tote cart

Abstract

The present application relates to a truck, wherein a control unit is capable of performing low center of gravity control for controlling a position of a lifting body (40B) to be within a lower range (UR) set lower than a center of a lifting range (VR). The control unit determines whether the truck (1) is in a rack area facing a front of a storage rack or in an outside area outside the rack area, and performs the low center of gravity control in at least a part of the outside area.

Description

Technical Field

[0001] The present invention relates to a transport vehicle, which travels along the front of a storage rack, the storage rack having multiple layers of shelves for storing items in the vertical direction, and the transport vehicle transports the items. Background Technology

[0002] In recent years, earthquake countermeasures have been developed in a wide variety of fields. This is also true for equipment such as automated warehouses that automatically store, store, and transport goods.

[0003] As one of the earthquake countermeasures, for example, in the automated warehouse disclosed in Japanese Patent No. 6313087 (Patent Document 1), upon receiving earthquake information, the lifting platform (28) of the stacker crane (10) is moved to a retreat position set at the top of the shelf (4). Thus, in the automated warehouse disclosed in Patent Document 1, damage to the lifting platform (28) due to goods (W) falling from the shelf (4) during an earthquake is prevented.

[0004] In the aforementioned stacker crane (10), the lower trolley (26) and the upper trolley (32) are guided by rails (12, 36), so the stacker crane (10) is unlikely to tip over due to earthquake shaking. However, even in transport equipment that does not have upper guide rails, if the vertical dimension of the transport vehicle is large, there is a possibility that the transport vehicle may tip over due to earthquake shaking. Summary of the Invention

[0005] Therefore, it is hoped that a transport vehicle can be made that is unlikely to tip over due to shaking caused by earthquakes, etc.

[0006] This invention is a transport vehicle that travels along the front of a storage rack, the storage rack having multiple shelves for storing items in the vertical direction. The transport vehicle transports the items. It is characterized by comprising a traveling body, a transfer device, and a control unit. The traveling body travels along a predetermined path, the transfer device transfers the items, and the control unit controls the transfer device. The transfer device includes a rod, a lifting body, a holding part, and a transfer mechanism. The rod is fixed to the traveling body and configured to move vertically along the rod. The lifting body moves up and down along the rod. The holding part is connected to the lifting body and holds the items. The transfer mechanism transfers the items between the holding part and the shelf. The control unit is capable of performing low center of gravity control. The low center of gravity control involves controlling the position of the lifting body to be located in a lower range below the center of the possible lifting range. The control unit determines whether the traveling body is in the area facing the front of the storage rack (i.e., the shelf area) or in an external area outside the shelf area, and performs the low center of gravity control in at least a portion of the external area.

[0007] According to this structure, in the external area where there are fewer structures supporting the transport vehicle, a low center of gravity control is implemented, thereby allowing the lifting body to be positioned in a lower range, below the center of the possible lifting range. This lowers the overall center of gravity of the transport vehicle, making it less prone to tipping over due to earthquakes or other disturbances. Furthermore, when the traveling body is in the rack area, the traveling body and the storage rack are adjacent to each other. In this case, the storage rack can be used as a support for the transport vehicle, further preventing it from tipping over. Therefore, according to this structure, a transport vehicle that is difficult to tip over due to earthquakes or other disturbances can be achieved.

[0008] Further features and advantages of the technology described in this application will become clearer from the following illustrative and non-limiting description of embodiments with reference to the accompanying drawings. Attached Figure Description

[0009] Figure 1 This is a top view of a material handling equipment equipped with a pallet truck.

[0010] Figure 2 It is a top view showing the different areas that the moving vehicle is traveling through.

[0011] Figure 3 This is the front view of the container rack.

[0012] Figure 4 This is a diagram showing the width of the transport vehicle.

[0013] Figure 5 This is an explanatory diagram showing the structure of a moving vehicle.

[0014] Figure 6 This is a top view showing the first and second positions of the transfer device.

[0015] Figure 7 This is an explanatory diagram showing the action of picking up a container relative to the shelf.

[0016] Figure 8 This is an explanatory diagram showing the unloading action of the container relative to the frame.

[0017] Figure 9 This is a diagram showing the state of containers being lifted from a stacked area using a lifting device.

[0018] Figure 10 This diagram illustrates the parallel actions of picking up and unloading containers relative to the stacking area.

[0019] Figure 11 This diagram illustrates the parallel actions of picking up and unloading containers relative to the stacking area.

[0020] Figure 12 This is an explanatory diagram showing the structure of a tilting transport vehicle supported by a container rack.

[0021] Figure 13 This is an explanatory diagram illustrating the motion of a lifting body based on low center of gravity control.

[0022] Figure 14 This is an explanatory diagram showing when to begin low center of gravity control.

[0023] Figure 15 This is a flowchart illustrating the process of implementing low center of gravity control.

[0024] Figure 16 This is a diagram showing the lifting device of the second embodiment viewed from the front and rear of the vehicle body.

[0025] Figure 17 This is a top view showing the lifting device of the second embodiment.

[0026] Figure 18 This is an explanatory diagram illustrating the operation of the lifting device based on container group reciprocating control in the second embodiment.

[0027] Figure 19 This is a flowchart illustrating the processing flow when container group reciprocal control is performed in the second embodiment. Detailed Implementation

[0028] The transport vehicle travels along the front of the storage rack, which has multiple shelves for storing items in the vertical direction. The transport vehicle transports the items. The following describes an example of a container transport device equipped with a transport vehicle, and an implementation of this transport vehicle will be explained. In this embodiment, the container is equivalent to an "item," and the container rack for storing the container is equivalent to a "storage rack."

[0029] [First Embodiment]

[0030] First, the first embodiment of the transport vehicle will be described.

[0031] like Figure 1 As shown, the handling equipment F has a storage container 70 (refer to...) Figure 3 The container rack 8, the loading and unloading section 9 for moving containers 70 in and out, and the upper-level controller H for managing the entire equipment. The transport vehicle 100 moves containers 70 moved into the loading and unloading section 9 to the container rack 8, or moves containers 70 stored in the container rack 8 to the loading and unloading section 9 for unloading.

[0032] In this embodiment, a plurality of container racks 8 are spaced apart by a predetermined interval and arranged parallel to each other. Each of the plurality of container racks 8 has an opening at least on its front side, through which containers 70 are loaded and unloaded. Furthermore, a portion of the travel path R of the traveling body 1 (transport vehicle 100) is provided between a pair of container racks 8 facing each other. In other words, a pair of adjacent container racks 8 are spaced apart and arranged parallel to each other, and a portion of the travel path R is provided to pass through the space between the pair of container racks 8. In addition, the container rack 8 located at the end of the plurality of container racks 8 provided in the transport device F is arranged with its front facing outward, and a portion of the travel path R is also provided along the front area of ​​the container rack 8 at that end. Furthermore, the transport device F is provided with a plurality of loading and unloading sections 9, and a portion of the travel path R is also provided in the area passing through each of the plurality of loading and unloading sections 9.

[0033] The travel path R includes an inner path Ra extending along the front of the container rack 8 in its extending direction, and an outer path Rb located outside the configuration area of ​​the container rack 8. The inner path Ra is correspondingly provided for each of the plurality of container racks 8. In this embodiment, a portion of the travel path R located in the area between a pair of container racks 8 facing each other and a portion of the travel path R along the front area of ​​a container rack 8 configured with its front facing outwards correspond to the inner path Ra. Furthermore, the outer path Rb is configured to connect the plurality of inner paths Ra. Additionally, the outer path Rb is also configured to pass through each of the plurality of loading / unloading sections 9. In this embodiment, the portion of the travel path R other than the inner path Ra corresponds to the outer path Rb.

[0034] like Figure 2 As shown, at the transport device F, there is a frame area IA for the traveling body 1 to travel in and an outer area OA. In this embodiment, a direction change area DA is also provided at the transport device F.

[0035] The shelf area IA is a region defined along the front side of each container shelf 8. The entire shelf area IA faces the front side of the container shelf 8 corresponding to the shelf area IA. In other words, the shelf area IA extends along the front side of the container shelf 8 corresponding to the shelf area IA in the extending direction of the container shelf 8. Furthermore, the dimension of the shelf area IA in the aforementioned extending direction is equal to the dimension of the container shelf 8 in the aforementioned extending direction.

[0036] In addition, the rack area IA is the rack path Ra (refer to...) Figure 1The area IA is the region through which the traveling body 1 travels along the inner path Ra faces the front of the container rack 8. In this embodiment, the frame area IA is set between a pair of container racks 8 that are frontally adjacent. In addition, the frame area IA is also set along the front of the container rack 8 that is most located at the end of the plurality of container racks 8 provided with the conveying device F.

[0037] The outer area OA is the area outside the rack area IA within the transport equipment F. The outer area OA is the area traversed by the external path Rb. In this embodiment, direction change areas DA are provided at multiple locations within the outer area OA. The direction change areas DA are areas used for the traveling body 1 to change its direction of travel. A portion of the multiple direction change areas DA are located at the intersections of multiple traveling paths R (external paths Rb). Details will be explained later, but in this embodiment, the traveling body 1 rotates on-site around an axis along the vertical direction within the direction change areas DA, thereby changing its direction of travel.

[0038] [Container rack]

[0039] like Figure 3 As shown, the container rack 8 has a multi-layered shelf portion 80 for storing containers 70 in the vertical direction. In this embodiment, the container rack 8 has a plurality of beam members 82 extending horizontally along the front side of the container rack 8, and a plurality of support members 81 extending vertically and connected to each of the plurality of beam members 82. That is, the container rack 8 is configured to have a support frame that combines the plurality of support members 81 and the plurality of beam members 82.

[0040] Multiple beam members 82 are arranged to be spaced apart from each other in the vertical direction. Furthermore, at each of the multiple beam members 82, a mounting member 83 for mounting a container 70 is connected. In this example, the container 70 is mounted on a pair of mounting members 83, thereby being housed in the shelf section 80. Moreover, multiple sets of pairs of mounting members 83 are arranged in the shelf section 80, enabling multiple containers 70 to be housed in one shelf section 80. Additionally, in this example, Figure 3 The area between a pair of adjacent support members 81 in the width direction (left-right direction) and between a pair of adjacent beam members 82 in the vertical direction, as shown in the front view, corresponds to the opening of the container rack 8.

