling the operation of the first traveling unit and the second traveling unit, the first traveling unit comprising: a first wheel; and a first posture changing mechanism for changing the posture of the first wheel relative to the vehicle body, and the first traveling unit being configured to change the posture to: The first wheel is positioned in a first-wheel-mounted position, placing the first wheel on the first-running surface; and in a first-wheel-avoiding position, separating the first wheel from the first-running surface. The second-running unit includes: a second wheel; and a second posture changing mechanism, which changes the posture of the second wheel relative to the vehicle body. The second-running unit is configured to change the posture to: a second-wheel-mounted position, placing the second wheel on the second-running surface; and a second-wheel-avoiding position, separating the second wheel from the second-running surface. The control unit is configured to change the mode to: a first mode, setting the first-running unit to the first-wheel-mounted position and setting the second-running unit to the second-wheel-avoiding position, causing the vehicle body to travel along the first track; and a second mode, setting the second-running unit to the second-wheel-mounted position and setting the first-running unit to the first-wheel-avoiding position, causing the vehicle body to travel along the second track.

2. The article transport equipment as claimed in claim 1, wherein the aforementioned transport vehicle has: a receiving part for receiving the aforementioned articles during travel, the receiving part being disposed on the aforementioned vehicle body.

3. The article conveying equipment of claim 1, wherein the aforementioned second posture changing mechanism comprises: a second support arm, which is pivotally connected to the aforementioned vehicle body and supports the aforementioned second wheel; and a second drive unit, which drives the aforementioned second support arm, wherein the aforementioned second drive unit causes the aforementioned second support arm to pivot about a second pivot axis along the aforementioned second direction, thereby changing the posture of the aforementioned second wheel relative to the aforementioned vehicle body.

4. The article conveying equipment as claimed in claim 3, wherein the aforementioned second posture changing mechanism is configured such that, when the posture of the aforementioned second traveling unit is changed from the aforementioned second wheel retraction posture to the aforementioned second wheel mounting posture, the aforementioned second wheel is mounted on the aforementioned second traveling surface at a position that has passed the highest position of the aforementioned second wheel's movement trajectory formed by the swing of the aforementioned second support arm.

5. The article conveying equipment of claim 3, wherein the aforementioned first posture changing mechanism comprises: a first support arm, which is pivotally connected to the aforementioned vehicle body and supports the aforementioned first wheel; and a first drive unit, which drives the aforementioned first support arm, wherein the aforementioned first drive unit causes the aforementioned first support arm to pivot about a first pivot axis along the aforementioned second direction, thereby changing the posture of the aforementioned first wheel relative to the aforementioned vehicle body.

6. The article conveying device of claim 1, wherein the first track comprises: a first guide surface facing a direction orthogonal to the first direction in the aforementioned vertical direction view; the second track comprises: a second guide surface facing a direction orthogonal to the second direction in the aforementioned vertical direction view; the first traveling unit comprises: a first guide wheel guided by the aforementioned first guide surface; the first guide wheel is configured to contact the aforementioned first guide surface in the aforementioned first wheel mounting posture of the aforementioned first traveling unit, and to separate from the aforementioned first guide surface in the aforementioned first wheel retraction posture of the aforementioned first traveling unit; the second traveling unit comprises: a second guide wheel guided by the aforementioned second guide surface; the second guide wheel is configured to contact the aforementioned second guide surface in the aforementioned second wheel mounting posture of the aforementioned second traveling unit, and to separate from the aforementioned second guide surface in the aforementioned second wheel retraction posture of the aforementioned second traveling unit.

7. The article conveying equipment as claimed in claim 1, wherein a plurality of the aforementioned first tracks are arranged in a direction orthogonal to the aforementioned first direction from the aforementioned vertical perspective, and a plurality of the aforementioned second tracks are arranged in a direction orthogonal to the aforementioned second direction from the aforementioned vertical perspective.

8. The article transport equipment according to any one of claims 1 to 7, wherein the aforementioned transport vehicle comprises: a lifting body connected to the aforementioned vehicle body; a lifting device for raising and lowering the aforementioned lifting body relative to the aforementioned vehicle body; and a holding part supported by the aforementioned lifting body and holding the aforementioned articles.

