Article transport apparatus

Abstract

An article conveying apparatus is provided. The article conveying apparatus includes a first rail (R1) and a second rail (R2). The second rail (R2) is disposed apart upward from the first rail (R1), and is configured to cross the first rail (R1) in an upward-downward direction view along the upward-downward direction. A vehicle (V) includes a vehicle body (Va) disposed between the first rail (R1) and the second rail (R2) in the upward-downward direction, a first traveling unit (U1) that causes the vehicle body (Va) to travel along a first direction (X), and a second traveling unit (U2) that causes the vehicle body (Va) to travel along a second direction (Y).

Description

Technical Field

[0001] This invention relates to a goods conveying device equipped with a conveyor vehicle for conveying goods. Background Technology

[0002] An example of such an article conveying device is disclosed in Japanese Patent Publication No. 2017-150005 (Patent Document 1). Hereinafter, the reference numerals in parentheses in the background description are those of Patent Document 1.

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

[0004] In the article conveying device disclosed in Patent Document 1, the two travel paths, namely the first track (9) and the second track (11), intersect in the same horizontal plane, so a step difference is easily generated at the intersection (14) where the two tracks intersect. Therefore, the possibility of vibration is high when the conveyor (8) passes through the intersection (14). In addition, for example, if the travel track (4) is integrally formed without the seam between the intersecting first track (9) and the second track (11), the travel track (4) becomes larger. In this case, the constraints on the installation of the travel track (4) in the article conveying device become greater.

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

[0006] The technology used to solve the above problems is as follows.

[0007] An article conveying device includes an article conveying vehicle for conveying articles; comprising: a first track having a first travel surface; and a second track having a second travel surface; the second track is disposed upward relative to the first track and is disposed such that it intersects the first track in a vertically directed view; the extension direction of the first track is defined as a first direction, and the extension direction of the second track is defined as a second direction; the article conveying vehicle includes a vehicle body disposed between the first track and the second track in the vertical direction, a first travel unit for moving the vehicle body along the first direction, a second travel unit for moving the vehicle body along the second direction, and a control unit for controlling the operation of the first travel unit and the second travel unit; the first travel unit includes a first wheel and a first posture changing mechanism for changing the posture of the first wheel relative to the vehicle body, constituting... The vehicle body is configured to change its posture to a first wheel mounting posture in which the first wheel is mounted on the first driving surface and a first wheel retraction posture in which the first wheel moves away from the first driving surface. The second driving unit includes a second wheel and a second posture changing mechanism for changing the posture of the second wheel relative to the vehicle body. The control unit is configured to change the posture to a second wheel mounting posture in which the second wheel is mounted on the second driving surface and a second wheel retraction posture in which the second wheel moves away from the second driving surface. The control unit is configured to change the mode to: a first mode in which the first driving unit is set to the first wheel mounting posture and the second driving unit is set to the second wheel retraction posture, so that the vehicle body travels along the first track; and a second mode in which the second driving unit is set to the second wheel mounting posture and the first driving unit is set to the first wheel retraction posture, so that the vehicle body travels along the second track.

[0008] According to this structure, the conveyor can travel along the first track in a first direction and along the second track in a second direction. The second track is configured to move upward relative to the first track. That is, the first track and the second track are configured at different positions in the vertical direction. Thus, the travel paths along the first track and the travel paths along the second track can be arranged in different horizontal planes while intersecting in a vertical view. Therefore, according to this structure, since there is no seam between the first and second tracks, and no step difference due to the presence of a seam is generated, vibration of the conveyor when traveling at the intersection of the two tracks can be prevented. Furthermore, since the first and second tracks are physically separate, they can be staggered. Therefore, the degree of freedom in setting the travel path formed by the first and second tracks in the article conveying device can be ensured. As described above, according to this structure, in an article conveying device having multiple intersecting travel paths with different extending directions, the vibration of the conveyor can be suppressed, and the degree of freedom in setting the travel path can be ensured.

[0009] Further features and advantages of the technology disclosed herein will become apparent from the following illustrative and non-limiting description of embodiments, with reference to the accompanying drawings. Attached Figure Description

[0010] Figure 1 This is a top view showing the intersection area of ​​the goods conveying equipment.

[0011] Figure 2 This is a first-direction view of the transport vehicle during the execution of the first mode.

[0012] Figure 3 This is a second-direction view of the transport vehicle during the execution of the second mode.

[0013] Figure 4 This is an explanatory diagram illustrating the situation where a transfer action is performed relative to the part of the object being transferred.

[0014] Figure 5 This is an illustration of a transfer operation relative to the storage shelf.

[0015] Figure 6 It is a diagram showing the structure of the engaging part and the engaged part.

[0016] Figure 7 This is a first-direction view showing the state of the transport vehicle executing the first mode and the second transport vehicle executing the fourth mode in the second embodiment.

[0017] Figure 8 This is a second-direction view showing the state of the transport vehicle executing the first mode and the second transport vehicle executing the fourth mode in the second embodiment.

[0018] Figure 9 This is another example of a diagram showing the engaging part and the engaged part.

[0019] Figure 10 This is another example of a diagram showing the engaging part and the engaged part.

[0020] Figure 11 This is another example of a diagram showing the engaging part and the engaged part.

[0021] Figure 12 This is another example of a diagram showing the engaging part and the engaged part.

[0022] Figure 13 This is a second-direction view representing another example of a second orbit.

[0023] Figure 14 This is a second-direction view representing another example of a second orbit.

[0024] Figure 15 This is a second-direction view representing another example of a second orbit.

[0025] Figure 16 This is a diagram showing another example of a lifting device.

[0026] Figure 17 This is a diagram showing another example of a lifting device.

[0027] Figure 18 It is a top view showing the path connecting two intersections. Detailed Implementation

[0028] Hereinafter, the implementation of the article conveying equipment will be described with reference to the accompanying drawings.

[0029] like Figures 1-3 As shown, the article conveying device 100 includes: a conveyor V for conveying articles G; a first track R1 having a first travel surface Fr1; and a second track R2 having a second travel surface Fr2. The conveyor V is configured to travel along the first track R1 and along the second track R2. That is, a travel path for the conveyor V is set along both the first track R1 and the second track R2.

[0030] Hereinafter, the extension direction of the first track R1 is defined as the first direction X, and the extension direction of the second track R2 is defined as the second direction Y. Furthermore, the direction orthogonal to the first direction X in a vertical view along the vertical direction is defined as the first width direction Xw, and the direction orthogonal to the second direction Y in a vertical view is defined as the second width direction Yw. In this embodiment, in a vertical view, the first direction X and the second direction Y are orthogonal. That is, in this embodiment, the first width direction Xw orthogonal to the first direction X in a vertical view is equal to the second direction Y. Furthermore, the second width direction Yw orthogonal to the second direction Y in a vertical view is equal to the first direction X.

[0031] In this embodiment, the part where the item G is transferred between the conveyor vehicle V and the transport vehicle V is designated as the transfer target part S, and the item conveying device 100 has multiple transfer target parts S (refer to...). Figure 4 and Figure 5 ).like Figure 4 As shown, the transfer object section S includes a loading platform 91. Article G is transported to the loading platform 91 for a specific purpose. This specific purpose varies depending on the type, state, etc., of the article G. Furthermore, as... Figure 5 As shown, the goods conveying equipment 100 includes a storage shelf 8 capable of holding goods G. In this example, the storage shelf 8 is also included in the transfer target area S. The storage shelf 8 is installed along the path in which the goods G is conveyed. Thus, the goods G can be temporarily or permanently stored in the storage shelf 8 in advance during the transport of the goods G by means of the conveyor V. In addition, detailed illustrations are omitted, but for example, a conveyor for entering and leaving a goods storage warehouse is also included in the transfer target area S.

[0032] The conveying equipment 100 is used, for example, in a semiconductor manufacturing plant. Figure 4 As shown, in this embodiment, the article conveying equipment 100 includes a processing device 90 for processing articles G, and the aforementioned platform 91 is arranged adjacent to the processing device 90.

[0033] In this embodiment, the transport vehicle V transports the article G to the placement platform 91 before it is processed by the processing device 90, and transports the article G from the placement platform 91 to the designated transport destination after it has been processed by the processing device 90. For example, the article G is a container that contains the processing object that will be processed by the processing device 90, and the above-mentioned "processing of article G" refers to the processing of the processing object contained in the article G.

[0034] As an item G, examples include a wafer housing container (so-called FOUP: Front Opening Unified Pod) that houses a wafer, and a mask housing container (so-called mask cassette) that houses a mask. When item G is a FOUP, the object to be processed is a wafer. When item G is a mask cassette, the object to be processed is a mask. In the semiconductor manufacturing plant illustrated here, the processing apparatus 90 performs various processes on a semiconductor substrate, such as thin film formation, photolithography, and etching.

[0035] like Figure 2 and Figure 3 As shown, the second track R2 is positioned upwards relative to the first track R1 and is arranged to intersect the first track R1 in a vertically oriented view. That is, the first track R1 and the second track R2 are positioned at different locations in the vertical direction. This allows the travel paths along the first track R1 and the second track R2 to intersect in a vertically oriented view while being arranged in different horizontal planes.

[0036] With this structure, the first track R1 and the second track R2 are not connected, and therefore there is no seam between them. Consequently, there is no step difference caused by a seam, preventing vibration when the transport vehicle V travels at the intersection of the two tracks (R1, R2). Furthermore, since the first track R1 and the second track R2 are physically separate, they can be staggered in their arrangement. Therefore, operational freedom is ensured when the transport device 100 is configured with a travel path formed by the first track R1 and the second track R2.

[0037] like Figure 1 As shown, in this embodiment, the article conveying device 100 includes an intersection area CA where the travel path along the first track R1 intersects with the travel path along the second track R2. In this example, the first track R1 and the second track R2 are orthogonal when viewed vertically. Furthermore, a plurality of first tracks R1 are arranged in a direction orthogonal to the first direction X (first width direction Xw, second direction Y) when viewed vertically, and a plurality of second tracks R2 are arranged in a direction orthogonal to the second direction Y (second width direction Yw, first direction X) when viewed vertically. Thus, in this example, the intersection area CA provides a grid-like travel path for the plurality of first tracks R1 and the plurality of second tracks R2 when viewed vertically.

[0038] As described above, the first track R1 has a first travel surface Fr1 for the transport vehicle V to travel along the first direction X. Figure 2and Figure 3 As shown, in this embodiment, the first track R1 has a first guide surface Fg1 facing a direction orthogonal to the first direction X (in this example, the second direction Y) when viewed in the vertical direction. In other words, the first track R1 has a first guide surface Fg1 facing the first width direction Xw. The first guide surface Fg1 is a surface used to guide the transport vehicle V along the first direction X.

[0039] Furthermore, as described above, the second track R2 includes a second travel surface Fr2 for the transport vehicle V to travel along the second direction Y. In this embodiment, the second track R2 includes a second guide surface Fg2 facing a direction orthogonal to the second direction Y in a vertical view (in this example, the first direction X). In other words, the second track R2 includes a second guide surface Fg2 facing the second width direction Yw. The second guide surface Fg2 is the surface used to guide the transport vehicle V along the second direction Y.

[0040] like Figure 2 As shown, in this embodiment, the first track R1 includes a pair of first track bodies RB1 disposed apart in the first width direction Xw. In this example, each of the plurality of first tracks R1 arranged in the first width direction Xw includes a pair of first track bodies RB1 disposed apart in the first width direction Xw. That is, a first track R1 is constituted by a pair of first track bodies RB1 disposed apart in the first width direction Xw, and the plurality of first tracks R1 are arranged in the first width direction Xw.

[0041] In this embodiment, two adjacent first tracks R1 in the first width direction Xw share a first track body RB1. A pair of first travel surfaces Fr1 are formed on this first track body RB1, each belonging to one of the two adjacent first tracks R1 in the first width direction Xw. Therefore, the number of first track bodies RB1 can be reduced as a whole. Consequently, the working hours for installing the first tracks R1 can be easily reduced.

[0042] In this embodiment, the first track body RB1 includes a first main body portion R11 extending along a first direction X, and a first wall portion R12 protruding upward from the first main body portion R11 and extending along the first direction X. Furthermore, a first travel surface Fr1 is formed on the upward-facing surface of the first main body portion R11. In this example, the first travel surfaces Fr1 are respectively arranged on both sides of the first wall portion R12 in the first width direction Xw. Moreover, a first guide surface Fg1 is formed on each of the two sides of the first wall portion R12 in the first width direction Xw. With this structure, a transport vehicle V traveling relative to one side of the first wall portion R12 in the first width direction Xw and another transport vehicle V traveling relative to the other side of the first wall portion R12 in the first width direction Xw can be properly driven by the pair of first travel surfaces Fr1 provided by the first track body RB1, and both can be properly guided by the pair of first guide surfaces Fg1 provided by the first track body RB1. In this example, the cross section of the first orbital body RB1 orthogonal to the first direction X is formed into an inverted T shape.