[0041] In this embodiment, a target portion 82T is provided at a reference position 80P of the frame portion 80 for storing the container 70, serving as a target for storing the container 70 at that reference position 80P. In this example, the target portion 82T is provided on the beam member 82. One target portion 82T is provided for each pair of mounting members 83. In the illustrated example, the target portion 82T is formed by a hole formed in the beam member 82.

[0042] 〔container〕

[0043] Container 70 is the object transported by the transport vehicle 100. Although detailed illustrations are omitted, container 70 is box-shaped with an upward-opening portion. In this example, the container has a rectangular shape when viewed from above. Container 70 can hold a specified item. The item may include various commodities such as food and daily necessities, or parts and semi-finished products used in factory production lines.

[0044] In this embodiment, container 70 is configured to be stacked with another container 70 while containing the contents therein. That is, container 70 is configured to be stackable in the vertical direction (see reference). Figure 4 In this example, the bottom of container 70 fits into the opening of another container 70 from above, so that the two containers 70 are stacked vertically.

[0045] [Transportation vehicle]

[0046] like Figure 4 As shown, the transport vehicle 100 includes a traveling body 1 that travels along a predetermined travel path R, a transfer device 4 for transferring containers 70, and a control unit C for controlling the transfer device 4. In this embodiment, the transport vehicle 100 includes a container group support 2 that supports a container group 7 of multiple containers 70 in a stacked state within a predetermined stacking area 2A, and a lifting device 3 that lifts the containers 70 of the container group 7 supported on the container group support 2. Furthermore, the control unit C controls the traveling body 1, the container group support 2, and the lifting device 3 in addition to the transfer device 4.

[0047] The container support 2, lifting device 3, and transfer device 4 are mounted on the traveling body 1. If the direction of travel of the traveling body 1 is defined as "the front-to-back direction L", then the container support 2 and the transfer device 4 are arranged on the traveling body 1 along the front-to-back direction L. In addition, the direction orthogonal to the front-to-back direction L when viewed vertically is defined as "the width direction W".

[0048] The control unit C controls the various functional units of the transport vehicle 100. In this example, the control unit C controls the traveling body 1, the container support 2, the lifting device 3, the transfer device 4, and the rotating device 5 (described later). The actions for moving and transferring the container 70 are realized through the control of the various functional units of the control unit C. The control unit C may include, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Furthermore, each function is realized through the coordinated operation of this hardware and the program executed on the processor such as the computer.

[0049] [Marching]

[0050] The traveling body 1 is configured to travel along a specified path R (refer to...) Figure 1The traveling body 1 is configured to move on the frame area IA and the outer area OA (see reference). Figure 2 The traveling body 1 is configured to travel on the inner path Ra and the outer path Rb. Furthermore, when traveling or stopping on the inner path Ra, the traveling body 1 is located in the inner area IA, and when traveling or stopping on the outer path Rb, it is located in the outer area OA. When the traveling body 1 is at the boundary between the inner area IA and the outer area OA, a portion of the traveling body 1 is located in the inner area IA, and the other portion is located in the outer area OA. In this embodiment, the traveling body 1 is configured to travel on the ground.

[0051] The traveling body 1 includes a traveling main body 10, a plurality of traveling wheels 11 connected to the traveling main body 10, and a traveling drive unit 11M that drives at least one of the plurality of traveling wheels 11. The traveling drive unit 11M is configured to include a motor (not shown). The traveling drive unit 11M drives the traveling wheels 11, thereby applying a propulsive force to the traveling body 1.

[0052] In this embodiment, the plurality of traveling wheels 11 include a drive wheel 11a and a driven wheel 11b. The drive wheel 11a is driven by the traveling drive unit 11M. The driven wheel 11b rotates as the traveling main body 10 moves and its posture changes.

[0053] like Figure 5 As shown, in this embodiment, a pair of drive wheels 11a are disposed away from each other in the width direction W in the central region of the vehicle body in the longitudinal direction L of the traveling body 10. That is, in this example, two drive wheels 11a are supported on the traveling body 10. The pair of drive wheels 11a are each driven by another traveling drive unit 11M. Each of the pair of drive wheels 11a is rotatably supported relative to the traveling body 10 with respect to its respective axis of rotation along the width direction W of the vehicle body.

[0054] Relative to each of the pair of drive wheels 11a, driven wheels 11b are provided on both sides of the vehicle body in the longitudinal direction L. That is, in this example, four driven wheels 11b are supported on the traveling body 10. Each driven wheel 11b is rotatably supported on the traveling body 10 about an axis in the vertical direction. That is, the direction along the axis of rotation of the driven wheel 11b changes in the horizontal plane. In this example, each driven wheel 11b is configured as a caster.

[0055] The traveling body 1, through the structure described above, is capable of rotating on the spot about an axis along the vertical direction. Specifically, a pair of drive wheels 11a are directed in opposite directions (…). Figure 5The traveler 1 is driven by a rotational drive (in the direction indicated by the middle arrow), thereby causing the traveler 1 to rotate on the spot about an axis along the vertical direction. This allows the traveler 1 to change its direction within a relatively narrow area. In this embodiment, the traveler 1 is configured such that in the direction-changing region DA (refer to...), Figure 2 Alternatively, the direction of travel of the traveling body 1 can be changed by stopping the rotation of one of the pair of drive wheels 11a and causing the other to rotate, or by causing the pair of drive wheels 11a to rotate in the same direction but at different speeds.

[0056] [Container support section]

[0057] like Figure 4 As shown, the container group support 2 is mounted on the traveling body 1. The container group support 2 is configured to support a container group 7 of multiple containers 70 in a stacked state. A stacking region 2A for arranging the container group 7 is defined above the container group support 2. The stacking region 2A is a three-dimensional imaginary region extending upward from the container group support 2. In this example, the container group support 2 is configured as a conveyor capable of moving the container group 7 while it is loaded. In this example, the container group support 2 can move the container group 7 along the width direction W of the vehicle body. The conveyor constituting the container group support 2 can be a known conveyor such as a roller conveyor, chain conveyor, or belt conveyor.

[0058] A container group 7, containing multiple containers 70, is moved into the loading / unloading section 9 (see reference). Figure 1 and Figure 2 When the traveling body 1 is adjacent to the inbound / outbound section 9, the container group support 2 receives the container group 7 from or transfers the container group 7 to the inbound / outbound section 9. That is, the container group support 2 is configured to facilitate the transfer of the container group 7 between itself and the inbound / outbound section 9. Although detailed illustrations are omitted, in this example, the inbound / outbound section 9 is adjacent to the picking area where the operation of removing goods or other contained items from the container 70 is performed. When the container group 7 is transferred from the container group support 2 to the inbound / outbound section 9, the contained items are removed from the container 70 in the picking area adjacent to the inbound / outbound section 9. After some or all of the contained items in the container 70 are removed, the container 70 is transferred from the inbound / outbound section 9 to the container group support 2 (cart 100) and transported again to the container rack 8. However, the inbound / outbound section 9 may not be adjacent to the picking area, or it may be adjacent to other equipment or work areas. Furthermore, for example, the inbound / outbound section 9 may be configured to transport the container group 7, which is transferred from the container group support section 2, to the outside of the transport equipment F.

[0059] [Lifting device]

[0060] The lifting device 3 is mounted on the traveling body 1. The lifting device 3 is configured to lift the container 70 of the container group 7 supported on the container group support 2, in other words, to lift the container 70 of the container group 7 disposed in the stacking area 2A.

[0061] The lifting device 3 includes a lifting rod 30 erected upward from the traveling body 1, a lifting lifting body 30B connected to the lifting rod 30, and a lifting lifting body drive unit 30M that moves the lifting lifting body 30B up and down along the lifting rod 30. Although detailed illustrations are omitted, the lifting lifting body drive unit 30M includes, for example, an annular body such as a belt connected to the lifting lifting body 30B, a rotating body wound around the annular body, and a motor that drives the rotating body to rotate.

[0062] Here, the lifting lever 30 is a lever unrelated to the transfer of container 70. In other words, the lifting lever 30 is a lever without a transfer mechanism like the transfer machine B described later. To distinguish it from the transfer lever 40 described later, the transfer lever 40 can be called "lever 1", and the lever unrelated to the transfer of container 70 (the lifting lever 30 in this example) can be called "lever 2". That is, in this example, the first lever and the second lever are fixed at the traveling body 1. The first lever and the second lever are positioned apart in the longitudinal direction L of the vehicle body.

[0063] The lifting device 3 includes a first lifting mechanism 31 and a second lifting mechanism 32. The first lifting mechanism 31 lifts a container 70 of any height in the container group 7 stacked in the stacking area 2A relative to a container 70 adjacent to it below. The second lifting mechanism 32 lifts a container 70 that is lower than the container 70 lifted by the first lifting mechanism 31 relative to a container 70 adjacent to it below. Furthermore, in this embodiment, the first lifting mechanism 31 and the second lifting mechanism 32 are arranged vertically away from each other. Thus, for example... Figure 9 As shown, a space can be formed between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32 in the vertical direction. In addition, a space in the vertical direction can also be formed below the container 70 lifted by the second lifting mechanism 32.

[0064] In this embodiment, the lifting device 3 includes a first frame portion 31F and a second frame portion 32F protruding from the lifting lifting body 30B toward the stacking area 2A in the longitudinal direction L of the vehicle body, and a connecting frame portion 33F connecting the first frame portion 31F and the second frame portion 32F. The first frame portion 31F and the second frame portion 32F are arranged at a distance from each other in the vertical direction. The first frame portion 31F is arranged above the second frame portion 32F. The connecting frame portion 33F connects the first frame portion 31F and the second frame portion 32F in the vertical direction. With this structure, the first frame portion 31F and the second frame portion 32F do not move relative to each other. The vertical distance between the first frame portion 31F and the second frame portion 32F is always constant. The first frame portion 31F, the second frame portion 32F and the connecting frame portion 33F rise and fall together with the lifting lifting body 30B.