9. The article conveying equipment of claim 1, wherein the aforementioned conveying vehicle further comprises: a lifting body connected to the aforementioned vehicle body; a lifting device for lifting the aforementioned lifting body relative to the aforementioned vehicle body; a holding part supported by the aforementioned lifting body and holding the aforementioned article; a sliding device for sliding the aforementioned holding part relative to the aforementioned lifting body in a horizontal direction; and a locking device supported by the aforementioned lifting body, wherein the aforementioned first track has a locking part, and the aforementioned locking device comprises: a locking part for locking the aforementioned locking part; and a locking drive part for changing the posture of the aforementioned locking part to a locking posture and a releasing posture, wherein in the aforementioned locking posture, the aforementioned locking part is locked to the aforementioned locking part to restrict the lifting and tilting of the aforementioned lifting body, and in the aforementioned releasing posture, the aforementioned locking part is disengaged from the aforementioned locking part to allow the lifting body to lift. When the aforementioned control unit raises or lowers the aforementioned lifting body using the aforementioned lifting device, it sets the aforementioned engaging portion to the aforementioned disengaged position. When the aforementioned holding portion protrudes relative to the aforementioned lifting body in the aforementioned horizontal direction using the aforementioned sliding device, it sets the aforementioned engaging portion to the aforementioned engaging position.

10. The item transport equipment of claim 9 further comprises: a storage rack for holding the aforementioned items, the storage rack being supported by the aforementioned first track at a lower position than the aforementioned first track, the transport vehicle being configured to slide the aforementioned holding part by means of the aforementioned sliding device, thereby performing a transfer operation of transferring the aforementioned items to the aforementioned storage rack and a receiving operation of receiving the aforementioned items from the aforementioned storage rack, and the control unit, when the aforementioned transport vehicle performs the aforementioned transfer operation or the aforementioned receiving operation, using the aforementioned lifting device to position the aforementioned lifting body at a height corresponding to the aforementioned storage rack, and setting the aforementioned engaging part to the aforementioned engaging posture.

11. As in claim 9, the item transport equipment shall designate the location where the item is transferred between the aforementioned transport vehicle and the aforementioned transport vehicle as the transfer target location, and the aforementioned engaging part shall be positioned in the aforementioned first direction corresponding to the aforementioned transfer target location. In the aforementioned engaging posture, the aforementioned engaging part shall also position the aforementioned lifting body in the aforementioned first direction.

12. The article conveying equipment as claimed in claim 9, wherein the aforementioned conveying vehicle further comprises: a second lifting device, which, located below the aforementioned sliding device, causes the aforementioned holding portion to rise or fall relative to the aforementioned sliding device.

13. The item transport equipment of claim 9, wherein the first width direction is defined as the direction orthogonal to the first direction in the aforementioned vertical direction view; the first track includes a pair of first track bodies separately arranged in the aforementioned first width direction; the lifting device raises and lowers the aforementioned lifting body between the pair of aforementioned first track bodies in the aforementioned first width direction view in the aforementioned vertical direction view; the aforementioned engaging part is provided on at least one of the pair of aforementioned first track bodies; the aforementioned engaging drive unit changes the posture of the aforementioned engaging part by moving the aforementioned engaging part forward and backward along the aforementioned first width direction in the aforementioned engaging posture and the aforementioned disengaging posture.

14. The article conveying device of any one of claims 9 to 13, wherein the aforementioned engaging part is fixed to the aforementioned first track on a side lower than the aforementioned first traveling surface.

15. The article conveying equipment of claim 1, wherein the first width direction is defined as the direction orthogonal to the first direction in the aforementioned vertical direction view; a plurality of the aforementioned first tracks are arranged in the aforementioned first width direction; each of the plurality of the aforementioned first tracks includes a pair of first track bodies separately arranged in the aforementioned first width direction; two adjacent aforementioned first tracks in the aforementioned first width direction share one aforementioned first track body; and a pair of the aforementioned first travel surfaces are formed on the first track body; the pair of the aforementioned first travel surfaces belong to each of the two adjacent aforementioned first tracks in the aforementioned first width direction.