[0043] like Figure 3 As shown, in this embodiment, the second track R2 includes a pair of second track bodies RB2 disposed apart in the second width direction Yw. In this example, each of the plurality of second tracks R2 arranged in the second width direction Yw includes a pair of second track bodies RB2 disposed apart in the second width direction Yw. That is, a second track R2 is constituted by a pair of second track bodies RB2 disposed apart in the second width direction Yw, and the plurality of second tracks R2 are arranged in the second width direction Yw.

[0044] In this embodiment, two adjacent second tracks R2 in the second width direction Yw share a single second track body RB2. A pair of second travel surfaces Fr2 are formed on this second track body RB2, each belonging to one of the two adjacent second tracks R2 in the second width direction Yw. Therefore, the number of second track bodies RB2 installed in the entire device can be kept to a minimum. Consequently, the working hours for installing the second tracks R2 can be easily reduced.

[0045] In this embodiment, the second track body RB2 includes a second main body R21 extending along the second direction Y, and a second wall portion R22 protruding upward from the second main body R21 and extending along the second direction Y. Furthermore, a second travel surface Fr2 is formed on the upward-facing surface of the second main body R21. In this example, the second travel surfaces Fr2 are respectively arranged on both sides of the second wall portion R22 in the second width direction Yw. Furthermore, a second guide surface Fg2 is formed on each of the two sides of the second wall portion R22 in the second width direction Yw. With this structure, a transport vehicle V traveling on one side of the second wall portion R22 in the second width direction Yw and another transport vehicle V traveling on the other side of the second wall portion R22 in the second width direction Yw can be properly driven by the pair of second travel surfaces Fr2 provided by the second track body RB2, and both can be properly guided by the pair of second guide surfaces Fg2 provided by the second track body RB2. In this example, the cross section of the second orbital body RB2, which is orthogonal to the second direction Y, is formed into an inverted T shape.

[0046] like Figure 2 and Figure 3 As shown, the transport vehicle V includes a vehicle body Va, a first travel unit U1 that moves the vehicle body Va along a first direction X, a second travel unit U2 that moves the vehicle body Va along a second direction Y, and a control unit C that controls the operation of the first travel unit U1 and the second travel unit U2. The vehicle body Va is disposed between the first track R1 and the second track R2 in the vertical direction. More specifically, the vehicle body Va is disposed between the upper end of the first track body RB1 (the upper end of the first wall portion R12) and the lower end of the second track body RB2 (the lower end of the second main body portion R21) in the vertical direction.

[0047] In this embodiment, the transport vehicle V has a receiving section Vb for accommodating the article G during operation. The receiving section Vb is provided in the vehicle body Va. Furthermore, in this example, the transport vehicle V has a lifting body Vc connected to the vehicle body Va, a lifting device Vd for raising and lowering the lifting body Vc relative to the vehicle body Va, and a holding section Ve supported by the lifting body Vc to hold the article G.

[0048] In this embodiment, the vehicle body Va is shaped to cover the article G housed in the housing section Vb from multiple directions. In this example, the vehicle body Va is shaped to cover the top of the article G housed in the housing section Vb and both sides in the second direction Y. Therefore, the bottom of the article G housed in the housing section Vb and both sides in the first direction X are open. These open portions are utilized when transferring the article G between the loading platform 91 or the storage shelf 8. Details regarding the transfer of the article G will be described later.

[0049] The first driving unit U1 includes a first wheel 11 and a first posture changing mechanism 13 that changes the posture of the first wheel 11 relative to the vehicle body Va. The posture is configured to change to a first wheel mounting posture in which the first wheel 11 is mounted on a first driving surface Fr1 and a first wheel retraction posture in which the first wheel 11 moves away from the first driving surface Fr1. In this embodiment, the first wheel 11 is rotated and driven. This generates a propulsive force for the vehicle body Va to travel along a first direction X. Furthermore, Figure 2 This indicates the first wheel mounting position of the first driving unit U1. Figure 3 This indicates the retraction posture of the first wheel of the first driving unit U1.

[0050] In this embodiment, the first travel unit U1 includes a first guide wheel 12 guided by a first guide surface Fg1. The first guide wheel 12 is configured to engage with the first guide surface Fg1 in the first wheel-mounted position of the first travel unit U1 and disengage from the first guide surface Fg1 in the first wheel-retreating position of the first travel unit U1. With this structure, when the first travel unit U1 moves the vehicle body Va along the first track R1 in the first wheel-mounted position, the first guide wheel 12 can appropriately guide the vehicle body Va along the first track R1.

[0051] In this embodiment, in the first wheel mounting posture of the first driving unit U1, with the rotation axis of the first wheel 11 facing the first width direction Xw (second direction Y), the first wheel 11 is mounted on the first driving surface Fr1. Furthermore, in the first wheel mounting posture of the first driving unit U1, with the rotation axis of the first guide wheel 12 facing the up-down direction, the first guide wheel 12 is in contact with the first guide surface Fg1.

[0052] In this embodiment, the transport vehicle V includes a plurality of first travel units U1. The transport vehicle V is configured to travel along a first track R1 using the plurality of first travel units U1. As described above, the first track R1 for the transport vehicle V to travel along a first direction X includes a pair of first track bodies RB1 disposed separately in a first width direction Xw. Moreover, in this embodiment, each of the first travel units U1 is provided corresponding to a pair of first track bodies RB1 disposed separately in the first width direction Xw. Furthermore, in this example, on each of the two sides of the vehicle body Va in the first width direction Xw (second direction Y), a pair of first travel units U1 are disposed separately in the first direction X (see reference). Figure 3 In this example, the transport vehicle V has a total of four first driving units U1.

[0053] The second driving unit U2 includes a second wheel 21 and a second posture changing mechanism 23 that changes the posture of the second wheel 21 relative to the vehicle body Va. The posture is configured such that the second wheel 21 is in a second wheel mounting posture on the second driving surface Fr2 and a second wheel retraction posture where the second wheel 21 moves away from the second driving surface Fr2. In this embodiment, the second wheel 21 is rotated and driven. This generates a propulsive force for the vehicle body Va to travel along the second direction Y. Furthermore, Figure 2 This indicates the retraction posture of the second wheel of the second driving unit U2. Figure 3 This indicates the mounting position of the second wheel of the second driving unit U2.

[0054] like Figure 3 As shown, in this embodiment, the second travel unit U2 includes a second guide wheel 22 guided by a second guide surface Fg2. The second guide wheel 22 is configured to engage with the second guide surface Fg2 in the second wheel-mounted position of the second travel unit U2, and disengage from the second guide surface Fg2 in the second wheel-retreating position of the second travel unit U2. With this structure, when the second travel unit U2 moves the vehicle body Va along the second track R2 in the second wheel-mounted position, the second guide wheel 22 can appropriately guide the vehicle body Va along the second track R2.

[0055] In this embodiment, with the second wheel mounted in the second driving unit U2, and the rotation axis of the second wheel 21 facing the second width direction Yw (first direction X), the second wheel 21 is mounted on the second driving surface Fr2. Furthermore, with the second wheel mounted in the second driving unit U2, and the rotation axis of the second guide wheel 22 facing the vertical direction, the second guide wheel 22 is in contact with the second guide surface Fg2.

[0056] In this embodiment, the transport vehicle V includes a plurality of second travel units U2. The transport vehicle V is configured to travel along a second track R2 using the plurality of second travel units U2. As described above, the second track R2 for the transport vehicle V to travel along the second direction Y includes a pair of second track bodies RB2 disposed separately in the second width direction Yw. Moreover, in this embodiment, each of the second travel units U2 is provided corresponding to a pair of second track bodies RB2 disposed separately in the second width direction Yw. Furthermore, in this example, on each of the two sides of the vehicle body Va in the first width direction Xw (second direction Y), a pair of second travel units U2 are disposed separately in the first direction X (see reference). Figure 3 In this example, the transport vehicle V has a total of four second driving units U2.

[0057] The control unit C is configured to be able to change modes as follows: in a first mode, the first driving unit U1 is set to the first wheel mounting posture and the second driving unit U2 is set to the second wheel retraction posture, so that the vehicle body Va travels along the first track R1; and in a second mode, the second driving unit U2 is set to the second wheel mounting posture and the first driving unit U1 is set to the first wheel retraction posture, so that the vehicle body Va travels along the second track R2. Figure 2 This indicates that the control unit C is executing the first mode. Figure 3 This indicates that the control unit C is in the second mode.

[0058] In this embodiment, before changing the mode between the first mode and the second mode, the control unit C sets the first driving unit U1 to the first wheel mounting posture and the second driving unit U2 to the second wheel mounting posture, thus establishing a double-support state where both the first track R1 and the second track R2 support the vehicle body Va. When executing the first mode, the control unit C changes the second driving unit U2 from the double-support state to the second wheel retraction posture. Similarly, when executing the second mode, the control unit C changes the first driving unit U1 from the double-support state to the first wheel retraction posture. With this structure, the mode change can be performed while the vehicle body Va is properly supported. Furthermore, the mode change between the first and second modes is performed when the vehicle body Va is positioned at the intersection of the first track R1 and the second track R2 when viewed vertically.

[0059] In this embodiment, in the first wheel retraction posture of the first driving unit U1, the first wheel 11 and the first guide wheel 12 are positioned above the first track R1 (see reference). Figure 3 Therefore, when the control unit C executes the second mode and the transport vehicle V travels along the second direction Y, the first wheel 11 and the first guide wheel 12 can be prevented from interfering with the first track R1. Thus, the transport vehicle V can travel appropriately along the second direction Y.

[0060] In this embodiment, when the second wheel of the second travel unit U2 is in the retracted position, the second wheel 21 and the second guide wheel 22 are positioned below the second track R2 (see reference). Figure 2 Therefore, when the control unit C executes the first mode and the transport vehicle V travels along the first direction X, the second wheel 21 and the second guide wheel 22 can be prevented from interfering with the second track R2. Thus, the transport vehicle V can travel appropriately along the first direction X.

[0061] In this embodiment, the first posture change mechanism 13 includes a first support arm 131 that is connected to the vehicle body Va in a swingable manner and supports the first wheel 11, and a first drive unit 132 that drives the first support arm 131.

[0062] In this embodiment, the first support arm 131 supports not only the first wheel 11 but also the first guide wheel 12. The first support arm 131 supports both the first wheel 11 and the first guide wheel 12 rotatably with their rotation axes in different directions. More specifically, the first support arm 131 supports the first wheel 11 and the first guide wheel 12 in a manner orthogonal to the direction along the rotation axis of the first wheel 11 and the direction along the rotation axis of the first guide wheel 12.

[0063] In this embodiment, the first drive unit 132 is configured to swing the first support arm 131 about a first swing axis Ax1 along the second direction Y, thereby changing the posture of the first wheel 11 relative to the vehicle body Va. In this example, the first drive unit 132 also changes the posture of the first guide wheel 12 relative to the vehicle body Va by swinging the first support arm 131 about the first swing axis Ax1. The first drive unit 132 is configured, for example, to include a motor.

[0064] In this embodiment, the first driving unit U1 refers to the position of the first wheel 11 and the first guide wheel 12 in the first wheel reversing posture (in... Figure 3 (represented by solid lines) The positions of the first wheel 11 and the first guide wheel 12, which are configured in a first wheel mounting posture compared to the first driving unit U1 (in...) Figure 3 (Indicated by dashed lines) The central side of the vehicle body Va in the first direction X. In this example, the first driving unit U1, with the first wheel 11 and the first guide wheel 12 in the first wheel retraction posture, is positioned at a position overlapping the vehicle body Va in the second direction Y. Thus, in the first wheel retraction posture of the first driving unit U1, it is easy to achieve miniaturization of the size of the transport vehicle V in the first direction X.

[0065] In this embodiment, the second posture change mechanism 23 includes a second support arm 231 that is connected to the vehicle body Va in a swingable manner and supports the second wheel 21, and a second drive unit 232 that drives the second support arm 231.

[0066] In this embodiment, the second support arm 231 supports the second guide wheel 22 in addition to the second wheel 21. The second support arm 231 rotatably supports both the second wheel 21 and the second guide wheel 22 in a manner where the rotation axes of the second wheel 21 and the second guide wheel 22 are in different directions. More specifically, the second support arm 231 supports the second wheel 21 and the second guide wheel 22 in a manner orthogonal to the direction along the rotation axis of the second wheel 21 and the direction along the rotation axis of the second guide wheel 22.