[0065] Although detailed illustrations are omitted, in this embodiment, the first frame portion 31F includes a pair of first frame members 31Fa arranged at intervals in the vehicle width direction W. The pair of first frame members 31Fa is arranged corresponding to the width (length in the vehicle width direction W) of the container 70 arranged in the stacking area 2A. The second frame portion 32F includes a pair of second frame members 32Fa arranged at intervals in the vehicle width direction W. The pair of second frame members 32Fa is arranged corresponding to the width of the container 70 arranged in the stacking area 2A. The connecting frame portion 33F includes a connecting frame member 33Fa. The connecting frame member 33Fa connects the first frame members 31Fa and the second frame members 32Fa arranged in the vertical direction.

[0066] like Figure 9 As shown, in this embodiment, the first lifting mechanism 31 includes a first lifting holding portion 31a that holds the container 70 and a first lifting drive portion (not shown) that changes the posture of the first lifting holding portion 31a. Although detailed illustrations are omitted, the first lifting drive portion is configured to change the posture of the first lifting holding portion 31a to a holding posture that holds the container 70 and a non-holding posture that does not hold the container 70. Figure 9 In the middle, the first lifting and holding part 31a is for maintaining the posture.

[0067] Similarly, the second lifting mechanism 32 includes a second lifting holding part 32a for holding the container 70 and a second lifting drive part (not shown) for changing the posture of the second lifting holding part 32a. Although detailed illustrations are omitted, the second lifting drive part is configured to change the posture of the second lifting holding part 32a to a holding posture for holding the container 70 and a non-holding posture for not holding the container 70. Figure 9 In the middle, the second lifting and holding part 32a is for maintaining the posture.

[0068] here, Figure 9In the middle, the containers 70 stacked in the stacking area 2A are numbered "1 to 5" sequentially from bottom to top. In addition, the containers 70 held by the transfer device 4 are marked with the word "α".

[0069] When a space is formed between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32 in the vertical direction, other containers 70 can be unloaded into that space. That is, other containers 70 can be stacked on the container 70 lifted by the second lifting mechanism 32 by means of the transfer device 4. Figure 10 The example shown is the case where the container 70 (container "α") held by the transfer device 4 is unloaded into the space formed in the vertical direction between the container 70 (container "5") lifted by the first lifting mechanism 31 and the container 70 (container "4") lifted by the second lifting mechanism 32.

[0070] Furthermore, when a vertical space is formed below the container 70 that is lifted by the second lifting mechanism 32, the container 70 located below the container 70 that is lifted by the second lifting mechanism 32 can be retrieved using this space. Figure 10 The example shown is of a container 70 (container 3) positioned below a container 70 (container 4) that has been lifted by the second lifting mechanism 32. The unloading and picking operations of the container 70 relative to the stacking area 2A will be described later.

[0071] [Transfer Device]

[0072] like Figure 4 As shown, the transfer device 4 is mounted on the traveling body 1. The transfer device 4 is configured to transfer the container 70 relative to the transfer target area T. The transfer device 4 is configured to perform an unloading operation of transferring the container 70 to the transfer target area T and a picking operation of transferring the container 70 from the transfer target area T. In this embodiment, the transfer target area T includes a stacking area 2A and a frame portion 80 of the container rack 8.

[0073] Here, the direction of movement of the container 70 transferred by the transfer device 4 is designated as "transfer direction X". Furthermore, one side of the transfer direction X is designated as "transfer direction unloading side X1", and the other side as "transfer direction copying side X2". In this example, the transfer direction X is a horizontal direction. The transfer direction unloading side X1 is the side where the container 70 moves along the transfer direction X when unloading the container 70. The transfer direction copying side X2 is the side where the container 70 moves along the transfer direction X when copying the container 70.

[0074] In this embodiment, the transport vehicle 100 includes a rotary device 5 that allows the transfer device 4 to rotate about an axis in the vertical direction. For example... Figure 6As shown, the rotating device 5 is configured to rotate the transfer device 4 (more specifically, a part of the transfer device 4) about an axis along the vertical direction, changing the orientation of the transfer device 4 to a first posture P1 with the transfer direction X facing the stacking area 2A and a second posture P2 with the transfer direction X facing the container rack 8. Thus, in this embodiment, the transfer direction X can be changed in the horizontal plane by means of the rotating device 5.

[0075] In this embodiment, the transfer device 4 changes its posture in accordance with the position of the transfer target area T. Specifically, the transfer device 4 adopts a first posture P1 when the transfer target area T is the stacking area 2A, and a second posture P2 when the transfer target area T is the container rack 8 (rack part 80). Figure 4 As shown, in this example, the rotary device 5 includes a rotary table 50 that supports the transfer device 4 (more specifically, a part of the transfer device 4), a rotary shaft 51 that rotatably supports the rotary table 50 relative to the transfer lifting body 40B, and a rotary drive unit (not shown) that drives the rotary shaft 51.

[0076] like Figure 4 As shown, the transfer device 4 includes a transfer rod 40 fixed to the traveling body 1 and arranged in the vertical direction, a transfer lifting body 40B that moves up and down along the transfer rod 40, a holding part A connected to the transfer lifting body 40B and holding the container 70, and a transfer machine B for transferring the container 70. Furthermore, the transfer device 4 includes a transfer lifting body drive part 40M that moves the transfer lifting body 40B up and down along the transfer rod 40. Thus, the transfer device 4 can move the holding part A and the transfer machine B in the vertical direction, and can be used relative to the multi-layered frame 80 (see reference). Figure 3 Each transfer container 70. In this example, the control unit C of the transfer device 4 is configured such that when the traveling body 1 is in the frame area IA (refer to Figure 2 In the case of [the above], lifting control is performed to raise and lower the transfer lifting body 40B in order to transfer the container 70 relative to the container rack 8. Furthermore, in this embodiment, the transfer rod 40 is equivalent to a "rod", and the transfer lifting body 40B is equivalent to a "lifting body".

[0077] In this embodiment, a pair of transfer rods 40 are fixed to the traveling body 1 away from the ground in the vehicle width direction W (see also...). Figure 12 The transfer lifting body 40B is supported by a pair of transfer rods 40 that can be raised and lowered freely. As described above, the transfer rod 40 can be referred to as the "first rod". Furthermore, the rod other than the transfer rod 40 (the lifting rod 30 provided in the lifting device 3 in this example) can be referred to as the "second rod".

[0078] The holding part A is configured to connect with the transfer lifting body 40B and is capable of holding the container 70. In this embodiment, the holding part A includes a first holding part 41A and a second holding part 42A disposed below the first holding part 41A. The first holding part 41A and the second holding part 42A are configured to hold the container 70 separately.

[0079] In this embodiment, the transfer device 4 includes a retaining connection portion 43 that connects the first retaining portion 41A and the second retaining portion 42A in the vertical direction. The retaining connection portion 43 connects the first retaining portion 41A and the second retaining portion 42A in a manner where the vertical distance between them is constant.

[0080] The transfer machine B is configured to transfer each container 70 relative to the shelf section 80 and the stacking area 2A. When the shelf section 80 is the transfer target location T, the transfer machine B transfers the container 70 between the holding section A and the shelf section 80. Furthermore, when the stacking area 2A is the transfer target location T, the transfer machine B transfers the container 70 between the holding section A and the stacking area 2A. In this example, the transfer machine B transfers the container 70 relative to the stacking area 2A in a first posture P1 and relative to the shelf section 80 in a second posture P2 (see reference). Figure 6 ).

[0081] like Figure 4 As shown, in this embodiment, the transfer machine B includes a first transfer machine 41B and a second transfer machine 42B disposed below the first transfer machine 41B. The first transfer machine 41B transfers the container 70 between the first holding part 41A and the transfer target part T. The second transfer machine 42B transfers the container 70 between the second holding part 42A and the transfer target part T.

[0082] Figures 7-11 This is an explanatory diagram showing the situation where the transfer device 4 performs a transfer operation (unloading operation or picking operation) of the container 70 relative to the transfer target part T.

[0083] like Figures 7-11As shown, in this embodiment, the first transfer machine 41B includes a first pressing part 41Ba that pushes the container 70 towards the unloading side X1 in the transfer direction when the container 70 is unloaded, a first locking part 41Bb that locks the container 70 and pulls it towards the picking side X2 in the transfer direction when the container 70 is picked up, and a first support member 41Bc that supports the first pressing part 41Ba and the first locking part 41Bb. In this example, the first support member 41Bc is configured to be driven by a drive part (not shown) and move relative to the first holding part 41A in the transfer direction X. Therefore, the first pressing part 41Ba and the first locking part 41Bb are configured to be able to move relative to the first holding part 41A in the transfer direction X. Furthermore, the first pressing part 41Ba moves relative to the first holding part 41A towards the unloading side X1 in the transfer direction, thereby pushing the container 70 to be unloaded towards the unloading side X1 in the transfer direction. Furthermore, the first locking part 41Bb moves relative to the first holding part 41A in the transfer direction copying side X2, thereby pulling the container 70 of the copying object into the transfer direction copying side X2.

[0084] Furthermore, in this embodiment, the second transfer machine 42B includes a second pressing part 42Ba that pushes the container 70 towards the unloading side X1 in the transfer direction when the container 70 is unloaded, a second locking part 42Bb that locks the container 70 and pulls it towards the picking side X2 in the transfer direction when the container 70 is picked up, and a second support member 42Bc that supports the second pressing part 42Ba and the second locking part 42Bb. In this example, the second support member 42Bc is configured to be driven by a drive part (not shown) and move relative to the second holding part 42A in the transfer direction X. Thus, the second pressing part 42Ba and the second locking part 42Bb are configured to be able to move relative to the second holding part 42A in the transfer direction X. Furthermore, the second pressing part 42Ba moves relative to the second holding part 42A towards the unloading side X1 in the transfer direction, thereby pushing the container 70 to be unloaded towards the unloading side X1 in the transfer direction. Furthermore, the second locking part 42Bb moves relative to the second holding part 42A in the transfer direction on the copying side X2, thereby pulling the container 70 of the copying object into the transfer direction on the copying side X2.