16. The article conveying device of claim 15, wherein the first track includes: a first guide surface facing the first width direction; the first traveling unit includes: a first guide wheel guided by the first guide surface; the first guide wheel is configured to contact the first guide surface in the first wheel mounting posture of the first traveling unit and to separate from the first guide surface in the first wheel retraction posture of the first traveling unit; the first track body includes: a first body portion extending along the first direction; and a first wall portion protruding upward from the first body portion and extending along the first direction; the first traveling surface is formed on the upward-facing surface of the first body portion; the first traveling surface is disposed on each side of the first wall portion in the first width direction; and the first guide surface is formed on each surface of the first wall portion facing the first width direction.

17. The article conveying equipment of claim 15, wherein the direction orthogonal to the aforementioned second direction in the aforementioned vertical direction is defined as the second width direction, a plurality of the aforementioned second tracks are arranged in the aforementioned second width direction, each of the plurality of the aforementioned second tracks includes a pair of second track bodies separately arranged in the aforementioned second width direction, two adjacent aforementioned second tracks in the aforementioned second width direction share one aforementioned second track body, and a pair of the aforementioned second travel surfaces are formed on the second track body, the pair of the aforementioned second travel surfaces belonging to each of the two adjacent aforementioned second tracks in the aforementioned second width direction.

18. The article conveying device of claim 17, wherein the second track includes: a second guide surface facing the second width direction; the second traveling unit includes: a second guide wheel guided by the second guide surface; the second guide wheel is configured to contact the second guide surface in the second wheel mounting position of the second traveling unit and to separate from the second guide surface in the second wheel retraction position of the second traveling unit; the second track body includes: a second body portion extending along the second direction; and a second wall portion protruding upward from the second body portion and extending along the second direction; the second traveling surface is formed on the upward-facing surface of the second body portion; the second traveling surface is disposed on each side of the second wall portion in the second width direction; and the second guide surface is formed on each surface of the second wall portion facing the second width direction.

19. The article conveying equipment according to any one of claims 15 to 18, further comprising: a second conveying vehicle; a third track having a third traveling surface; and a fourth track having a fourth traveling surface, wherein the third track is disposed separately from the first track on the lower side and is configured to intersect the first track in the aforementioned vertical direction view; the fourth track is disposed between the first track and the third track in the vertical direction and is disposed parallel to the first track in the aforementioned vertical direction view; the second conveying vehicle comprises: a second vehicle body; a third traveling unit for moving the second vehicle body along the third track; a fourth traveling unit for moving the second vehicle body along the fourth track; and a second control unit for controlling the operation of the third and fourth traveling units; the third traveling unit comprises: a third wheel; and a third posture changing mechanism for changing the posture of the third wheel relative to the second vehicle body, and the third traveling unit is configured to change the posture to: The third wheel is positioned on the third running surface, and the third wheel is retracted from the third running surface. The fourth running unit includes a fourth wheel and a fourth posture changing mechanism to change the posture of the fourth wheel relative to the second vehicle body. The fourth running unit is configured to change the posture to: a fourth wheel mounting posture, placing the fourth wheel on the fourth running surface; and a fourth wheel retracting posture, separating the fourth wheel from the fourth running surface. The second control unit is configured to change the mode to: a third mode, setting the third running unit to the third wheel mounting posture and the fourth running unit to the fourth wheel retracting posture, causing the second vehicle body to travel along the third track; and a fourth mode, setting the fourth running unit to the fourth wheel mounting posture and the third running unit to the third wheel retracting posture, causing the second vehicle body to travel along the fourth track. The plurality of the aforementioned fourth orbits are arranged in the aforementioned first width direction, and each of the plurality of the aforementioned fourth orbits includes a pair of fourth orbit bodies separately arranged in the aforementioned first width direction. The aforementioned fourth orbit bodies are integrally formed with the aforementioned first orbit body that is adjacent to the fourth orbit body on the upper side.

20. The article conveying equipment of claim 19, wherein two adjacent fourth tracks in the aforementioned first width direction share one aforementioned fourth track body, and a pair of aforementioned fourth travel surfaces are formed in the fourth track body, the pair of aforementioned fourth travel surfaces belonging to each of the two adjacent fourth tracks in the aforementioned first width direction.

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