[0067] In this embodiment, the second drive unit 232 is configured to swing the second support arm 231 about a second swing axis Ax2 along the second direction Y, thereby changing the posture of the second wheel 21 relative to the vehicle body Va. In this example, the second drive unit 232 also changes the posture of the second guide wheel 22 relative to the vehicle body Va by swinging the second support arm 231 about the second swing axis Ax2. The second drive unit 232 is configured, for example, to include a motor.

[0068] In this embodiment, the second driving unit U2 refers to the position of the second wheel 21 and the second guide wheel 22 in the second wheel reversing posture (in... Figure 3 (represented by dashed lines) The positions of the second wheel 21 and the second guide wheel 22, which are configured in a position different from the second driving unit U1 when the second wheel is in the second wheel mounting posture (in... Figure 3 (Represented by solid lines) The central side of the vehicle body Va in the first direction X. In this example, the second driving unit U2, with the second wheel 21 and the second guide wheel 22 in the second wheel retraction posture, is positioned at a position overlapping the vehicle body Va in the second direction Y. Thus, in the second wheel retraction posture of the second driving unit U2, it is easy to achieve miniaturization of the size of the transport vehicle V in the first direction X.

[0069] like Figure 3 As shown in the enlarged view, in this embodiment, the second posture changing mechanism 23 is configured such that, when the second driving unit U2 is changed from a second wheel retraction posture to a second wheel mounting posture, the second wheel 21 is mounted on the second driving surface Fr2 at the uppermost position Pt of the movement trajectory of the second wheel 21 caused by the swing of the second support arm 231. This allows the second wheel 21 to approach and mount the second driving surface Fr2 from above. Therefore, when changing posture from the second wheel retraction posture to the second wheel mounting posture, the posture change can be performed appropriately while reducing friction between the second wheel 21 and the second driving surface Fr2. By doing so, wear on the second wheel 21 and dust generation can be minimized.

[0070] With the structure described above, the transport vehicle V can travel along the first track R1 in the first direction X, and the transport vehicle V can travel along the second track R2 in the second direction Y.

[0071] Next, mainly refer to Figure 4 and Figure 5 The structure used by the transport vehicle V to transfer the item G is described.

[0072] As described above, in this embodiment, the transport vehicle V includes a lifting body Vc connected to the vehicle body Va, a lifting device Vd that raises and lowers the lifting body Vc relative to the vehicle body Va, and a holding part Ve supported by the lifting body Vc to hold the item G, and is configured to transfer the item G between the platform 91 and the storage shelf 8.

[0073] In this embodiment, the lifting device Vd includes a belt Vda connected to the lifting body Vc, and a lifting drive unit Vdb that drives the belt Vda. Although detailed illustrations are omitted, the lifting drive unit Vdb includes a pulley wound around the belt Vda and a motor that drives the pulley to rotate.

[0074] In this embodiment, the holding part Ve is configured to change its posture to a holding posture for holding the article G and a holding release posture for releasing the holding of the article G. In this example, the holding part Ve includes a pair of holding claws Vea that move closer to or further apart from each other, and a holding drive part Veb that drives the pair of holding claws Vea. The pair of holding claws Vea are in a holding posture when they move closer to each other, and in a holding release posture when they move further apart from each other.

[0075] In this embodiment, the lifting device Vd is configured to raise and lower the lifting body Vc between a pair of first track bodies RB1 in the first width direction Xw when viewed in the vertical direction. In this example, the control unit C allows the raising and lowering of the lifting body Vc caused by the lifting device Vd during the execution of the first mode. To explain, when the control unit C is executing the first mode, the vehicle body Va is positioned between a pair of first track bodies RB1 in the first width direction Xw when viewed in the vertical direction. That is, when the control unit C is executing the first mode, the lifting body Vc is positioned at a position that does not overlap with the first track bodies RB1 when viewed in the vertical direction. In this case, the lifting body Vc can be raised and lowered in a manner that does not interfere with the first track bodies RB1.

[0076] Here, the control unit C preferably prohibits the raising and lowering of the lifting body Vc caused by the lifting device Vd during the execution of the second mode. To explain, when the control unit C is executing the second mode, the position of the lifting body Vc in the second direction Y is determined by the current position of the vehicle body Va traveling along the second track R2. Therefore, it is possible for the first track body RB1 to be positioned directly below the lifting body Vc. If the lifting body Vc is lowered in this state, it will interfere with the first track body RB1. However, by prohibiting the raising and lowering of the lifting body Vc caused by the lifting device Vd during the execution of the second mode, the aforementioned interference between the lifting body Vc and the first track body RB1 can be avoided. Furthermore, even during the execution of the second mode, the raising and lowering of the lifting body Vc caused by the lifting device Vd can be permitted if the first track body RB1 is not positioned directly below the lifting body Vc. In this case, the first track body RB1 is not positioned directly below the lifting body Vc, which can be confirmed, for example, by using a sensor to detect the position of the first track body RB1 relative to the vehicle body Va.

[0077] The conveyor V also includes a sliding device Vf that allows the holding part Ve to slide horizontally relative to the lifting body Vc, and a locking device Vg supported by the lifting body Vc.

[0078] In this embodiment, the sliding device Vf includes a slider Vfa that supports the holding portion Ve and moves forward and backward in the horizontal direction, and a sliding drive unit (not shown) that drives the slider Vfa to move forward and backward. By moving the slider Vfa forward and backward, the holding portion Ve supported by the slider Vfa can be displaced in the horizontal direction. In this embodiment, the sliding device Vf is configured to allow the holding portion Ve to slide along the second direction Y. Thus, as Figure 4 As shown, even when the platform 91 is positioned offset from the first track R1 in the first width direction Xw (second direction Y), the article G can still be properly transferred between the platform 91 and the track. Furthermore, as... Figure 5 As shown, in this embodiment, the storage shelf 8 is positioned offset from the first track R1 in the first width direction Xw (second direction Y). Therefore, by means of the sliding device Vf, the item G can be appropriately transferred between the storage shelf 8 and the first track R1. Furthermore, the storage shelf 8 is supported by the first track R1 on a lower side than the first track R1. In the illustrated example, the storage shelf 8 is supported by a pair of first track bodies RB1, which are additional first tracks R1 adjacent to the first track R1 existing relative to the transport vehicle V in the first width direction Xw (second direction Y).

[0079] In this embodiment, the conveyor V further includes a second lifting device Vd2 that moves the holding part Ve relative to the sliding device Vf from a lower position than the sliding device Vf. The lifting device Vd and the second lifting device Vd2 are different devices. To distinguish them from the second lifting device Vd2, the lifting device Vd can also be referred to as the "first lifting device Vd".

[0080] If the maximum lifting range that the lifting device Vd can raise and lower the lifting body Vc is defined as the first lifting range, and the maximum lifting range that the second lifting device Vd2 can raise and lower the holding part Ve is defined as the second lifting range, then in this embodiment, the first lifting range and the second lifting range are different. In this example, the first lifting range is shorter than the second lifting range. That is, the range that the lifting body Vc can rise and fall is shorter than the range that the holding part Ve can rise and fall.

[0081] In this embodiment, the second lifting device Vd2 includes a belt Vd2a connected to the holding part Ve, and a lifting drive unit (not shown) that drives the belt Vd2a. Detailed illustrations are omitted, but the lifting drive unit of the second lifting device Vd2 includes a pulley wound around the belt Vd2a and a motor that drives the pulley to rotate.

[0082] Here, the first track R1 has a locking portion Rg. In this embodiment, the locking portion Rg is positioned in the first direction X at a position corresponding to the transfer object portion S. In this example, the locking portion Rg is positioned in the first direction X at a position corresponding to the mounting platform 91 and a position in the first direction X corresponding to the storage shelf 8.

[0083] The engaging portion Rg is provided on at least one of the pair of first track bodies RB1. In this embodiment, the engaging portion Rg is provided on both of the pair of first track bodies RB1. The engaging portions Rg provided on each of the pair of first track bodies RB1 are arranged at the same position in the first direction X. Specifically, the engaging portions Rg provided on each of the pair of first track bodies RB1 are arranged at the same position in both the first direction X and the vertical direction. In other words, the engaging portions Rg provided on each of the pair of first track bodies RB1 are arranged opposite each other in the second direction Y.

[0084] In this embodiment, the engaging portion Rg is fixed to the first track R1 at a lower position than the first travel surface Fr1. Specifically, the engaging portion Rg is fixed to each of a pair of first track bodies RB1 that are positioned apart in the first width direction Xw. Furthermore, the engaging portion Rg is provided to protrude downward from the first track body RB1.

[0085] like Figure 6As shown, in this embodiment, the engaging portion Rg includes a block portion Rga formed in a block shape and an engaging hole Rgb formed in the block portion Rga. The engaging hole Rgb is open on the inner side of the block portion Rga facing the first width direction Xw (second direction Y). In this example, the engaging hole Rgb is formed such that the opening area narrows as it moves from the inner side in the first width direction Xw (second direction Y) toward the outer side in the first width direction Xw (second direction Y). In the illustrated example, the engaging hole Rgb is formed in a conical shape.

[0086] like Figure 4 and Figure 5 As shown, the engaging device Vg is supported by the lifting body Vc. The engaging device Vg includes an engaging part Vga that engages with the engaging part Rg, and an engaging drive part Vgb that changes the position of the engaging part Vga to an engaging position and a disengaging position.

[0087] In this embodiment, the engaging device Vg includes a pair of engaging portions Vga. The pair of engaging portions Vga are configured to protrude outward relative to the lifting body Vc in the first width direction Xw (second direction Y), at least in the engaging position. In this example, each of the pair of engaging portions Vga is formed as a rod, supported by the lifting body Vc in a position along the first width direction Xw (second direction Y). In this example, the front end of each of the pair of engaging portions Vga is formed to taper outward toward the outer side (the side of the engaging hole Rgb) in the first width direction Xw (second direction Y). In the illustrated example, the front end of the engaging portion Vga is formed as a hemispherical shape.

[0088] The engagement drive unit Vgb is configured to change the posture of the engagement part Vga to an engagement posture and a disengagement posture by moving the engagement part Vga forward and backward along a first width direction Xw (second direction Y). In this example, the engagement drive unit Vgb is configured to change the posture of a pair of engagement parts Vga. The engagement drive unit Vgb is preferably a well-known mechanism, such as a ball screw mechanism or a linkage mechanism, for moving the object (engagement part Vga).

[0089] In the engaged position, the engaging part Vga engages with the engaged part Rg, thereby restricting the lifting and tilting movements of the lifting body Vc; in the disengaged position, the engaging part Vga disengages from the engaged part Rg, thereby allowing the lifting body Vc to move up and down. Figure 4 and Figure 5 This indicates the engagement position of the engagement part Vga. Additionally, Figure 2 This indicates the release posture of the Vga part.

[0090] When the lifting body Vc is raised or lowered by the lifting device Vd, the control unit C sets the engaging part Vga to a released position; when the holding part Ve protrudes horizontally relative to the lifting body Vc by the sliding device Vf, the control unit C sets the engaging part Vga to an engaged position. In this embodiment, the control unit C sets the engaging part Vga to an engaged position, and uses the sliding device Vf to either make the holding part Ve protrude relative to the lifting body Vc in the first width direction Xw (second direction Y), or to make the holding part Ve retract relative to the lifting body Vc in the first width direction Xw (second direction Y). With this structure, when transferring the article G to a position horizontally offset from directly below the transport vehicle V, setting the engaging part Vga to an engaged position restricts the tilting movement of the lifting body Vc. Therefore, the transfer of the article G to a position horizontally offset from directly below the transport vehicle V can be performed appropriately. Furthermore, the engaging part Vga also positions the lifting body Vc in the first direction X when in the engaged position. Therefore, when transferring the item G between the platform 91 or the storage shelf 8, alignment in the first direction X can be easily achieved.

[0091] In this embodiment, the transport vehicle V is configured such that the holding part Ve can slide by means of the sliding device Vf, thereby enabling it to perform a transfer operation of transferring the article G to the placement platform 91 and a receiving operation of receiving the article G from the placement platform 91.

[0092] like Figure 4 As shown, when the transport vehicle V performs the transfer operation of the item G relative to the loading platform 91, the control unit C lowers the lifting body Vc using the lifting device Vd and sets the engaging part Vga to an engaged position. Then, the control unit C uses the sliding device Vf to make the holding part Ve protrude relative to the lifting body Vc in the first width direction Xw (second direction Y), positioning the holding part Ve directly above the loading platform 91. Then, the control unit C uses the second lifting device Vd2 to lower the holding part Ve and set the holding part Ve to a released position, placing the item G on the loading platform 91. When the transport vehicle V performs the receiving operation of the item G relative to the loading platform 91, the control unit C causes each device to perform the opposite operation.