[0085] In this embodiment, the first locking part 41Bb and the second locking part 42Bb are respectively configured to be driven by a driving part (not shown) and to change their posture to a locking posture that is locked to the container 70 and a non-locking posture that is not locked to the container 70. Figures 7-11 In the diagram, the first locking part 41Bb or the second locking part 42Bb in a locking posture is indicated in gray, and the first locking part 41Bb or the second locking part 42Bb in a non-locking posture is indicated in white.

[0086] Figure 7 This describes the action of transferring container 70 relative to shelf 80, exemplified by the case where container 70 stored in shelf 80 is transferred to first holding part 41A using first transfer machine 41B. In this case, control unit C (see reference) Figure 4 Align the position of the first transfer machine 41B with the reference position 80P of the frame 80 (refer to...). Figure 3 After that, the container 70 is pulled into the transfer direction pick-up side X2 by means of the first locking part 41Bb.

[0087] In this embodiment, the transfer device 4 has a reference position 80P of the detection frame 80 (refer to...). Figure 3 The reference position detection sensor Se1 is used. As described above, the reference position 80P is the position of the shelf 80 used to store the container 70.

[0088] The reference position detection sensor Se1 is configured to detect the positional relationship between the transfer device 4 (equipped with the reference position detection sensor Se1) and the reference position 80P of the frame 80 by detecting the target part 82T provided on the beam member 82. Furthermore, based on the detection result of the target part 82T by the reference position detection sensor Se1, the traveling body 1, the rotating device 5, and the transfer lifting body drive unit 40M are controlled to correct the position of the transfer device 4, thereby enabling appropriate transfer of the container 70 relative to the frame 80. In this example, the reference position detection sensor Se1 is configured as a camera. Through image recognition using the reference position detection sensor Se1, which is configured as a camera, the positional relationship between the transfer device 4 and the target part 82T provided on the beam member 82 can be detected. For example, the reference position detection sensor Se1 may also function as a distance measuring sensor for detecting the distance to an object.

[0089] Figure 8 This describes the unloading (transfer) operation of container 70 relative to the rack section 80, exemplified by the case where container 70, held in the second holding section 42A, is unloaded to the rack section 80 using the second transfer machine 42B. In this case, the control unit C (refer to...) Figure 4 If the shelf 80, which is determined to be the object of the unloading container 70, does not hold another container 70, the container 70 is pushed toward the unloading side X1 in the transfer direction by means of the second pushing part 42Ba.

[0090] Furthermore, in this embodiment, the transfer device 4 is equipped with a storage container detection sensor Se2 for detecting the container 70 stored in the shelf section 80.

[0091] When the transfer device 4 is transferring a container 70 to the shelf 80 for unloading, the container detection sensor Se2 detects whether there is a container 70 at the shelf 80 to be transferred. If the transfer device 4 detects that there is no container 70 at the shelf 80 to which it is the unloading destination, the container detection sensor Se2 performs the unloading operation of the container 70 to that shelf 80. If the container detection sensor Se2 detects that there is a container 70 at the shelf 80 to which it is the unloading destination, the container 70 can be transferred to another empty shelf 80, or the transfer can be stopped. For example, the container detection sensor Se2 can also be configured as a distance measuring sensor that detects the distance to the target. Thus, the transfer operation can be performed while measuring the distance between the transfer device 4 and the transfer target part T. In this embodiment, the container detection sensor Se2 is configured as a light sensor that projects light relative to the target. However, it is not limited to this structure, and the container detection sensor Se2 can also be configured with known mechanisms such as ultrasonic sensors or cameras.

[0092] Figures 9-11 This refers to the transfer operation of container 70 relative to stacking area 2A. As described above, in this embodiment, by means of lifting device 3, space can be formed in the vertical direction between the multiple containers 70 stacked in stacking area 2A. Furthermore, transfer device 4 utilizes these spaces to transfer container 70 relative to stacking area 2A. In this embodiment, transfer device 4 is configured to perform both picking up and unloading operations of container 70 relative to stacking area 2A. More specifically, transfer device 4 is configured to perform parallel picking up and unloading operations of container 70 relative to stacking area 2A.

[0093] Figures 9-11 The diagram illustrates an example where five layers of containers 70 are stacked as a container group in stacking area 2A7. In the diagram, each stacked container 70 is labeled with the numbers "1 to 5" sequentially from bottom to top. Furthermore, the container 70 to be unloaded, held in the first holding section 41A, is labeled with the letter "α". In the example shown below, the container 70 (container "α") to be unloaded is unloaded onto the container 70 (container "4") of the fourth layer using the space formed between the fifth layer container 70 (container "5") and the fourth layer container 70 (container "4") using the lifting device 3. Simultaneously, the third layer container 70 (container "3") is retrieved using the space formed below the fourth layer container 70 (container "4") using the lifting device 3.

[0094] like Figure 10 As shown, control unit C (refer to) Figure 4The second locking part 42Bb, which is in a locking position, moves relative to the second holding part 42A toward the transfer direction copying side X2 while locked to the container 70 (container "3"). In parallel with this, the control part C, while pushing the container 70 (container "α") held by the first holding part 41A with the first pushing part 41Ba, moves relative to the first holding part 41A toward the transfer direction unloading side X1. As a result, the second locking part 42Bb pulls the container 70 (container "3") to be copied toward the transfer direction copying side X2, and the first pushing part 41Ba pushes the container 70 (container "α") to be unloaded toward the transfer direction unloading side X1.

[0095] Furthermore, the control unit C places the container 70 (container "3") of the object to be copied, which is pulled in by the second locking part 42Bb, onto the second holding part 42A, and places the container 70 (container "α") of the object to be unloaded, which is pushed by the first pushing part 41Ba, above the container 70 (container "4") lifted by the second lifting holding part 32a to fit into the container 70 (container "4"). Thus, the container group 7 of the stacking area 2A is... Figure 11 The state shown is such that a portion of the multiple containers 70 arranged in the stacking region 2A, container 70 (container "3"), is swapped with a new container 70 (container "α").

[0096] In recent years, earthquake countermeasures have been developed in various fields. The transport vehicle 100 of this application is a structure that is difficult to tip over even in the event of severe shaking, such as during an earthquake. In this embodiment, measures are sought to ensure that the traveling body 1 (transport vehicle 100) is positioned within the frame area IA and the outer area OA (see reference). Figure 2 In any area, the transport vehicle 100 is difficult to tip over. The following is a detailed explanation.

[0097] like Figure 12 As shown, in this embodiment, the container rack 8 includes an object beam member 820 extending horizontally along the front of the container rack 8. The object beam member 820 is mounted on each container rack 8. The object beam member 820 is one of a plurality of beam members 82 in each container rack 8. In this example, the object beam member 820 is the uppermost beam member 82 among the plurality of beam members 82.

[0098] In this embodiment, a guide member 6 is fixed at a height on the transfer rod 40 corresponding to the target beam member 820, protruding outward from the transfer rod 40 in the vehicle width direction W. The guide member 6 is positioned to abut against the target beam member 820 when the transport vehicle 100 in the rack area IA is tilted in the vehicle width direction W.

[0099] Here, the guided component 6 is positioned at a height above the height of the beam component 820 to which it is placed. In this embodiment, the placement height of the guided component 6 is related to the state in which the traveling body 1 is in the frame area IA, in other words, the travel body 1's path Ra within the frame (refer to...). Figure 1 The distance DL between the guided component 6 and the target beam component 820 in the width direction W of the vehicle body, whether the vehicle is traveling or stopped, is set accordingly. In this example, the distance DL is essentially constant regardless of the position of the traveling body 1 in the frame area IA. In other words, the frame path Ra (travel path R) is set such that the distance DL is a constant value regardless of the position of the traveling body 1 in the frame area IA.

[0100] like Figure 12 As shown in the right figure, the position of the guided component 6 decreases as the transport vehicle 100 tilts in the width direction W. As the distance DL increases, the tilt of the transport vehicle 100 increases, and the position of the guided component 6 decreases. Therefore, preferably, the guided component 6 is positioned higher than the height of the object beam component 820 as the distance DL increases, and positioned close to the height of the object beam component 820 as the distance DL decreases. Thus, when the transport vehicle 100 in the rack area IA tilts in the width direction W, the guided component 6 can appropriately abut against the object beam component 820. Furthermore, with the structure described above, the transport vehicle 100 can be supported by the object beam component 820 (container rack 8), making it difficult for the transport vehicle 100 to tip over in the rack area IA. Additionally, in this embodiment, the "height of the object beam component 820" refers to the height of the object beam component 820 from the ground, based on its center position in the vertical direction. Similarly, "the configuration height of the guided component 6" is the height of the guided component 6 above the ground, based on its center position in the vertical direction.

[0101] The amount by which the guided component 6 protrudes from the transfer rod 40 in the width direction W is set such that, when the transport vehicle 100 in the rack area IA is tilted in the width direction W, the guided component 6 first abuts against the target beam component 820. In other words, the amount by which the guided component 6 protrudes in the width direction W is set such that, when the transport vehicle 100 is tilted in the width direction W, in the portion of the transport vehicle 100 facing the container rack 8, the protruding end (abutment surface) of the guided component 6 in the width direction W is located closest to the container rack 8. This amount of protrusion is preferably set in relation to the height at which the guided component 6 is fixed to the transfer rod 40. That is, the amount of displacement of the transfer rod 40 in the width direction W caused by the tilting of the transport vehicle 100 increases as it tilts upwards. Therefore, the amount by which the guided component 6 protrudes in the width direction W decreases as the position of the guided component 6 fixed to the transfer rod 40 increases. Conversely, it is necessary for the amount of protrusion of the guided component 6 in the width direction W to increase as the position of the guided component 6 fixed to the transfer rod 40 decreases. Furthermore, the amount of protrusion of the guided component 6 in the width direction W is preferably set such that, for example, when other components are provided around the guided component 6 at the transfer rod 40, the protruding end (abutment surface) of the guided component 6 in the width direction W is located outside the other components compared to the other components. Thus, when the transport vehicle 100 in the rack area IA is tilted in the width direction W, the guided component 6 can abut against the target beam component 820 first.