[0093] Furthermore, when the platform 91 is not positioned offset from the first track R1 in the first width direction Xw (second direction Y), but is positioned overlapping the first track R1 in a vertical view (directly below the transport vehicle V), the holding part Ve does not need to be slidably moved by the sliding device Vf. In this case, the control unit C transfers the item G between itself and the platform 91 positioned directly below the transport vehicle V by actuating at least one of the lifting device Vd and the second lifting device Vd2. In this case, depending on the situation, the engaging part Vga can be set to either an engaging or disengaged position.

[0094] As described above, the transport vehicle V is configured to transfer items G between itself and the storage shelf 8, in addition to the loading platform 91. That is, in this embodiment, the transport vehicle V is configured to perform a transfer operation of transferring items G to the storage shelf 8 and a receiving operation of receiving items G from the storage shelf 8 by means of a sliding device Vf to slide the holding part Ve.

[0095] like Figure 5 As shown, when the transport vehicle V performs a transfer or receiving action of the item G relative to the storage shelf 8, the control unit C uses the lifting device Vd to position the lifting body Vc at a height corresponding to the storage shelf 8 and sets the engaging part Vga to an engaged position. In this embodiment, when the transport vehicle V performs a transfer action of the item G relative to the storage shelf 8, the control unit C uses the lifting device Vd to lower the lifting body Vc and sets the engaging part Vga to an engaged position. Then, the control unit C uses the sliding device Vf to make the holding part Ve protrude relative to the lifting body Vc in the first width direction Xw (second direction Y), positioning the holding part Ve directly above the storage shelf 8. Then, the control unit C uses the second lifting device Vd2 to lower the holding part Ve and set the holding part Ve to a released position, placing the item G on the storage shelf 8. When the transport vehicle V performs a receiving action of the item G relative to the storage shelf 8, the control unit C causes each device to perform the opposite action.

[0096] [Second Implementation]

[0097] Next, refer to Figure 7 and Figure 8 A second embodiment of the article conveying device 100 will be described. Hereinafter, the differences from the first embodiment described above will be mainly explained. Points not specifically described are the same as in the first embodiment described above.

[0098] like Figure 7 and Figure 8As shown, the article conveying device 100 of this embodiment includes: a second conveying vehicle V2; a third track R3 having a third travel surface Fr3; and a fourth track R4 having a fourth travel surface Fr4.

[0099] The second transport vehicle V2 is configured to travel on a separate path from the transport vehicle V. Specifically, the second transport vehicle V2 is configured to travel along the third track R3 and the fourth track R4. That is, the second transport vehicle V2 has its own travel path along both the third track R3 and the fourth track R4.

[0100] The third track R3 is positioned downwards relative to the first track R1 and is arranged such that it intersects the first track R1 when viewed vertically. In this example, the third track R3 is arranged parallel to the second track R2. That is, in this example, the third track R3 extends along the second direction Y and is arranged such that it is orthogonal to the first track R1 when viewed vertically.

[0101] The fourth track R4 is positioned between the first track R1 and the third track R3 in the vertical direction, and is arranged parallel to the first track R1 when viewed vertically. That is, in this example, the fourth track R4 extends along the first direction X and is arranged in a manner orthogonal to both the second track R2 and the third track R3 when viewed vertically.

[0102] Thus, in this embodiment, the third track R3 extends along the second direction Y, and the fourth track R4 extends along the first direction X. Therefore, when viewed vertically, the third track R3 and the fourth track R4 are orthogonal. Moreover, multiple third tracks R3 are arranged in a grid pattern along the second width direction Yw (first direction X). Furthermore, multiple fourth tracks R4 are arranged in a grid pattern along the first width direction Xw (second direction Y). Thus, in this example, a grid pattern of multiple third tracks R3 and multiple fourth tracks R4 is provided in the intersection area CA when viewed vertically.

[0103] As described above, the fourth track R4 has a fourth travel surface Fr4 for the second transport vehicle V2 to travel along the first direction X. In this embodiment, the fourth track R4 has a fourth guide surface Fg4 facing a direction orthogonal to the first direction X when viewed in the vertical direction (in this example, the second direction Y). In other words, the fourth track R4 has a fourth guide surface Fg4 facing the first width direction Xw. The fourth guide surface Fg4 is the surface used to guide the second transport vehicle V2 along the first direction X.

[0104] Furthermore, as described above, the third track R3 includes a third travel surface Fr3 for the second transport vehicle V2 to travel along the second direction Y. In this embodiment, the third track R3 includes a third guide surface Fg3 facing a direction orthogonal to the second direction Y in a vertical view (in this example, the first direction X). In other words, the third track R3 includes a third guide surface Fg3 facing the second width direction Yw. The third guide surface Fg3 is the surface used to guide the second transport vehicle V2 along the second direction Y.

[0105] like Figure 7 As shown, in this embodiment, the fourth track R4 includes a pair of fourth track bodies RB4 disposed apart in the first width direction Xw. In this example, each of the plurality of fourth tracks R4 arranged in the first width direction Xw includes a pair of fourth track bodies RB4 disposed apart in the first width direction Xw. That is, a fourth track R4 is constituted by a pair of fourth track bodies RB4 disposed apart in the first width direction Xw, and the plurality of fourth tracks R4 are arranged in the first width direction Xw.

[0106] In this embodiment, two adjacent fourth tracks R4 in the first width direction Xw share a single fourth track body RB4. A pair of fourth travel surfaces Fr4 are formed on this fourth track body RB4, each belonging to one of the two adjacent fourth tracks R4 in the first width direction Xw. Therefore, the number of fourth track bodies RB4 can be minimized as a whole. Consequently, the working hours for installing the fourth tracks R4 are easily reduced.

[0107] In this embodiment, the fourth track body RB4 and the first track body RB1, which is adjacent to the fourth track body RB4 on the upper side, are integrally formed. This allows for a structure that enables the transport vehicle V and the second transport vehicle V2 to travel at different positions in the vertical direction, while also minimizing the number of first track bodies RB1 and fourth track bodies RB4 required for the entire device. Consequently, the working hours required for installing the first track RB1 and the fourth track RB4 are easily reduced.

[0108] In this embodiment, the fourth track body RB4 includes a fourth main body portion R41 extending along a first direction X, and a fourth wall portion R42 protruding upward from the fourth main body portion R41 and extending along the first direction X. Furthermore, a fourth travel surface Fr4 is formed on the upward-facing surface of the fourth main body portion R41. In this example, the fourth travel surfaces Fr4 are respectively arranged on both sides of the fourth wall portion R42 in the first width direction Xw. Moreover, a fourth guide surface Fg4 is formed on each of the two sides of the fourth wall portion R42 in the first width direction Xw. With the above structure, a second transport vehicle V2 traveling relative to one side of the fourth wall portion R42 in the first width direction Xw and another second transport vehicle V2 (not shown) traveling relative to the other side of the fourth wall portion R42 in the first width direction Xw can be properly driven by a pair of fourth travel surfaces Fr4 provided by the fourth track body RB4, and both can be properly guided by a pair of fourth guide surfaces Fg4 provided by the fourth track body RB4.

[0109] As described above, in this embodiment, the fourth track body RB4 and the first track body RB1, which is adjacent to the fourth track body RB4 on the upper side, are integrally formed. In this example, the fourth wall portion R42 of the fourth track body RB4 is connected from below to the first main body portion R11 of the first track body RB1. Thus, the fourth track body RB4 and the first track body RB1 are integrally formed. For example, the fourth track body RB4 and the first track body RB1 can also be integrally formed by connecting the components constituting the fourth track body RB4 to other components constituting the first track body RB1. Alternatively, the fourth track body RB4 and the first track body RB1 can be constituted by a single component. That is, a portion of this single component can constitute the fourth track body RB4, and another portion can constitute the first track body RB1.

[0110] like Figure 8 As shown, in this embodiment, the third track R3 includes a pair of third track bodies RB3 disposed apart from each other in the second width direction Yw. In this example, each of the plurality of third tracks R3 arranged in the second width direction Yw includes a pair of third track bodies RB3 disposed apart from each other in the second width direction Yw. That is, a third track R3 is constituted by a pair of third track bodies RB3 disposed apart from each other in the second width direction Yw, and the plurality of third tracks R3 are arranged in the second width direction Yw.

[0111] In this embodiment, two adjacent third tracks R3 in the second width direction Yw share a single third track body RB3. A pair of third travel surfaces Fr3 are formed on this third track body RB3, each belonging to one of the two adjacent third tracks R3 in the second width direction Yw. Therefore, the number of third track bodies RB3 can be minimized as a whole. Consequently, the working hours for installing the third tracks R3 can be easily reduced.

[0112] In this embodiment, the third track body RB3 includes a third main body portion R31 extending along the second direction Y, and a third wall portion R32 protruding upward from the third main body portion R31 and extending along the second direction Y. Furthermore, a third travel surface Fr3 is formed on the upward-facing surface of the third main body portion R31. In this example, the third travel surfaces Fr3 are respectively arranged on both sides of the third wall portion R32 in the second width direction Yw. Moreover, a third guide surface Fg3 is formed on each of the two sides of the third wall portion R32 in the second width direction Yw. With the above structure, the pair of third travel surfaces Fr3 provided by the third track body RB3 can be used to properly drive both a second transport vehicle V2 traveling on one side of the third wall portion R32 in the second width direction Yw and another second transport vehicle V2 (not shown) traveling on the other side of the third wall portion R32 in the second width direction Yw, and the pair of third guide surfaces Fg3 provided by the third track body RB3 can be used to properly guide both. In this example, the cross section of the third orbital body RB3, which is orthogonal to the second direction Y, is formed into an inverted T shape.

[0113] The second transport vehicle V2 includes a second vehicle body V2a, a third travel unit U3 that moves the second vehicle body V2a along the third track R3, a fourth travel unit U4 that moves the second vehicle body V2a along the fourth track R4, and a second control unit C2 that controls the operation of the third travel unit U3 and the fourth travel unit U4 (see reference). Figure 8 The second vehicle body V2a is positioned vertically between the third track R3 and the fourth track R4. Specifically, the second vehicle body V2a is positioned vertically between the upper end of the third track body RB3 (the upper end of the third wall portion R32) and the lower end of the fourth track body RB4 (the lower end of the fourth main body portion R41). Other structures of the second transport vehicle V2 (e.g., structures for transferring the item G) may be the same as or partially different from the structure of the transport vehicle V described above.

[0114] The third driving unit U3 includes a third wheel 31 and a third posture changing mechanism 33 that changes the posture of the third wheel 31 relative to the second vehicle body V2a. The posture is configured to change to a third wheel mounting posture in which the third wheel 31 is mounted on the third driving surface Fr3 and a third wheel retraction posture in which the third wheel 31 moves away from the third driving surface Fr3. Figure 7 and Figure 8 The image shows the retraction posture of the third wheel of the third driving unit U3.

[0115] In this embodiment, the third travel unit U3 includes a third guide wheel 32 guided by a third guide surface Fg3. The third guide wheel 32 is configured to engage with the third guide surface Fg3 in the third wheel-mounted position of the third travel unit U3, and disengage from the third guide surface Fg3 in the third wheel-retreating position of the third travel unit U3. With this structure, when the third travel unit U3 is in the third wheel-mounted position and is driving the second vehicle body V2a along the third track R3, the third guide wheel 32 can be used to appropriately guide the second vehicle body V2a along the third track R3.

[0116] Detailed illustrations are omitted, but in this embodiment, with the third wheel of the third driving unit U3 mounted in the third wheel mounting posture, and the rotation axis of the third wheel 31 facing the second width direction Yw (first direction X), the third wheel 31 is mounted on the third driving surface Fr3. Furthermore, with the third wheel of the third driving unit U3 mounted in the third wheel mounting posture, and the rotation axis of the third guide wheel 32 facing the vertical direction, the third guide wheel 32 is in contact with the third guide surface Fg3.

[0117] In this embodiment, the second transport vehicle V2 includes a plurality of third travel units U3. The second transport vehicle V2 is configured to travel along a third track R3 using the plurality of third travel units U3. As described above, the third track R3 for the second transport vehicle V2 to travel along the second direction Y includes a pair of third track bodies RB3 (see reference 1) disposed apart in the second width direction Yw. Figure 8 Furthermore, in this embodiment, the third travel unit U3 is provided corresponding to each of a pair of third track bodies RB3 that are separated in the second width direction Yw. In addition, in this example, on each of the two sides of the second vehicle body V2a in the second width direction Yw (first direction X), a pair of third travel units U3 are provided separately in the second direction Y (see reference). Figure 7 In this example, the second transport vehicle V2 has a total of four third driving units U3.