[0102] In this embodiment, a guide member 6 is provided at each of the pair of transfer rods 40, protruding outward in the vehicle width direction W. Thus, when the traveling body 1 is positioned between the pair of container racks 8, the transport vehicle 100 can be supported by one of the pair of container racks 8 even if it is tilted to any side in the vehicle width direction W.

[0103] Furthermore, in this embodiment, a pair of lifting rods 30 (see reference) Figure 4 Each of the container racks 100 is provided with a guide member 6 that protrudes outward in the width direction W of the vehicle body. In other words, in this embodiment, a guide member 6 is provided at each of the first rod (transfer rod 40) and the second rod (lifting rod 30) which is positioned away from the ground in the longitudinal direction L of the vehicle body relative to the first rod. As a result, when the transport vehicle 100 in the rack area 1A is tilted in the width direction W of the vehicle body, the transport vehicle 100 can be stably supported by the container rack 8.

[0104] Based on the structure described above, it is possible to prevent the transport vehicle 100 located in the rack area IA from tipping over.

[0105] like Figure 13As shown, control unit C (refer to) Figure 4 The transfer elevator 40B is configured to perform low center of gravity control, which positions the elevator body 40B within a lower range UR set below the center of the possible lifting range VR. The control unit C performs low center of gravity control by controlling the transfer device 4. Specifically, the control unit C controls the transfer elevator drive unit 40M (see reference...). Figure 4 The control unit C performs low center of gravity control. By implementing this low center of gravity control, the overall center of gravity of the transport vehicle 100 is lowered, making it more difficult for the transport vehicle 100 to tip over. In this embodiment, the control unit C positions the transfer lifting body 40B at the lowest point of its possible lifting range VR during the low center of gravity control. This further reduces the likelihood of the transport vehicle 100 tipping over. Furthermore, in this embodiment, a guide member 6 is provided at the transfer rod 40, and the upper limit of the possible lifting range VR of the transfer lifting body 40B is set so that the transfer lifting body 40B does not interfere with the guide member 6.

[0106] Control unit C determines whether the traveling body 1 is in the frame area IA or the external area OA (refer to...). Figure 2 Low center of gravity control is performed in at least a portion of the outer area OA. In the outer area OA, when the traveling body 1 is in the rack area IA, there are few structures such as the container rack 8 that can support the transport vehicle 100. However, as described above, by performing low center of gravity control in at least a portion of the outer area OA, the overall center of gravity of the transport vehicle 100 can be lowered when it is in the outer area OA, thus making it difficult for the transport vehicle 100 in the outer area OA to tip over.

[0107] In this embodiment, the transport vehicle 100 includes a position information acquisition unit Ca (refer to) that acquires the current position information of the traveling body 1. Figure 4 In this example, the control unit C determines whether the traveling body 1 is in the rack area IA or the external area OA based on the position information obtained by the position information acquisition unit Ca. In this example, the position information acquisition unit Ca is configured to acquire the current position information of the traveling body 1 transmitted from the upper controller H of the overall management equipment. In this case, the upper controller H grasps the position of the traveling body 1 (transport vehicle 100) existing in the overall equipment and transmits the current position information of the traveling body 1 (transport vehicle 100) to the position information acquisition unit Ca.

[0108] like Figure 14As shown, in this embodiment, the stopping position of the traveling body 1 when transferring the container 70 between the container rack 8 using the transfer machine B is set as the transfer stopping position SP. After the control unit C completes the transfer of the container 70 at the last transfer stopping position SP before moving the traveling body 1 from the rack area IA to the outer area OA along the traveling path R of the traveling body 1, it begins low center of gravity control from the time the traveling body 1 moves out to the outer area OA. Furthermore, the control unit C maintains the low center of gravity control state while the traveling body 1 is in the outer area OA. In this example, when the transfer machine B performs the next transfer of the container 70, the control unit C maintains the low center of gravity control state from the time the traveling body 1 moves out of the outer area OA until the traveling body 1 is in the outer area OA, and during the period after the traveling body 1 enters the rack area IA and performs the next transfer.

[0109] Next, refer to Figure 15 The flowchart illustrates the handling process for performing low center of gravity control.

[0110] like Figure 15 As shown, the control unit C determines whether the current path of the traveling body 1 is a path from the rack area IA towards the external area OA (step #1). The path of the traveling body 1 is, for example, contained in a transport command transmitted from the upper controller H. In this case, the control unit C determines the path based on the transport command.

[0111] If the control unit C determines that the current path of the traveling body 1 is not from the rack area IA to the external area OA (step #1: No), the program ends. If the control unit C determines that the current path of the traveling body 1 is from the rack area IA to the external area OA (step #1: Yes), the control unit C determines whether the final transfer of the rack area IA is completed (step #2).

[0112] If control unit C determines that the final transfer in the shelving area IA has not been completed (step #2: No), it repeats step #2. If control unit C determines that the final transfer in the shelving area IA has been completed (step #2: Yes), it executes low center of gravity control (step #3). Furthermore, control unit C maintains low center of gravity control from the time the traveling body 1 moves out of the outer area OA until it enters the shelving area IA and the subsequent transfer of container 70 is carried out by the transfer machine B (step #4).

[0113] Based on the structure described above, the transport vehicle 100 located in the outer region OA is less likely to tip over. Furthermore, as mentioned above, in this embodiment, the traveling body 1 rotates around its vertical axis in the direction-changing region DA, thereby changing its direction of travel. When the traveling body 1 changes its direction of travel in this manner, centrifugal force is easily exerted on the transport vehicle 100. However, in the direction-changing region DA (outer region OA) where the traveling body 1 changes its direction of travel, the overall center of gravity of the transport vehicle 100 is lowered through the execution of low center of gravity control, thus making it difficult for the transport vehicle 100 to tip over even when the traveling body 1 changes its direction of travel.

[0114] [Second Implementation]

[0115] Next, refer to Figures 16-19 The second embodiment of the transport vehicle will be described. Unless otherwise specified, the following aspects are the same as in the first embodiment.

[0116] Figure 16 The lifting device 3 indicates the observation direction L of the vehicle body in the front-to-back direction. Figure 17 3. A lifting device for viewing from above.

[0117] like Figure 16 and Figure 17 As shown, the lifting device 3 includes a frame unit FU configured to include multiple frame portions. In this example, the frame unit FU includes the first frame portion 31F, the second frame portion 32F, and the connecting frame portion 33F as described above.

[0118] In this embodiment, the lifting device 3 includes an inclined limiting guide 3G that limits the stacking area 2A of the container group 7. The limiting guide 3G is positioned facing the container group 7 in the horizontal direction. The limiting guide 3G includes a container group support 2 (see reference 2) that supports the container group 7 from below. Figure 4 In addition to (etc.), the tilt of the container group 7 is also limited by the container group 7 facing each other in the horizontal direction relative to the container group 7. Furthermore, the limiting guide part 3G also has the function of guiding the container 70 along the transfer direction X when the transfer device 4 transfers the container 70 relative to the stacking area 2A.

[0119] In this embodiment, the limiting guide portion 3G includes a first limiting guide portion 31G and a second limiting guide portion 32G disposed below the first limiting guide portion 31G. In this example, the first limiting guide portion 31G is disposed in the first frame portion 31F. Specifically, the first limiting guide portion 31G is disposed on a pair of first frame members 31Fa arranged at intervals in the vehicle width direction W, and has a portion protruding inward from each of the first frame members 31Fa in the vehicle width direction W. Furthermore, in this example, the second limiting guide portion 32G is disposed in the second frame portion 32F. Specifically, the second limiting guide portion 32G is disposed on a pair of second frame members 32Fa arranged at intervals in the vehicle width direction W, and has a portion protruding inward from each of the second frame members 32Fa in the vehicle width direction W.

[0120] like Figure 17 As shown, in this embodiment, the first frame portion 31F includes a pair of first frame members 31Fa and a width direction frame member 31Fb arranged along the width direction W of the vehicle body. In this example, the width direction frame member 31Fb connects the ends of the respective transfer direction copying side X2 of the pair of first frame members 31Fa. Furthermore, in this embodiment, the first limiting guide portion 31G is also provided in the width direction frame member 31Fb in addition to the pair of first frame members 31Fa. Although detailed illustrations are omitted, the second frame portion 32F also similarly includes a width direction frame member. Similarly, the second limiting guide portion 32G is also provided in the width direction frame member in addition to the pair of second frame members 32Fa. That is, in this example, the first limiting guide portion 31G and the second limiting guide portion 32G have the same structure. Hereinafter, the structure of the first limiting guide portion 31G will be described, and the structure of the second limiting guide portion 32G is the same, so the description is omitted.

[0121] like Figure 17 As shown, in this embodiment, the first limiting guide portion 31G has a width-direction facing portion 31Ga facing each other in the vehicle body width direction W and a front-rear facing portion 31Gb facing each other in the vehicle body front-rear direction L, relative to the container group 7 in the stacking region 2A. Therefore, when the container group 7 in the stacking region 2A is tilted in the vehicle body width direction W or the vehicle body front-rear direction L, the width-direction facing portion 31Ga or the front-rear facing portion 31Gb abuts against the container group 7, supporting the container group 7 in the vehicle body width direction W or the vehicle body front-rear direction L. This appropriately limits the tilting of the container group 7. Furthermore, when the container group 7 in the stacking region 2A moves in the vehicle body width direction W or the vehicle body front-rear direction L, the width-direction facing portion 31Ga or the front-rear facing portion 31Gb abuts against the container group 7, thereby also appropriately limiting the movement of the container group 7.