[0118] The fourth driving unit U4 includes a fourth wheel 41 and a fourth posture changing mechanism 43 that changes the posture of the fourth wheel 41 relative to the second vehicle body V2a. The posture is configured to change to a fourth wheel mounting posture in which the fourth wheel 41 is mounted on the fourth driving surface Fr4 and a fourth wheel retraction posture in which the fourth wheel 41 moves away from the fourth driving surface Fr4. Figure 7 and Figure 8 The text indicates the fourth wheel mounting position of the fourth driving unit U4.

[0119] In this embodiment, the fourth travel unit U4 includes a fourth guide wheel 42 guided by a fourth guide surface Fg4. The fourth guide wheel 42 is configured to engage with the fourth guide surface Fg4 in the fourth wheel-mounted position of the fourth travel unit U4, and disengage from the fourth guide surface Fg4 in the fourth wheel-retreating position of the fourth travel unit U4. With this structure, when the fourth travel unit U4 is in the fourth wheel-mounted position and is driving the second vehicle body V2a along the fourth track R4, the fourth guide wheel 42 can be used to properly guide the second vehicle body V2a along the fourth track R4.

[0120] In this embodiment, with the fourth wheel mounted in the fourth driving unit U4, and the rotation axis of the fourth wheel 41 pointing towards the first width direction Xw (second direction Y), the fourth wheel 41 is mounted on the fourth driving surface Fr4. Furthermore, with the fourth wheel mounted in the fourth driving unit U4, and the rotation axis of the fourth guide wheel 42 pointing towards the vertical direction, the fourth guide wheel 42 is in contact with the fourth guide surface Fg4.

[0121] In this embodiment, the second transport vehicle V2 includes a plurality of fourth travel units U4. The second transport vehicle V2 is configured to travel along a fourth track R4 using the plurality of fourth travel units U4. As described above, the fourth track R4 for the second transport vehicle V2 to travel along a first direction X includes a pair of fourth track bodies RB4 (see reference 1) arranged apart in a first width direction Xw. Figure 7 Furthermore, in this embodiment, the fourth travel unit U4 is provided corresponding to each of the pair of fourth track bodies RB4 that are separated in the first width direction Xw. Additionally, in this example, a pair of fourth travel units U4 are provided on each of the two sides of the second vehicle body V2a in the second width direction Yw (first direction X) and separated in the second direction Y (see reference). Figure 7 In this example, the second transport vehicle V2 has a total of four fourth driving units U4.

[0122] The second control unit C2 is configured to change modes as follows: a third mode in which the third driving unit U3 is set to the third wheel mounting position and the fourth driving unit U4 is set to the fourth wheel retraction position, so that the second vehicle body V2a travels along the third track R3; and a fourth mode in which the fourth driving unit U4 is set to the fourth wheel mounting position and the third driving unit U3 is set to the third wheel retraction position, so that the second vehicle body V2a travels along the fourth track R4. Figure 7 and Figure 8 This indicates that the second control unit C2 is executing the fourth mode. Furthermore, the mode change between the third and fourth modes is performed when the second vehicle body V2a is positioned at the intersection of the third track R3 and the fourth track R4 in a vertical view.

[0123] In this embodiment, with the third wheel of the third travel unit U3 in a retracted position, the third wheel 31 and the third guide wheel 32 are positioned above the third track R3. Therefore, when the second control unit C2 executes the fourth mode and the second transport vehicle V2 travels along the first direction X, the third wheel 31 and the third guide wheel 32 can be prevented from interfering with the third track R3. Consequently, the second transport vehicle V2 can travel appropriately along the first direction X.

[0124] Detailed illustrations are omitted, but in this embodiment, when the fourth travel unit U4 is in the fourth wheel retracted position, the fourth wheel 41 and the fourth guide wheel 42 are positioned lower than the fourth track R4. Therefore, when the second control unit C2 executes the third mode and the second transport vehicle V2 travels along the second direction Y, the fourth wheel 41 and the fourth guide wheel 42 can be prevented from interfering with the fourth track R4. Consequently, the second transport vehicle V2 can travel appropriately along the second direction Y.

[0125] In this embodiment, the third posture change mechanism 33 includes a third support arm 331 that is connected to the second vehicle body V2a in a swingable manner and supports the third wheel 31, and a third drive unit 332 that drives the third support arm 331.

[0126] In this embodiment, the third support arm 331 supports not only the third wheel 31 but also the third guide wheel 32. The third support arm 331 supports both the third wheel 31 and the third guide wheel 32 in a manner where their rotation axes are in different directions. More specifically, the third support arm 331 supports the third wheel 31 and the third guide wheel 32 in a manner orthogonal to the direction along the rotation axis of the third wheel 31 and the direction along the rotation axis of the third guide wheel 32.

[0127] In this embodiment, the third drive unit 332 is configured to swing the third support arm 331 about a third swing axis Ax3 along the first direction X, thereby changing the posture of the third wheel 31 relative to the second vehicle body V2a. In this example, the third drive unit 332 also changes the posture of the third guide wheel 32 relative to the second vehicle body V2a by swinging the third support arm 331 about the third swing axis Ax3. The third drive unit 332 is configured, for example, to include a motor.

[0128] In this embodiment, the fourth posture change mechanism 43 includes a fourth support arm 431 that is connected to the second vehicle body V2a in a swingable manner and supports the fourth wheel 41, and a fourth drive unit 432 that drives the fourth support arm 431.

[0129] In this embodiment, the fourth support arm 431 supports not only the fourth wheel 41 but also the fourth guide wheel 42. The fourth support arm 431 rotatably supports both the fourth wheel 41 and the fourth guide wheel 42 in a manner where the rotation axes of the fourth wheel 41 and the fourth guide wheel 42 are in different directions. More specifically, the fourth support arm 431 supports the fourth wheel 41 and the fourth guide wheel 42 in a manner orthogonal to the direction along the rotation axis of the fourth wheel 41 and the direction along the rotation axis of the fourth guide wheel 42.

[0130] In this embodiment, the fourth drive unit 432 is configured to swing the fourth support arm 431 about a fourth swing axis Ax4 along the first direction X, thereby changing the posture of the fourth wheel 41 relative to the second vehicle body V2a. In this example, the fourth drive unit 432 also changes the posture of the fourth guide wheel 42 relative to the second vehicle body V2a by swinging the fourth support arm 431 about the fourth swing axis Ax4. The fourth drive unit 432 is configured, for example, to include a motor.

[0131] [Other Implementation Methods]

[0132] Next, other embodiments of the material conveying equipment will be described.

[0133] (1) In the above embodiment, an example was described in which the engaging portion Rg has a block portion Rga and an engaging hole Rgb formed in the block portion Rga, and the engaging hole Rgb is formed in a conical shape. However, it is not limited to such an example, for example, Figure 9 As shown, the engaging portion Rg may also have a through hole Rgc through which the plate-shaped member passes. In this case, the engaging portion Vga of the engaging device Vg is preferably equipped with a hook Vgaa that engages with the engaging portion Rg. In this case, the engaging portion Vga is in an engaging position by the hook Vgaa engaging with the engaging portion Rg.

[0134] Furthermore, as another example of the engaging part Vga and the engaged part Rg, such as Figure 10 As shown, either the engaging part Rg or the engaging part Vga can be made of a magnetic component, and the other can be made of a magnet (permanent magnet or electromagnet). In this case, the engaging part Vga is magnetically attracted to the engaging part Rg and thus becomes engaged.

[0135] Furthermore, as another example of the engaging part Vga and the engaged part Rg, such as Figure 11 As shown, the engaging portion Rg may also have an adsorption surface Rgd for adsorbing the engaging portion Vga. In this case, the engaging portion Vga preferably has an attraction portion Vgab that generates an attraction force. In this case, the engaging portion Vga is adsorbed onto the adsorption surface Rgd of the engaging portion Rg by the attraction force of the attraction portion Vgab, thus achieving an engaging posture. As the attraction portion Vgab, for example, a pump that generates negative pressure can be used.

[0136] Furthermore, as another example of the engaging part Vga and the engaged part Rg, such as Figure 12 As shown, the engaging portion Vga may also have a roller Vgac, and the engaged portion Rg may have an opening Rge that guides the roller Vgac. In this case, the engaging portion Vga is engaged when the roller Vgac is inserted into the opening Rge.

[0137] (2) In the above embodiment, an example was described where the second track R2 has a second travel surface Fr2 and a second guide surface Fg2. However, it is not limited to this example; the second track R2 may also not have a second guide surface Fg2. In this case, for example, Figure 13 As shown, the second travel surface Fr2 can also be configured to slope downwards towards the inner side in the second width direction Yw. Furthermore, the second track R2 preferably includes an anti-detachment portion R23 to prevent the second wheel 21 from detaching from the second travel surface Fr2. Figure 13 In the example shown, the anti-detachment portion R23 is formed such that it rises upward from the inner end of the second travel surface Fr2 in the second width direction Yw. Furthermore, in the structure described above, the second travel unit U2 may not have the second guide wheel 22. The same applies to the first track R1 and the first travel unit U1. That is, the first track R1 may not have the first guide surface Fg1, and the first travel unit U1 may not have the first guide wheel 12. In this case, it is preferable that the first travel surface Fr1 is formed inclined relative to the first width direction Xw, and the first track R1 has an anti-detachment portion to prevent the first wheel 11 from detaching.

[0138] (3) In the above embodiment, an example was described in which a second orbital body R2 is formed by a pair of second orbital bodies RB2 arranged apart in the second width direction Yw. However, it is not limited to such an example; a second orbital body R2 may also be formed by a single second orbital body RB2. In this case, for example, Figure 14 As shown, the cross-section of the second track body RB2, orthogonal to the second direction Y, can also be formed in an inverted L-shape. Furthermore, it is preferable that the second travel unit U2 has a plurality of second wheels 21 (two second wheels 21 in the illustrated example) arranged in the second width direction Yw (first direction X) in the second wheel mounting posture, configured such that these plurality of second wheels 21 are mounted on the second travel surface Fr2. According to this structure, in the second wheel mounting posture of the second travel unit U2, while the transport vehicle V is suspended and supported by a single second track body RB2, the posture of the transport vehicle V is also easily stabilized.

[0139] Furthermore, as another example of a second orbital R2 consisting of a second orbital body RB2, such as Figure 15 As shown, the second track body RB2 can also be formed as a cylindrical shape with an open bottom, and has a pair of second travel surfaces Fr2 disposed apart in the second width direction Yw. In this case, it is preferable that the second travel unit U2 has a pair of second wheels 21 disposed apart in the second width direction Yw, configured such that the pair of second wheels 21 are raised and lowered, and that the pair of second wheels 21 approach or move apart from each other along the second width direction Yw. The second travel unit U2 aligns the pair of second wheels 21 and the pair of second travel surfaces Fr2 in the vertical direction by raising the pair of second wheels 21. Then, the second travel unit U2 aligns the pair of second wheels 21 and the pair of second travel surfaces Fr2 in the second width direction Yw by moving the pair of second wheels 21 apart from each other. Thus, the second travel unit U2 is in the second wheel mounting posture. In addition, detailed illustrations are omitted, but the same applies to the first track R1; it may also be composed of a single first track body RB1 instead of two first track bodies RB1.

[0140] (4) In the above embodiment, an example was described in which the lifting device Vd moves the lifting body Vc up and down by means of a belt Vda connected to the lifting body Vc and a lifting drive unit Vdb that drives the belt Vda. However, it is not limited to such an example, for example, Figure 16 As shown, the lifting device Vd can also be configured to raise and lower the lifting body Vc by means of a ball screw mechanism Vdc. In this case, the lifting device Vd is preferably equipped with a drive source such as a motor that rotates the screw portion of the ball screw mechanism Vdc.

[0141] In addition, as another example of a lifting device Vd, such as Figure 17 As shown, the lifting device Vd can also be configured to use a pantograph Vdd to raise and lower the lifting body Vc. Detailed illustrations are omitted, but in addition, the lifting device Vd can also be configured to use a cross link or the like to raise and lower the lifting body Vc.

[0142] (5) In the above embodiment, an example was described where the article conveying device 100 has an intersection area CA where the travel path along the first track R1 intersects with the travel path along the second track R2. For example, Figure 18 As shown, the article conveying device 100 may also have multiple intersection zones CA. In this case, the article conveying device 100 preferably has a connecting path CR that connects the multiple intersection zones CA. The connecting path CR may also be constructed by extending the first track R1 or the second track R2 set in the intersection zone CA (in the illustrated example, the first track R1 is extended). Furthermore, as illustrated, the connecting path CR may also have straight sections or curved sections.

[0143] (6) In the above embodiment, an example in which the first track R1 and the second track R2 are orthogonal when viewed in the vertical direction was described. However, the first track R1 and the second track R2 only need to intersect when viewed in the vertical direction, and they do not have to be orthogonal.

[0144] (7) In the above embodiment, an example was described in which the first track body RB1 has a first main body portion R11 and a first wall portion R12, and the cross section of the first track body RB1 orthogonal to the first direction X is formed in an inverted T shape. However, it is not limited to such an example. The first track body RB1 can have any cross section shape as long as it has a first travel surface Fr1 for the transport vehicle V to travel along the first direction X.

[0145] (8) In the above embodiment, an example was described in which the second track body RB2 has a second main body portion R21 and a second wall portion R22, and the cross section of the second track body RB2 orthogonal to the second direction Y is formed in an inverted T shape. However, it is not limited to such an example. The second track body RB2 can have any cross section shape as long as it has a second travel surface Fr2 for the transport vehicle V to travel along the second direction Y.

[0146] (9) In the above embodiment, an example in which the fourth orbital body RB4 and the first orbital body RB1 adjacent to the fourth orbital body RB4 on the upper side were integrally formed was described. However, it is not limited to such an example, and the fourth orbital body RB4 and the first orbital body RB1 adjacent to the fourth orbital body RB4 on the upper side may also be separated in the vertical direction.

[0147] (10) In the above embodiment, an example was described in which the engaging portion Rg is fixed to the first track R1 at a lower side than the first travel surface Fr1. However, this is not a limitation; the engaging portion Rg may not be positioned at a lower side than the first travel surface Fr1, but rather at a higher side. Furthermore, the engaging portion Rg may be fixed to another component connected to the first track R1. Such another component may be, for example, a frame, bracket, or the like connected to the first track R1.

[0148] (11) In the above embodiment, an example of changing the posture of the first wheel 11 relative to the vehicle body Va by oscillating the first support arm 131 about a first swing axis Ax1 along the second direction Y has been described. However, it is not limited to such an example. The structure for changing the posture of the first wheel 11 relative to the vehicle body Va can be any structure as long as it can realize the first wheel mounting posture and the first wheel retraction posture of the first driving unit U1. For example, the first drive unit 132 may also be configured to change the posture of the first wheel 11 relative to the vehicle body Va by sliding the first wheel 11 in the vertical direction or oscillating about an axis different from that in the above embodiment.

[0149] (12) In the above embodiment, an example of changing the posture of the second wheel 21 relative to the vehicle body Va by oscillating the second support arm 231 about a second swing axis Ax2 along the second direction Y has been described. However, it is not limited to such an example. The structure for changing the posture of the second wheel 21 relative to the vehicle body Va can be any structure as long as it can realize the second wheel mounting posture and the second wheel retraction posture of the second driving unit U2. For example, the second drive unit 232 may also be configured to change the posture of the second wheel 21 relative to the vehicle body Va by sliding the second wheel 21 in the vertical and horizontal directions or oscillating about an axis different from that in the above embodiment.

[0150] (13) In the above embodiment, an example was described in which the first drive unit 132 changed the posture of the first wheel 11 relative to the vehicle body Va and the posture of the first guide wheel 12 relative to the vehicle body Va by swinging the first support arm 131. However, it is not limited to such an example, and the posture change of the first guide wheel 12 may also be performed using a drive source other than the first drive unit 132 and a component other than the first support arm 131.

[0151] (14) In the above embodiment, an example was described in which the second drive unit 232 changed the posture of the second wheel 21 relative to the vehicle body Va and the posture of the second guide wheel 22 relative to the vehicle body Va by swinging the second support arm 231. However, it is not limited to such an example, and the posture change of the second guide wheel 22 may also be performed using a drive source other than the second drive unit 232 and a component other than the second support arm 231.

[0152] (15) In the above embodiment, an example of generating propulsion force for the vehicle body Va to travel in the first direction X by rotating and driving the first wheel 11 has been described. However, this is not limited to such an example, and the propulsion force for the vehicle body Va to travel in the first direction X can also be generated by other structures. For example, the propulsion force can be generated by the meshing of a rack provided along the first track R1 and a gear provided on the vehicle body Va. Alternatively, the propulsion force can be generated by a linear motor. The same structure can also be used to generate propulsion force for the vehicle body Va to travel in the second direction Y.

[0153] (16) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments, provided that no contradiction arises. Regarding other structures, the embodiments disclosed in this specification are merely illustrative at all points. Therefore, various modifications can be made appropriately without departing from the spirit of this disclosure.

[0154] [Summary of the above embodiments]

[0155] The following is a description of the article conveying equipment described above.

[0156] An article conveying device includes an article conveying vehicle for conveying articles; comprising: a first track having a first travel surface; and a second track having a second travel surface; the second track is disposed upward relative to the first track and is disposed such that it intersects the first track in a vertically directed view; the extension direction of the first track is defined as a first direction, and the extension direction of the second track is defined as a second direction; the article conveying vehicle includes a vehicle body disposed between the first track and the second track in the vertical direction, a first travel unit for moving the vehicle body along the first direction, a second travel unit for moving the vehicle body along the second direction, and a control unit for controlling the operation of the first travel unit and the second travel unit; the first travel unit includes a first wheel and a first posture changing mechanism for changing the posture of the first wheel relative to the vehicle body, constituting... The vehicle body is configured to change its posture to a first wheel mounting posture in which the first wheel is mounted on the first driving surface and a first wheel retraction posture in which the first wheel moves away from the first driving surface. The second driving unit includes a second wheel and a second posture changing mechanism for changing the posture of the second wheel relative to the vehicle body. The control unit is configured to change the posture to a second wheel mounting posture in which the second wheel is mounted on the second driving surface and a second wheel retraction posture in which the second wheel moves away from the second driving surface. The control unit is configured to change the mode to: a first mode in which the first driving unit is set to the first wheel mounting posture and the second driving unit is set to the second wheel retraction posture, so that the vehicle body travels along the first track; and a second mode in which the second driving unit is set to the second wheel mounting posture and the first driving unit is set to the first wheel retraction posture, so that the vehicle body travels along the second track.

[0157] According to this structure, the conveyor can travel along the first track in a first direction and along the second track in a second direction. The second track is configured to move upward relative to the first track. That is, the first track and the second track are configured at different positions in the vertical direction. Thus, the travel paths along the first track and the travel paths along the second track can be arranged in different horizontal planes while intersecting in a vertical view. Therefore, according to this structure, since there is no seam between the first and second tracks, and no step difference due to the presence of a seam is generated, vibration of the conveyor when traveling at the intersection of the two tracks can be prevented. Furthermore, since the first and second tracks are physically separate, they can be staggered. Therefore, the degree of freedom in setting the travel path formed by the first and second tracks in the article conveying device can be ensured. As described above, according to this structure, in an article conveying device having multiple intersecting travel paths with different extending directions, the vibration of the conveyor can be suppressed, and the degree of freedom in setting the travel path can be ensured.

[0158] Preferably, the aforementioned transport vehicle has a receiving section for accommodating the aforementioned items while in motion; the receiving section is disposed on the aforementioned vehicle body.

[0159] According to this structure, a receiving section for storing items is provided in the vehicle body positioned between the first and second tracks in the vertical direction. Therefore, regardless of whether the control unit operates in a first mode (running the vehicle body along the first track) or a second mode (running the vehicle body along the second track), the distance from the wheels supporting the vehicle body to the items can be approximately the same. Thus, according to this structure, items can be stably transported while being held in place.

[0160] Preferably, the aforementioned second posture change mechanism includes a second support arm that is connected to the aforementioned vehicle body in a swingable manner and supports the aforementioned second wheel, and a second drive unit that drives the aforementioned second support arm; the aforementioned second drive unit causes the aforementioned second support arm to swing about a second swing axis along the aforementioned second direction, thereby changing the posture of the aforementioned second wheel relative to the aforementioned vehicle body.

[0161] According to this structure, the second wheel can be properly mounted relative to the second running surface of the second track, which is positioned above the vehicle body, and can be properly disengaged from the second running surface.

[0162] Preferably, the aforementioned second posture change mechanism is configured such that, when the aforementioned second driving unit is changed from the aforementioned second wheel retraction posture to the aforementioned second wheel mounting posture, the aforementioned second wheel is mounted on the aforementioned second driving surface at the position of the uppermost position of the movement trajectory of the aforementioned second wheel caused by the swing of the aforementioned second support arm.

[0163] According to this structure, the second wheel can approach and mount the second driving surface from above. Therefore, according to this structure, when changing the posture from a second wheel retraction posture to a second wheel mounting posture, the posture change can be performed appropriately while reducing friction between the second wheel and the second driving surface.

[0164] Preferably, the aforementioned first posture change mechanism includes a first support arm that is connected to the aforementioned vehicle body in a swingable manner and supports the aforementioned first wheel, and a first drive unit that drives the aforementioned first support arm; the aforementioned first drive unit causes the aforementioned first support arm to swing about a first swing axis along the aforementioned second direction, thereby changing the posture of the aforementioned first wheel relative to the aforementioned vehicle body.

[0165] According to this structure, a first swing axis that serves as the swing center of the first support arm and a second swing axis that serves as the swing center of the second support arm are arranged parallel to each other along a second direction. Therefore, the range of motion of both the first and second support arms is difficult to extend in the second direction. Furthermore, by arranging the first and second swing axes in parallel, it is advantageous, for example, to facilitate the integration of the first and second drive units.

[0166] Preferably, the first track has a first guide surface facing a direction orthogonal to the first direction when viewed in the aforementioned vertical direction; the second track has a second guide surface facing a direction orthogonal to the second direction when viewed in the aforementioned vertical direction; the first driving unit has a first guide wheel guided by the aforementioned first guide surface; the aforementioned first guide wheel is configured to be in contact with the aforementioned first guide surface in the aforementioned first wheel mounting posture of the aforementioned first driving unit, and to leave the aforementioned first guide surface in the aforementioned first wheel retraction posture of the aforementioned first driving unit; the aforementioned second driving unit has a second guide wheel guided by the aforementioned second guide surface; the aforementioned second guide wheel is configured to be in contact with the aforementioned second guide surface in the aforementioned second wheel mounting posture of the aforementioned second driving unit, and to leave the aforementioned second guide surface in the aforementioned second wheel retraction posture of the aforementioned second driving unit.

[0167] According to this structure, when the first travel unit moves the vehicle body along the first track in the first wheel mounting position, the vehicle body can be properly guided along the first track by means of the first guide wheel. Furthermore, when the second travel unit moves the vehicle body along the second track in the second wheel mounting position, the vehicle body can be properly guided along the second track by means of the second guide wheel.

[0168] Preferably, the plurality of the aforementioned first tracks are arranged in a direction orthogonal to the aforementioned first direction in the aforementioned vertical view; and the plurality of the aforementioned second tracks are arranged in a direction orthogonal to the aforementioned second direction in the aforementioned vertical view.

[0169] According to this structure, the travel range of the transport vehicle can be ensured to be relatively wide along both the first and second directions.

[0170] Preferably, the aforementioned transport vehicle includes a lifting body connected to the aforementioned vehicle body, a lifting device for raising and lowering the aforementioned lifting body relative to the aforementioned vehicle body, and a holding part supported by the aforementioned lifting body to hold the aforementioned articles.

[0171] According to this structure, items can be transferred to a position that is away from the conveyor in the vertical direction.

[0172] Preferably, the aforementioned transport vehicle further includes a lifting body connected to the aforementioned vehicle body, a lifting device for raising and lowering the aforementioned lifting body relative to the aforementioned vehicle body, a holding part supported by the aforementioned lifting body and holding the aforementioned item, a sliding device for sliding the aforementioned holding part relative to the aforementioned lifting body in a horizontal direction, and a locking device supported by the aforementioned lifting body; the aforementioned first track includes a locking part; the aforementioned locking device includes a locking part that engages with the aforementioned locking part, and a locking drive part that changes the posture of the aforementioned locking part to a locking posture and a releasing posture; in the aforementioned locking posture, the aforementioned locking part engages with the aforementioned locking part to restrict the raising, lowering and tilting movement of the aforementioned lifting body, and in the aforementioned releasing posture, the aforementioned locking part disengages from the aforementioned locking part to allow the raising and lowering of the aforementioned lifting body; the aforementioned control unit sets the aforementioned locking part to the aforementioned releasing posture when the aforementioned lifting body is raised and lowered by means of the aforementioned lifting device, and sets the aforementioned locking part to the aforementioned locking posture when the aforementioned holding part protrudes relative to the aforementioned lifting body in the aforementioned horizontal direction by means of the aforementioned sliding device.