[0122] In this embodiment, the first restriction guide 31G includes a first restriction guide member 31G1 configured corresponding to the unloading side X1 of the container group 7 in the transfer direction of the stacking region 2A, a second restriction guide member 31G2 configured corresponding to the copying side X2 of the container group 7 in the transfer direction of the stacking region 2A, and a third restriction guide member 31G3 configured closer to the copying side X2 of the container group 7 in the transfer direction than the container group 7 in the stacking region 2A.

[0123] In this embodiment, the first limiting guide member 31G1 and the second limiting guide member 31G2 are connected to each of a pair of first frame members 31Fa. The first limiting guide member 31G1 is positioned more towards the unloading side X1 in the transfer direction than the second limiting guide member 31G2. The second limiting guide member 31G2 is positioned more towards the picking side X2 in the transfer direction than the first limiting guide member 31G1. The third limiting guide member 31G3 is connected to the width direction frame member 31Fb. In this example, the pair of third limiting guide members 31G3 are spaced apart from each other in the vehicle body width direction W and are connected to the width direction frame member 31Fb.

[0124] In this embodiment, the first limiting guide member 31G1 includes a width-direction facing portion 31Ga and a front-rear-direction facing portion 31Gb. The front-rear-direction facing portion 31Gb of the first limiting guide member 31G1 is arranged facing the container group 7 relative to the stacking region 2A and the unloading side X1 in the transfer direction. In this example, the width-direction facing portion 31Ga is formed as a plate having a surface facing the inner side in the vehicle width direction W and extending along the transfer direction X. The front-rear-direction facing portion 31Gb of the first limiting guide member 31G1 is formed as a plate having a surface facing the picking side X2 in the transfer direction and extending along the vehicle width direction W. Furthermore, the width-direction facing portion 31Ga and the front-rear-direction facing portion 31Gb of the first limiting guide member 31G1 are continuous and form an L-shape when viewed vertically. In the illustrated example, both the width-direction facing portion 31Ga and the front-rear-direction facing portion 31Gb face each other with a gap between them relative to the container group 7. In addition, the opposing portions 31Ga in the width direction and 31Gb in the front-to-back direction can also be configured to face each other when in contact with the side of the container group 7.

[0125] In this embodiment, the first limiting guide portion 31G (the second limiting guide portion 32G) includes a guide portion 31Gg that guides the container 70 being transferred toward the stacking region 2A along the transfer direction X, in addition to the width-direction facing portion 31Ga and the front-rear-direction facing portion 31Gb. Furthermore, the second limiting guide member 31G2 includes the guide portion 31Gg and the width-direction facing portion 31Ga. The guide portion 31Gg is formed as a plate extending inward toward the vehicle body width direction W as it moves toward the unloading side X1 in the transfer direction. This allows the container 70 being transferred toward the stacking region 2A to be appropriately guided toward the unloading side X1 in the transfer direction. In this example, the guide portion 31Gg and the width-direction facing portion 31Ga of the second limiting guide member 31G2 are formed continuously. The width-direction facing portion 31Ga of the second limiting guide member 31G2 is formed as a plate that extends continuously from the end of the unloading side X1 in the transfer direction of the guide portion 31Gg toward the unloading side X1 in the transfer direction.

[0126] In this embodiment, the third limiting guide member 31G3 includes a front-to-back facing portion 31Gb. The front-to-back facing portion 31Gb of the third limiting guide member 31G3 is disposed facing the container group 7 relative to the stacking area 2A and the transfer direction picking side X2. In this example, the front-to-back facing portion 31Gb of the third limiting guide member 31G3 is formed as a plate having a surface facing the unloading side X1 in the transfer direction and extending along the width direction W of the vehicle body.

[0127] Here, the width-direction facing portions 31Ga and the front-back direction facing portions 31Gb are configured such that they change state to a facing state in which the container group 7 faces each other in the horizontal direction relative to the stacking region 2A and can support the container group 7, and a non-facing state in which they do not face each other in the horizontal direction relative to the container group 7. That is, in Figure 18 As shown by the imaginary lines, when the frame unit FU is positioned in a non-overlapping position when viewed horizontally relative to the container group 7 of the stacking region 2A, the opposing portions 31Ga in the width direction and the opposing portions 31Gb in the front-back direction are in a non-opposing state. On the other hand, in Figure 18 As shown by the solid line, when the frame unit FU is in a position that overlaps with the container group 7 in the horizontal direction relative to the stacking region 2A, the width direction facing part 31Ga and the front-to-back direction facing part 31Gb are in a facing state.

[0128] In this embodiment, the control unit C (refer to...) Figure 4The system is configured to perform container group reversal control, which positions the frame unit FU relative to the container group 7 in the stacking area 2A at a position overlapping when viewed horizontally. In the container group reversal control, the control unit C raises and lowers the lifting body 30B supporting the frame unit FU, thereby positioning the frame unit FU within the reversal range SR of the container group. Specifically, the control unit C controls the lifting body drive unit 30M (see reference...) Figure 4 ), and execute container group opposite control.

[0129] Here, the "container group facing range SR" is a range set along the vertical direction, corresponding to the vertical presence range of the container group 7 in the current stacking region 2A. The control unit C, through the execution of container group facing control, arranges at least a portion of the frame unit FU within the container group facing range SR. In this embodiment, the control unit C executes container group facing control such that the frame unit FU is arranged overlapping with the uppermost container 70 among the plurality of containers 70 constituting the container group 7 when viewed horizontally. Here, the control unit C is configured such that the limiting guide 3G overlaps with the uppermost container 70 of the container group 7 when viewed horizontally. More specifically, in this example, it is configured such that the first limiting guide 31G and the second limiting guide 32G provided at the frame unit FU overlap with the container 70 arranged at the uppermost layer of the container group 7 when viewed horizontally. Therefore, when the container group 7 is tilted, the uppermost container 70 among the multiple containers 70 constituting the container group 7 can be supported by the limiting guide parts 3G (width-direction opposing parts 31Ga and front-back direction opposing parts 31Gb), thus appropriately limiting the tilting and tipping of the container group 7. Furthermore, Figure 18 To avoid clutter, the illustration of the limiting guide section 3G (width direction opposing section 31Ga and front-back direction opposing section 31Gb) is omitted.

[0130] In this embodiment, the control unit C determines whether the traveling body 1 is in the frame area IA or the outer area OA (refer to...). Figure 2 The container group is controlled to move in opposite directions in at least a portion of the outer region OA. Thus, when the traveling body 1 changes direction in the outer region OA, specifically in the direction-changing region DA by rotation or the like, it makes it difficult for the container group 7 in the stacking region 2A to tip over.

[0131] In this embodiment, the control unit C stops at the final transfer stop position SP (refer to) before moving out of the frame area IA to the outer area OA along the travel path R of the traveling body 1. Figure 14After the transfer of container 70 is completed until the traveling body 1 moves out to the external area OA, container group reversal control begins. Furthermore, the control unit C maintains the state of executing container group reversal control while the traveling body 1 is in the external area OA. In this example, when the transfer device 4 performs the next transfer of container 70, the control unit C maintains the state of executing container group reversal control during the period from when the traveling body 1 moves out of the external area OA until the traveling body 1 is in the external area OA, and during the period after the traveling body 1 enters the rack area IA and performs the next transfer.

[0132] In this embodiment, the control unit C performs container group reversal control at the same time as the low center of gravity control. This prevents both the tipping of the transport vehicle 100 and the tipping of the container group 7.

[0133] Next, refer to Figure 19 The flowchart illustrates the processing flow for the execution of container group reciprocal control.

[0134] like Figure 19 As shown, the control unit C determines whether the current path of the traveling body 1 is a path from the rack area IA towards the external area OA (step #11). The path of the traveling body 1 is, for example, contained in a transport command transmitted from the upper controller H. In this case, the control unit C determines the path based on the transport command.

[0135] If the control unit C determines that the current path of the traveling body 1 is not from the rack area IA to the external area OA (step #11: No), the program ends. If the control unit C determines that the current path of the traveling body 1 is from the rack area IA to the external area OA (step #11: Yes), the control unit C determines whether the final transfer of the rack area IA is completed (step #12).

[0136] If the control unit C determines that the final transfer in the shelving area IA has not been completed (step #12: No), it repeats the process of step #12. If the control unit C determines that the final transfer in the shelving area IA has been completed (step #12: Yes), it executes low center of gravity control and container group facing-to-facing control (step #13). Furthermore, after the traveling body 1 moves out of the outer area OA, until it enters the shelving area IA and performs the subsequent transfer of the container 70 using the transfer device 4, the control unit C maintains the execution of low center of gravity control and container group facing-to-facing control (step #14).

[0137] [Other Implementation Methods]

[0138] Next, other implementations of the transport vehicle will be described.

[0139] (1) In the above embodiment, the example described is that the object beam member 820 that is abutted by the guided member 6 is the uppermost beam member 82 among the multiple beam members 82 provided by the container frame 8. However, it is not limited to such an example, and the object beam member 820 may also be one of the multiple beam members 82 provided by the container frame 8.

[0140] (2) In the above embodiments, an example is described in which the object abutted by the guided member 6 is the beam member 82 (object beam member 820). However, it is not limited to such an example. For example, a dedicated member that is the object abutted by the guided member 6 may also be provided in the container rack 8.

[0141] (3) In the above embodiment, an example has been described in which a guided member 6 is provided at each of a pair of transfer rods 40 disposed off the ground in the vehicle width direction W. However, this is not limited to such an example; the guided member 6 may be provided only at one of the pair of transfer rods 40. Furthermore, the guided member 6 is not a necessary structure; it is also possible that the guided member 6 described above is not fixed at the transfer rod 40. In addition, it is also possible that the guided member 6 is not fixed at the lifting rod 30.

[0142] (4) In the above embodiment, an example was described in which the control unit C completes the transfer of container 70 at the last transfer stop position SP before moving the travel body 1 from the frame area IA to the outer area OA along the travel path R of the travel body 1, and then begins low center of gravity control after the travel body 1 has moved out to the outer area OA. However, it is not limited to this example, and the control unit C may also begin low center of gravity control after part or all of the travel body 1 has moved out to the outer area OA.