[0173] According to this structure, the transport vehicle can travel along the first track in a first direction and along the second track in a second direction. The second track is positioned upwards relative to the first track. That is, the first track and the second track are positioned at different locations in the vertical direction. Therefore, the travel paths along the first track and the travel paths along the second track can intersect in a vertical view while being positioned on different horizontal planes. Thus, according to this structure, since there is no seam between the first and second tracks, and no step difference due to the seam, vibrations can be prevented when the transport vehicle travels at the intersection of the two tracks. Furthermore, according to this structure, by means of the sliding device, the item held by the holding part can be positioned at a position horizontally offset relative to the lifting body. Therefore, the item can be transferred to a position horizontally offset from directly below the transport vehicle. Furthermore, during such a transfer, by setting the engaging part to an engaging position, the tilting movement of the lifting body can be restricted. Thus, the transfer of the item to a position horizontally offset from directly below the transport vehicle can be appropriately performed. As described above, according to this structure, in a goods conveying device having multiple intersecting travel paths with different extension directions, it is possible to suppress the vibration of the conveyor and to properly transfer the goods to a position horizontally offset from directly below the conveyor.

[0174] Preferably, it also includes a storage shelf capable of holding the aforementioned items; the storage shelf is supported by the aforementioned first track on a lower side than the aforementioned first track; the aforementioned transport vehicle is configured to perform a transfer action of transferring the aforementioned items to the aforementioned storage shelf and a receiving action of receiving the aforementioned items from the aforementioned storage shelf by sliding the aforementioned holding part using the aforementioned sliding device; when the aforementioned transport vehicle performs the aforementioned transfer action or the aforementioned receiving action, the aforementioned control unit uses the aforementioned lifting device to position the aforementioned lifting body at a height corresponding to the aforementioned storage shelf, and sets the aforementioned engaging part to the aforementioned engaging posture.

[0175] According to this structure, a storage shelf for temporarily or permanently storing items can be configured in the space below the first track. When transferring items between the storage shelf and the lifting mechanism, the lifting action of the lifting body driven by the lifting device and the sliding action of the holding part driven by the sliding mechanism can be utilized. Furthermore, when the holding part slides, the tilting movement of the lifting body can be suppressed because the engaging part is in an engaged position. Therefore, the transfer of items relative to the storage shelf can be performed appropriately.

[0176] Preferably, the part where the aforementioned item is transferred between the aforementioned transport vehicle and the aforementioned transport vehicle is designated as the transfer target part; the aforementioned engaging part is positioned in the aforementioned first direction at a position corresponding to the aforementioned transfer target part; the aforementioned engaging part also positions the aforementioned lifting body in the aforementioned first direction in the aforementioned engaging posture.

[0177] According to this structure, by setting the engaging part to an engaging position, the lifting body can be positioned in the first direction at a position corresponding to the transfer target part. This allows for easy and accurate transfer of the item relative to the transfer target part.

[0178] Preferably, the aforementioned transport vehicle also includes a second lifting device located below the aforementioned sliding device, which raises and lowers the aforementioned holding portion relative to the aforementioned sliding device.

[0179] According to this structure, the holding part can be raised and lowered from a position where it protrudes horizontally relative to the lifting body via a sliding device, and then via a second lifting device. Therefore, according to this structure, the number of locations where items can be transferred using a transport vehicle can be increased, and the versatility for the transfer target of the items can be improved.

[0180] Preferably, the direction orthogonal to the first direction in the aforementioned vertical view is defined as the first width direction; the aforementioned first track includes a pair of first track bodies disposed apart in the aforementioned first width direction; the aforementioned lifting device raises and lowers the aforementioned lifting body between the pair of aforementioned first track bodies in the aforementioned first width direction in the aforementioned vertical view; the aforementioned engaging portion is disposed on at least one of the pair of aforementioned first track bodies; the aforementioned engaging drive unit changes the posture of the aforementioned engaging portion to the aforementioned engaging posture and the aforementioned disengaging posture by moving the aforementioned engaging portion forward and backward along the aforementioned first width direction.

[0181] According to this structure, in a structure in which a lifting body is disposed between a pair of first track bodies in a first width direction, the engaging device supported by the lifting body can make the engaging part properly engage and disengage relative to the engaging part disposed on at least one of the pair of first track bodies by moving the engaging part forward and backward along the first width direction.

[0182] Preferably, the aforementioned engaging portion is fixed to the aforementioned first track on a side lower than the aforementioned first travel surface.

[0183] According to this structure, the engaging portion can be positioned in a position that does not obstruct the first traveling wheel mounted on the first traveling surface. Furthermore, by fixing the engaging portion to the first rail, the structure for supporting the engaging portion can be simplified.

[0184] Preferably, the direction orthogonal to the aforementioned first direction in the aforementioned vertical view is defined as the first width direction; the plurality of the aforementioned first tracks are arranged and configured in the aforementioned first width direction; each of the plurality of the aforementioned first tracks includes a pair of first track bodies arranged apart in the aforementioned first width direction; two of the aforementioned first tracks that are adjacent to each other in the aforementioned first width direction share a aforementioned first track body, and a pair of the aforementioned first travel surfaces are formed on the first track body, the pair of the aforementioned first travel surfaces belonging to each of the two of the aforementioned first tracks that are adjacent to each other in the aforementioned first width direction.

[0185] According to this structure, the conveyor can travel along the first track in the first direction and along the second track in the second direction. The second track is positioned upwards relative to the first track. That is, the first and second tracks are positioned at different locations in the vertical direction. Thus, the travel paths along the first track and the travel paths along the second track can intersect in a vertical view while being arranged in different horizontal planes. Therefore, according to this structure, since there is no seam between the first and second tracks, and no step difference due to the presence of a seam, vibration of the conveyor when traveling at the intersection of the two tracks can be prevented. Furthermore, according to this structure, since two adjacent first tracks in the first width direction share a single first track body, the number of first track bodies can be reduced as a whole. This easily reduces the time required for setting up the first tracks. As described above, according to this structure, in a transport device having multiple intersecting travel paths with different extending directions, vibration of the conveyor can be suppressed, and the time required for setting up the travel paths can be reduced.

[0186] Preferably, the first track has a first guide surface facing the first width direction; the first travel unit has a first guide wheel guided by the first guide surface; the first guide wheel is configured to contact the first guide surface in the first wheel mounting position of the first travel unit, and to leave the first guide surface in the first wheel retraction position of the first travel unit; the first track body has a first main body extending along the first direction, and a first wall portion protruding upward from the first main body and extending along the first direction; the first travel surface is formed by the upward-facing surface of the first main body; the first travel surface is disposed on each of the two sides of the first wall portion in the first width direction; the first guide surface is formed by the two sides of the first wall portion facing the first width direction.

[0187] According to this structure, when the first travel unit moves the vehicle body along the first track in the first wheel-mounted position, the vehicle body can be properly guided along the first track by means of the first guide wheel. Furthermore, a first guide surface for guiding the first guide wheel is formed on each of the two sides of the first wall portion of the first track body facing the first width direction. Thus, by means of a pair of first guide surfaces provided by a first track body, both the first guide wheel used in a transport vehicle traveling on one side of the first wall portion in the first width direction and the first guide wheel used in another transport vehicle traveling on the other side of the first wall portion in the first width direction can be properly guided.

[0188] Preferably, the direction orthogonal to the aforementioned second direction in the aforementioned vertical view is defined as the second width direction; a plurality of the aforementioned second tracks are arranged and configured in the aforementioned second width direction; each of the plurality of the aforementioned second tracks includes a pair of second track bodies arranged apart in the aforementioned second width direction; two of the aforementioned second tracks that are adjacent to each other in the aforementioned second width direction share a aforementioned second track body, and a pair of the aforementioned second travel surfaces are formed on the second track body, the pair of the aforementioned second travel surfaces belonging to each of the two of the aforementioned second tracks that are adjacent to each other in the aforementioned second width direction.

[0189] According to this structure, since two adjacent second tracks in the second width direction share one second track body, the number of second track bodies can be kept to a minimum as a whole device. Therefore, it is also easier to reduce the working hours required for installing the second tracks.

[0190] Preferably, the second track has a second guide surface facing the second width direction; the second travel unit has a second guide wheel guided by the second guide surface; the second guide wheel is configured to be in contact with the second guide surface in the second wheel mounting position of the second travel unit, and to leave the second guide surface in the second wheel retraction position of the second travel unit; the second track body has a second main body extending along the second direction, and a second wall portion protruding upward from the second main body and extending along the second direction; the second travel surface is formed by the upward-facing surface of the second main body; the second travel surface is disposed on each of the two sides of the second wall portion in the second width direction; the second guide surface is formed by the two sides of the second wall portion facing the second width direction.

[0191] According to this structure, when the second travel unit moves the vehicle body along the second track in the second wheel mounting position, the vehicle body can be properly guided along the second track by means of the second guide wheel. Furthermore, second guide surfaces for guiding the second guide wheel are formed on each of the two sides of the second wall of the second track body facing the second width direction. Thus, by means of a pair of second guide surfaces provided by one second track body, both the second guide wheel used in a transport vehicle traveling on one side of the second width direction relative to the second wall and the second guide wheel used in another transport vehicle traveling on the other side of the second width direction relative to the second wall can be properly guided.

[0192] Preferably, it further comprises: a second transport vehicle; a third track having a third travel surface; and a fourth track having a fourth travel surface; the third track is disposed downward relative to the first track and is disposed such that it intersects the first track in the aforementioned vertical direction; the fourth track is disposed between the first track and the third track in the aforementioned vertical direction and is disposed parallel to the first track in the aforementioned vertical direction; the second transport vehicle comprises a second vehicle body, a third travel unit for driving the second vehicle body along the third track, a fourth travel unit for driving the second vehicle body along the fourth track, and a second control unit for controlling the operation of the third travel unit and the fourth travel unit; the third travel unit comprises a third wheel and a third posture changing mechanism for changing the posture of the third wheel relative to the second vehicle body, configured such that the posture is changed to a third wheel mounting posture in which the third wheel is mounted on the third travel surface and a third wheel retraction posture in which the third wheel leaves the third travel surface; The fourth driving unit includes a fourth wheel and a fourth posture changing mechanism for changing the posture of the fourth wheel relative to the second vehicle body. The posture is configured to change to a fourth wheel mounting posture where the fourth wheel is mounted on the fourth driving surface and a fourth wheel retraction posture where the fourth wheel leaves the fourth driving surface. The second control unit is configured to change modes to: a third mode, where the third driving unit is set to the third wheel mounting posture and the fourth driving unit is set to the fourth wheel retraction posture, causing the second vehicle body to travel along the third track; and a fourth mode, where the fourth driving unit is set to the fourth wheel mounting posture and the third driving unit is set to the third wheel retraction posture, causing the second vehicle body to travel along the fourth track. A plurality of fourth tracks are arranged in the first width direction. Each of the plurality of fourth tracks includes a pair of fourth track bodies arranged apart in the first width direction. The fourth track body and the first track body adjacent to it on the upper side are integrally formed.

[0193] According to this structure, a second transport vehicle can travel between the third and fourth tracks in the vertical direction, in addition to the transport vehicle that travels between the first and second tracks in the vertical direction. Furthermore, the second transport vehicle can travel along the third track and also along the fourth track. Moreover, according to this structure, since the first and fourth track bodies, which are adjacent in the vertical direction, are integrally formed, it is possible to achieve a structure that allows the transport vehicle and the second transport vehicle to travel at different positions in the vertical direction, while also minimizing the number of first and fourth track bodies installed as a whole. This easily reduces the working hours required to install the first and fourth tracks.

[0194] Preferably, two adjacent fourth tracks in the aforementioned first width direction share a fourth track body, and a pair of fourth travel surfaces are formed on the fourth track body, the pair of fourth travel surfaces belonging to each of the two adjacent fourth tracks in the aforementioned first width direction.

[0195] According to this structure, since two adjacent fourth tracks in the first width direction share one fourth track body, the number of fourth track bodies can be kept to a minimum as a whole device. Therefore, the working hours required for installing the fourth tracks can be easily reduced.

[0196] Industrial availability

[0197] The technology disclosed herein can be used in article conveying equipment equipped with a conveyor vehicle for conveying articles.