[0143] (5) In the above embodiments, an example has been described in which the location information acquisition unit Ca is configured to acquire the location information of the traveling body 1 transmitted from the upper controller H of the overall management device. However, it is not limited to such an example. For example, the location information acquisition unit Ca may also be configured to read information indicating the location of an information storage unit (not shown) provided at the boundary between the frame area IA and the outer area OA, thereby acquiring the current location information of the traveling body 1 at the aforementioned boundary. As the information storage unit in this case, it may be an information storage medium such as a barcode or IC tag. Alternatively, the location information acquisition unit Ca may be composed of a camera, and the current location information of the traveling body 1 may be acquired based on the image of the surrounding area of ​​the traveling body 1 captured by the camera.

[0144] (6) In the above embodiment, an example was described in which the control unit C maintains a low center of gravity control state during the period when the traveling body 1 is in the outer region OA after it has moved out of the outer region OA, and during the period when the traveling body 1 moves from the rack area IA to the execution of the next transfer. However, this is not limited to such an example. It is also possible that the control unit C maintains a low center of gravity control state during the period when the traveling body 1 is in the outer region OA after it has moved out of the outer region OA, and ends the low center of gravity control upon re-entering the rack area IA. In this case, the control unit C releases the execution of the low center of gravity control without waiting for the next transfer.

[0145] (7) Furthermore, the structures disclosed in the above embodiments can be combined and applied with the configurations disclosed in other embodiments, provided that no contradictions arise. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be appropriately made without departing from the spirit of this application.

[0146] [Summary of the above embodiments]

[0147] The following is a description of the transport vehicle already explained above.

[0148] A transport vehicle travels along the front of a storage rack, the storage rack having multiple layers of shelves for storing items in the vertical direction. The transport vehicle transports the items. The vehicle is characterized by comprising a traveling body, a transfer device, and a control unit. The traveling body travels along a predetermined path, the transfer device transfers the items, and the control unit controls the transfer device. The transfer device includes a rod, a lifting body, a holding part, and a transfer mechanism. The rod is fixed to the traveling body and configured to move vertically along the rod. The holding part is connected to the aforementioned lifting body to hold the aforementioned item. The aforementioned transfer machine transfers the aforementioned item between the aforementioned holding part and the aforementioned shelf part. The aforementioned control part can perform low center of gravity control. The aforementioned low center of gravity control is to control the position of the aforementioned lifting body to be located in a lower range set below the center of the possible lifting range. The aforementioned control part determines whether the aforementioned traveling body is in the area facing the aforementioned front of the aforementioned storage shelf, i.e., the shelf area, or in an external area outside the aforementioned shelf area. The aforementioned low center of gravity control is performed in at least a part of the aforementioned external area.

[0149] According to this structure, in the external area where there are fewer structures supporting the transport vehicle, a low center of gravity control is implemented, thereby allowing the lifting body to be positioned in a lower range, below the center of the possible lifting range. This lowers the overall center of gravity of the transport vehicle, making it less prone to tipping over due to earthquakes or other disturbances. Furthermore, when the traveling body is in the rack area, the traveling body and the storage rack are adjacent to each other. In this case, the storage rack can be used as a support for the transport vehicle, further preventing it from tipping over. Therefore, according to this structure, a transport vehicle that is difficult to tip over due to earthquakes or other disturbances can be achieved.

[0150] Here, preferably, the stopping position of the traveling body when the aforementioned items are transferred between the aforementioned storage rack by means of the aforementioned transfer machine is set as the transfer stopping position. After the aforementioned control unit completes the transfer of the aforementioned items at the last aforementioned transfer stopping position before the aforementioned items are moved out of the aforementioned rack area to the aforementioned external area along the traveling path of the aforementioned traveling body, the aforementioned low center of gravity control is started until the aforementioned traveling body moves out of the aforementioned external area.

[0151] According to this structure, it is possible to properly transfer items between each of the multi-layered shelving units in the shelving area, and to achieve a state in the outer area where the transport vehicle is difficult to tip over in the early stages.

[0152] Furthermore, preferably, the aforementioned storage rack includes an object beam member extending horizontally along the aforementioned front surface of the aforementioned storage rack, the direction of travel of the aforementioned vehicle body is set as the front-rear direction of the vehicle body, and the direction orthogonal to the aforementioned front-rear direction of the vehicle body when viewed in the aforementioned vertical direction is set as the vehicle body width direction, and a guided member protruding outward from the aforementioned rod in the aforementioned vehicle body width direction is fixed at a position corresponding to the height of the aforementioned object beam member on the aforementioned rod.

[0153] According to this structure, when the transport vehicle is tilted in the width direction of the vehicle body while the traveling body is in the frame area, the guided component abuts against the target beam component, thereby enabling the transport vehicle to be supported by the target beam component. Therefore, it is possible to prevent the transport vehicle from tipping over in the frame area.

[0154] Furthermore, preferably, the aforementioned storage rack has a plurality of beam members extending horizontally along the aforementioned front surface of the aforementioned storage rack, the plurality of aforementioned beam members being arranged apart from each other in the aforementioned vertical direction, and the aforementioned target beam member being the aforementioned beam member arranged at the top among the plurality of aforementioned beam members.

[0155] According to this structure, when the transport vehicle is tilted, the point at which the guided component and the target beam component abut are relatively high. Therefore, the tilting of the transport vehicle supported by the target beam component can be minimized, and the load acting on the target beam component supporting the transport vehicle can be minimized.

[0156] Furthermore, preferably, a pair of the aforementioned storage racks are arranged parallel to each other at intervals, a portion of the aforementioned travel path is configured to pass between the pair of the aforementioned storage racks, a pair of the aforementioned rods are fixed to the aforementioned travel body away from each other in the aforementioned vehicle width direction, and the aforementioned guided member is provided at each of the pair of the aforementioned rods in a manner that protrudes outward in the aforementioned vehicle width direction.

[0157] According to this structure, when the traveling vehicle is positioned between a pair of storage racks in the rack area, the transport vehicle can be supported by one of the storage racks even if it tilts to either side in the vehicle width direction. Therefore, it is possible to further prevent the transport vehicle from tipping over in the rack area.

[0158] Furthermore, preferably, when the aforementioned traveling body is in the aforementioned shelf area, the aforementioned control unit performs lifting control to raise and lower the aforementioned lifting body in order to transfer the aforementioned items relative to the aforementioned storage shelf.

[0159] According to this structure, the lifting body is raised and lowered in the shelf area, thereby enabling the appropriate transfer of items between each of the multi-layered shelves. Furthermore, by utilizing the function for raising and lowering such the lifting body, low center of gravity control can be implemented to position the lifting body in the lower region.

[0160] Furthermore, preferably, the aforementioned article is a container capable of containing the contained object, having a container group support and a lifting device. The aforementioned container group support supports multiple of the aforementioned containers as a container group in a stacked state within a defined stacking area. The aforementioned lifting device lifts the aforementioned containers of the aforementioned container group supported by the aforementioned container group support. The aforementioned lifting device has a limiting guide portion that limits the tilt of the aforementioned container group in the aforementioned stacking area. The aforementioned limiting guide portion limits the tilt of the aforementioned container group by being opposite each other in the horizontal direction relative to the aforementioned container group.

[0161] According to this structure, multiple containers can be transported in a stacked state. However, a container group consisting of multiple stacked containers is more prone to tilting than a single container. According to this structure, the limiting guide is facing each other in the horizontal direction relative to the container group, thereby limiting the tilting of the container group that may occur due to the movement of the traveling body, earthquake shaking, etc.

[0162] Furthermore, preferably, in the above structure, the direction of travel of the aforementioned traveling body is set as the front-rear direction of the vehicle body, and the direction orthogonal to the front-rear direction of the aforementioned vehicle body when viewed along the up-down direction of the aforementioned up-down direction is set as the width direction of the vehicle body. The aforementioned limiting guide portion has a width direction facing portion relative to the aforementioned container group of the aforementioned stacking area in the width direction of the aforementioned vehicle body and a front-rear direction facing portion relative to the aforementioned front-rear direction of the aforementioned vehicle body.

[0163] According to this structure, when the container assembly is tilted in a downward direction in the width direction of the vehicle body, the tilt can be limited by the opposing portions in the width direction. Furthermore, when the container assembly is tilted in a downward direction in the longitudinal direction of the vehicle body, the tilt can be limited by the opposing portions in the longitudinal direction.

[0164] Furthermore, preferably, in the above structure, the lifting device includes a frame unit comprising multiple frame portions, the limiting guide portion is disposed in the frame unit, the width-direction facing portion and the front-back-direction facing portion are configured to change state to a facing state in which the container group faces each other in the horizontal direction relative to the stacking area and can support the container group, and a non-facing state in which the container group does not face each other in the horizontal direction relative to the container group, and the control unit is configured to perform container group facing control, the container group facing control positioning the frame unit relative to the container group in the stacking area at a position overlapping when viewed in the horizontal direction.

[0165] According to this structure, the container group can be controlled to move in opposite directions depending on the situation, thereby limiting the tilting of the container group that may occur due to the movement of the traveling body, earthquakes, or other factors. Therefore, when the necessity to limit the tilting of the container group is low, the lifting device can be used for other operations without performing the container group control.

[0166] Furthermore, preferably, in the above structure, the aforementioned control unit determines whether the aforementioned traveling body is in the area facing the aforementioned front of the aforementioned storage rack, i.e., the rack area, or in an external area outside the aforementioned rack area, and performs the aforementioned container group facing control in at least a portion of the aforementioned external area.

[0167] Compared to traveling in the shelf area facing the front of the storage unit, traveling in the outer area generally involves more frequent movements such as direction changes. According to this structure, even when the container group sways due to direction changes in the outer area, tilting of the container group can be appropriately limited by implementing container group facing-to-facing control. Therefore, this structure makes it difficult for the container group to tip over and increases the degree of freedom of movement for the traveling unit.

[0168] Industrial availability

[0169] The technology of this application can be used in a transport vehicle that travels along the front of a storage rack, which has multiple shelves for storing items in the vertical direction, and the transport vehicle transports the items.

[0170] Explanation of reference numerals in the attached figures

[0171] 100: Transport vehicle

[0172] 1: Moving body

[0173] 4: Transfer device

[0174] 40B: Lifting body

[0175] 6: Guided component

[0176] 80: Frame Department

[0177] 82: Beam components

[0178] 820: Object beam component

[0179] A: Maintaining section

[0180] B: Transfer machine

[0181] C: Control Department

[0182] IA: Shelf Area

[0183] OA: External Area

[0184] R: Path of travel

[0185] SP: Stop position for transfer

[0186] VR: Possible range of elevation adjustment

[0187] UR: Lower range

[0188] L: Rear-to-rear direction of the vehicle body

[0189] W: Vehicle width direction.

Claims

1. A transport vehicle, wherein the transport vehicle travels along the front of a storage rack, the storage rack having multiple layers of shelves for storing items in the vertical direction, and the transport vehicle transports the items, characterized in that, It includes a traveling body, a transfer device, and a control unit. The aforementioned moving body travels along the prescribed path. The aforementioned transfer device is used to transfer the aforementioned items. The aforementioned control unit controls the aforementioned transfer device. The aforementioned transfer device includes a rod, a lifting body, a holding part, and a transfer machine. The aforementioned rod is fixed to the aforementioned traveling body and is configured to run vertically. The aforementioned lifting body moves up and down along the aforementioned rod. The aforementioned retaining part is connected to the aforementioned lifting body to retain the aforementioned item. The aforementioned transfer machine transfers the aforementioned items between the aforementioned holding section and the aforementioned shelf section. The aforementioned control unit is capable of performing low center of gravity control, which involves controlling the position of the aforementioned lifting body to be located within a lower range set below the center of the possible lifting range. The aforementioned control unit determines whether the aforementioned traveling body is in the area facing the aforementioned front of the aforementioned storage rack, i.e., the rack area, or in the external area outside the rack area. After the aforementioned traveling body moves out of the aforementioned external area, during the period when the aforementioned traveling body is in the external area, and during the period when the aforementioned traveling body enters the aforementioned rack area and performs the subsequent transfer, the aforementioned low center of gravity control is maintained.

2. The transport vehicle as described in claim 1, characterized in that, The stopping position of the aforementioned traveling body when transferring the aforementioned items between the aforementioned storage rack using the aforementioned transfer machine is defined as the transfer stopping position. After the aforementioned control unit completes the transfer of the aforementioned items at the last aforementioned transfer stop position before the aforementioned moving body moves out of the aforementioned external area along the aforementioned moving body's path, the aforementioned low center of gravity control begins from the aforementioned moving body out of the aforementioned external area.

3. A transport vehicle, wherein the transport vehicle travels along the front of a storage rack, the storage rack having multiple layers of shelves for storing items in the vertical direction, and the transport vehicle transports the items, characterized in that, It includes a traveling body, a transfer device, and a control unit. The aforementioned moving body travels along the prescribed path. The aforementioned transfer device is used to transfer the aforementioned items. The aforementioned control unit controls the aforementioned transfer device. The aforementioned storage rack includes an object beam member that extends horizontally along the aforementioned front side of the storage rack. The direction of travel of the aforementioned moving body is defined as the front-to-back direction of the vehicle body, and the direction orthogonal to the front-to-back direction of the aforementioned vehicle body when viewed along the vertical direction is defined as the width direction of the vehicle body. The aforementioned transfer device includes a rod, a lifting body, a holding part, and a transfer machine. The aforementioned rod is fixed to the aforementioned traveling body and is configured to run vertically. The aforementioned lifting body moves up and down along the aforementioned rod. The aforementioned retaining part is connected to the aforementioned lifting body to retain the aforementioned item. The aforementioned transfer machine transfers the aforementioned items between the aforementioned holding section and the aforementioned shelf section. At a position on the aforementioned rod corresponding to the aforementioned target beam component, a guide component is fixed, protruding outward from the aforementioned rod in the direction of the width of the aforementioned vehicle body. The aforementioned control unit is capable of performing low center of gravity control, which involves controlling the position of the aforementioned lifting body to be located within a lower range set below the center of the possible lifting range. The aforementioned control unit determines whether the aforementioned traveling body is in the area facing the aforementioned front of the aforementioned storage rack, i.e., the rack area, or in an external area outside the aforementioned rack area, and performs the aforementioned low center of gravity control in at least a portion of the aforementioned external area.

4. The transport vehicle as described in claim 3, characterized in that, The aforementioned storage rack has multiple beam members extending horizontally along the aforementioned front surface of the storage rack. Multiple of the aforementioned beam components are arranged apart from each other in the aforementioned vertical direction. The aforementioned object beam component is the uppermost of the aforementioned beam components.

5. The transport vehicle as described in claim 3 or 4, characterized in that, The aforementioned storage racks are arranged parallel to each other with a gap between them. Part of the aforementioned travel path is designed to pass between a pair of the aforementioned storage shelves. The aforementioned pair of rods are fixed to the aforementioned traveling body separately in the width direction of the aforementioned vehicle body. The aforementioned guided component is provided at each of the aforementioned rods in a manner that protrudes outward in the direction of the width of the aforementioned vehicle body.

6. The transport vehicle as described in any one of claims 1 to 4, characterized in that, When the aforementioned traveling body is in the aforementioned shelf area, the aforementioned control unit performs lifting control to raise and lower the aforementioned lifting body in order to transfer the aforementioned items relative to the aforementioned storage shelf.

7. The transport vehicle as described in any one of claims 1 to 4, characterized in that, The aforementioned item is a container capable of holding the contained object. The device includes a container group support and a lifting device. The container group support supports multiple containers stacked together within a designated stacking area, and the lifting device lifts the containers in the container group supported by the container group support. The aforementioned lifting device includes a limiting guide that restricts the tilting of the aforementioned container group in the aforementioned stacking area. The aforementioned limiting guide is configured to face the aforementioned container group in the horizontal direction.

8. The transport vehicle as described in claim 7, characterized in that, The direction of travel of the aforementioned moving body is defined as the front-to-back direction of the vehicle body, and the direction orthogonal to the front-to-back direction of the aforementioned vehicle body when viewed along the vertical direction is defined as the width direction of the vehicle body. The aforementioned limiting guide has a width-direction facing portion relative to the aforementioned container group in the aforementioned vehicle body width direction and a front-rear-direction facing portion relative to the aforementioned vehicle body front-rear direction.

9. The transport vehicle as described in claim 8, characterized in that, The aforementioned lifting device includes a frame unit configured to include multiple frame portions. The aforementioned limiting guide is disposed in the aforementioned frame unit. The aforementioned width-direction facing portions and the aforementioned front-to-back direction facing portions are configured to change states such that they are facing each other in the horizontal direction relative to the aforementioned stacking area and can support the container group, and in a non-facing state relative to the aforementioned container group and not facing each other in the horizontal direction. The aforementioned control unit is configured to perform container group orientation control, which positions the aforementioned frame unit relative to the aforementioned container group in the aforementioned stacking area at a position that overlaps when viewed in the horizontal direction.

10. A transport vehicle, wherein the transport vehicle travels along the front of a storage rack, the storage rack having multiple layers of shelves for storing items in the vertical direction, and the transport vehicle transports the items, characterized in that, It includes a traveling body, a transfer device, and a control unit. The aforementioned moving body travels along the prescribed path. The aforementioned transfer device is used to transfer the aforementioned items. The aforementioned control unit controls the aforementioned transfer device. The aforementioned transfer device includes a rod, a lifting body, a holding part, and a transfer machine. The aforementioned rod is fixed to the aforementioned traveling body and is configured to run vertically. The aforementioned lifting body moves up and down along the aforementioned rod. The aforementioned retaining part is connected to the aforementioned lifting body to retain the aforementioned item. The aforementioned transfer machine transfers the aforementioned items between the aforementioned holding section and the aforementioned shelf section. The aforementioned control unit is capable of performing low center of gravity control, which involves controlling the position of the aforementioned lifting body to be located within a lower range set below the center of the possible lifting range. The aforementioned control unit determines whether the aforementioned traveling body is in the area facing the aforementioned front of the aforementioned storage shelf (i.e., the shelf area) or in an external area outside the aforementioned shelf area, and performs the aforementioned low center of gravity control in at least a portion of the aforementioned external area. The aforementioned item is a container capable of holding the contained object. The device includes a container group support and a lifting device. The container group support supports multiple containers stacked together within a designated stacking area, and the lifting device lifts the containers in the container group supported by the container group support. The aforementioned lifting device includes a limiting guide that restricts the tilting of the aforementioned container group in the aforementioned stacking area. The aforementioned limiting guide is configured to face the aforementioned container group in the horizontal direction. The direction of travel of the aforementioned moving body is defined as the front-to-back direction of the vehicle body, and the direction orthogonal to the front-to-back direction of the aforementioned vehicle body when viewed along the vertical direction is defined as the width direction of the vehicle body. The aforementioned limiting guide has a width-direction facing portion relative to the aforementioned container group in the aforementioned stacking area in the aforementioned vehicle body width direction and a front-rear-direction facing portion relative to the aforementioned vehicle body front-rear direction. The aforementioned lifting device includes a frame unit configured to include multiple frame portions. The aforementioned limiting guide is disposed in the aforementioned frame unit. The aforementioned width-direction facing portions and the aforementioned front-to-back direction facing portions are configured to change states such that they are facing each other in the horizontal direction relative to the aforementioned stacking area and can support the container group, and in a non-facing state relative to the aforementioned container group and not facing each other in the horizontal direction. The aforementioned control unit is configured to perform container group reversal control, which positions the aforementioned frame unit relative to the aforementioned container group in a position that overlaps when viewed in the horizontal direction. The aforementioned control unit determines whether the aforementioned traveling body is in the area facing the aforementioned front of the aforementioned storage rack (i.e., the rack area) or in an external area outside the aforementioned rack area, and performs the aforementioned container group facing control in at least a portion of the aforementioned external area.

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