[0198] Explanation of reference numerals in the attached figures

[0199] 100: Goods conveying equipment

[0200] V: Conveyor vehicle

[0201] V2: Second Transport Vehicle

[0202] V2a: Second hull

[0203] Va: Vehicle body

[0204] Vb: Containment Department

[0205] Vc: Lifting body

[0206] Vd: Lifting device

[0207] Vd2: Second lifting device

[0208] Ve: Maintaining part

[0209] Vf: Sliding device

[0210] Vg: Engaging device

[0211] Vga: Kahebu

[0212] Vgb: Engagement drive unit

[0213] 8: Storage Shelves

[0214] 9: Location of the object being transferred

[0215] U1: First Driving Unit

[0216] 11: The First Wheel

[0217] 12: First Guide Wheel

[0218] 13: First posture change mechanism

[0219] 131: First support arm

[0220] 132: First Drive Unit

[0221] U2: Second Driving Unit

[0222] 21: The second wheel

[0223] 22: Second guide wheel

[0224] 23: Second posture change mechanism

[0225] 231: Second support arm

[0226] 232: Second Drive Unit

[0227] U3: Third Driving Unit

[0228] 31: The third wheel

[0229] 33: Third Posture Changing Mechanism

[0230] U4: Fourth Driving Unit

[0231] 41: The Fourth Wheel

[0232] 43: Fourth Posture Changing Mechanism

[0233] C: Control Department

[0234] C2: Second Control Unit

[0235] R1: First Track

[0236] RB1: First orbital body

[0237] R11: First Main Body

[0238] R12: First wall section

[0239] R2: Second Track

[0240] RB2: Second orbital body

[0241] R21: Second Main Body

[0242] R22: Second wall section

[0243] R3: Third Track

[0244] R4: Fourth Track

[0245] RB4: Fourth orbital body

[0246] Fg1: First guiding surface

[0247] Fg2: Second guiding surface

[0248] Fr1: First driving plane

[0249] Fr2: Second driving surface

[0250] Fr3: Third driving plane

[0251] Fr4: Fourth driving plane

[0252] G: Items

[0253] Pt: Top position

[0254] X: First direction

[0255] Xw: First width direction

[0256] Y: Second direction

[0257] Yw: Second width direction.

Claims

1. A goods conveying device, comprising a conveyor vehicle for conveying goods, characterized in that, have: The first track, having a first running surface; and The second track has a second running surface; The aforementioned second track is positioned upwards relative to the aforementioned first track and is configured to intersect the aforementioned first track in a vertical orientation view. The extension direction of the aforementioned first track is set as the first direction, and the extension direction of the aforementioned second track is set as the second direction; The aforementioned transport vehicle includes a vehicle body disposed between the aforementioned first track and the aforementioned second track in the vertical direction, a first travel unit that causes the aforementioned vehicle body to travel along the aforementioned first direction, a second travel unit that causes the aforementioned vehicle body to travel along the aforementioned second direction, and a control unit that controls the operation of the aforementioned first travel unit and the aforementioned second travel unit. The aforementioned first driving unit includes a first wheel and a first posture changing mechanism for changing the posture of the aforementioned first wheel relative to the aforementioned vehicle body, configured such that the posture is changed to a first wheel mounting posture in which the aforementioned first wheel is mounted on the aforementioned first driving surface and a first wheel retraction posture in which the aforementioned first wheel leaves the aforementioned first driving surface. The aforementioned second driving unit includes a second wheel and a second posture changing mechanism for changing the posture of the aforementioned second wheel relative to the aforementioned vehicle body, configured to change the posture to a second wheel mounting posture in which the aforementioned second wheel is mounted on the aforementioned second driving surface and a second wheel retraction posture in which the aforementioned second wheel leaves the aforementioned second driving surface. The aforementioned control unit is configured to be able to change modes as follows: a first mode, in which the aforementioned first driving unit is set to the aforementioned first wheel mounting posture and the aforementioned second driving unit is set to the aforementioned second wheel retraction posture, so that the aforementioned vehicle body travels along the aforementioned first track; and a second mode, in which the aforementioned second driving unit is set to the aforementioned second wheel mounting posture and the aforementioned first driving unit is set to the aforementioned first wheel retraction posture, so that the aforementioned vehicle body travels along the aforementioned second track.

2. The article conveying device according to claim 1, characterized in that, The aforementioned transport vehicle is equipped with a storage section for accommodating the aforementioned items while in motion; The aforementioned containment section is located on the aforementioned vehicle body.

3. The article conveying device according to claim 1, characterized in that, The aforementioned second posture change mechanism includes a second support arm that is connected to the aforementioned vehicle body in a swingable manner and supports the aforementioned second wheel, and a second drive unit that drives the aforementioned second support arm; The aforementioned second drive unit causes the aforementioned second support arm to swing about a second swing axis along the aforementioned second direction, thereby changing the posture of the aforementioned second wheel relative to the aforementioned vehicle body.

4. The article conveying device according to claim 2, characterized in that, The aforementioned second posture change mechanism includes a second support arm that is connected to the aforementioned vehicle body in a swingable manner and supports the aforementioned second wheel, and a second drive unit that drives the aforementioned second support arm; The aforementioned second drive unit causes the aforementioned second support arm to swing about a second swing axis along the aforementioned second direction, thereby changing the posture of the aforementioned second wheel relative to the aforementioned vehicle body.

5. The article conveying device according to claim 3, characterized in that, The aforementioned second posture change mechanism is configured such that, when the aforementioned second driving unit changes its posture from the aforementioned second wheel retraction posture to the aforementioned second wheel mounting posture, the aforementioned second wheel is mounted on the aforementioned second driving surface at the position of the uppermost position of the movement trajectory of the aforementioned second wheel caused by the swing of the aforementioned second support arm.

6. The article conveying device according to claim 4, characterized in that, The aforementioned second posture change mechanism is configured such that, when the aforementioned second driving unit changes its posture from the aforementioned second wheel retraction posture to the aforementioned second wheel mounting posture, the aforementioned second wheel is mounted on the aforementioned second driving surface at the position of the uppermost position of the movement trajectory of the aforementioned second wheel caused by the swing of the aforementioned second support arm.

7. The article conveying device according to claim 3, characterized in that, The aforementioned first posture change mechanism includes a first support arm that is connected to the aforementioned vehicle body in a swingable manner and supports the aforementioned first wheel, and a first drive unit that drives the aforementioned first support arm; The aforementioned first drive unit causes the aforementioned first support arm to swing about a first swing axis along the aforementioned second direction, thereby changing the posture of the aforementioned first wheel relative to the aforementioned vehicle body.

8. The article conveying device according to claim 4, characterized in that, The aforementioned first posture change mechanism includes a first support arm that is connected to the aforementioned vehicle body in a swingable manner and supports the aforementioned first wheel, and a first drive unit that drives the aforementioned first support arm; The aforementioned first drive unit causes the aforementioned first support arm to swing about a first swing axis along the aforementioned second direction, thereby changing the posture of the aforementioned first wheel relative to the aforementioned vehicle body.

9. The article conveying device according to claim 5, characterized in that, The aforementioned first posture change mechanism includes a first support arm that is connected to the aforementioned vehicle body in a swingable manner and supports the aforementioned first wheel, and a first drive unit that drives the aforementioned first support arm; The aforementioned first drive unit causes the aforementioned first support arm to swing about a first swing axis along the aforementioned second direction, thereby changing the posture of the aforementioned first wheel relative to the aforementioned vehicle body.

10. The article conveying device according to claim 6, characterized in that, The aforementioned first posture change mechanism includes a first support arm that is connected to the aforementioned vehicle body in a swingable manner and supports the aforementioned first wheel, and a first drive unit that drives the aforementioned first support arm; The aforementioned first drive unit causes the aforementioned first support arm to swing about a first swing axis along the aforementioned second direction, thereby changing the posture of the aforementioned first wheel relative to the aforementioned vehicle body.

11. The article conveying device according to any one of claims 1 to 10, characterized in that, The aforementioned first track has a first guide surface oriented in a direction orthogonal to the aforementioned first direction when viewed from the aforementioned vertical direction; The aforementioned second track has a second guide surface oriented in a direction orthogonal to the aforementioned second direction when viewed in the aforementioned vertical direction; The aforementioned first driving unit has a first guide wheel that is guided by the aforementioned first guide surface; The aforementioned first guide wheel is configured to be in contact with the aforementioned first guide surface in the aforementioned first wheel mounting posture of the aforementioned first driving unit, and to leave the aforementioned first guide surface in the aforementioned first wheel retraction posture of the aforementioned first driving unit. The aforementioned second driving unit has a second guide wheel that is guided by the aforementioned second guide surface; The aforementioned second guide wheel is configured to be in contact with the aforementioned second guide surface in the aforementioned second wheel mounting posture of the aforementioned second driving unit, and to leave the aforementioned second guide surface in the aforementioned second wheel retraction posture of the aforementioned second driving unit.

12. The article conveying device according to any one of claims 1 to 10, characterized in that, Multiple of the aforementioned first tracks are arranged and configured in a direction orthogonal to the aforementioned first direction in the aforementioned vertical view; Multiple of the aforementioned second tracks are arranged in a direction orthogonal to the aforementioned second direction in the aforementioned vertical view.

13. The article conveying device according to claim 11, characterized in that, Multiple of the aforementioned first tracks are arranged and configured in a direction orthogonal to the aforementioned first direction in the aforementioned vertical view; Multiple of the aforementioned second tracks are arranged in a direction orthogonal to the aforementioned second direction in the aforementioned vertical view.

14. The article conveying device according to any one of claims 1 to 10, characterized in that, The aforementioned transport vehicle includes a lifting body connected to the aforementioned vehicle body, a lifting device for raising and lowering the aforementioned lifting body relative to the aforementioned vehicle body, and a holding part supported by the aforementioned lifting body to hold the aforementioned items.

15. The article conveying device according to claim 11, characterized in that, The aforementioned transport vehicle includes a lifting body connected to the aforementioned vehicle body, a lifting device for raising and lowering the aforementioned lifting body relative to the aforementioned vehicle body, and a holding part supported by the aforementioned lifting body to hold the aforementioned items.

16. The article conveying device according to claim 12, characterized in that, The aforementioned transport vehicle includes a lifting body connected to the aforementioned vehicle body, a lifting device for raising and lowering the aforementioned lifting body relative to the aforementioned vehicle body, and a holding part supported by the aforementioned lifting body to hold the aforementioned items.

17. The article conveying device according to claim 13, characterized in that, The aforementioned transport vehicle includes a lifting body connected to the aforementioned vehicle body, a lifting device for raising and lowering the aforementioned lifting body relative to the aforementioned vehicle body, and a holding part supported by the aforementioned lifting body to hold the aforementioned items.

18. The article conveying device according to claim 1, characterized in that, The aforementioned transport vehicle also includes a lifting body connected to the aforementioned vehicle body, a lifting device for raising and lowering the aforementioned lifting body relative to the aforementioned vehicle body, a holding part supported by the aforementioned lifting body to hold the aforementioned article, a sliding device for sliding the aforementioned holding part relative to the aforementioned lifting body in a horizontal direction, and a locking device supported by the aforementioned lifting body. The aforementioned first track has a locking part; The aforementioned engaging device includes an engaging part that engages with the aforementioned engaged part, and an engaging drive part that changes the posture of the aforementioned engaging part to an engaging posture and a disengaging posture. In the aforementioned engaging position, the aforementioned engaging part engages with the aforementioned engaged part to restrict the lifting and tilting movement of the aforementioned lifting body; in the aforementioned disengaging position, the aforementioned engaging part disengages from the aforementioned engaged part to allow the lifting body to lift. When the aforementioned control unit moves the aforementioned lifting body up and down using the aforementioned lifting device, the aforementioned engaging part is set to the aforementioned disengaged position. When the aforementioned retaining part protrudes relative to the aforementioned lifting body in the aforementioned horizontal direction using the aforementioned sliding device, the aforementioned engaging part is set to the aforementioned engaging position.

19. The article conveying device according to claim 18, characterized in that, It also has storage shelves that can hold the aforementioned items; The aforementioned storage shelf is supported by the aforementioned first track on the lower side; The aforementioned transport vehicle is configured such that by using the aforementioned sliding device to slide the aforementioned holding part, it is able to perform a transfer action of transferring the aforementioned item to the aforementioned storage shelf and a receiving action of receiving the aforementioned item from the aforementioned storage shelf. When the aforementioned control unit causes the aforementioned transport vehicle to perform the aforementioned handover action or the aforementioned receiving action, it uses the aforementioned lifting device to position the aforementioned lifting body at a height corresponding to the aforementioned storage shelf, and sets the aforementioned engaging part to the aforementioned engaging posture.

20. The article conveying device according to claim 18, characterized in that, The location where the aforementioned items are transferred between the aforementioned transport vehicle and the aforementioned transport vehicle shall be designated as the transfer target location; The aforementioned engaging portion is positioned in the aforementioned first direction at a location corresponding to the aforementioned transfer object portion; The aforementioned engaging part also positions the aforementioned lifting body in the aforementioned first direction under the aforementioned engaging posture.

21. The article conveying device according to claim 19, characterized in that, The location where the aforementioned items are transferred between the aforementioned transport vehicle and the aforementioned transport vehicle shall be designated as the transfer target location; The aforementioned engaging portion is positioned in the aforementioned first direction at a location corresponding to the aforementioned transfer object portion; The aforementioned engaging part also positions the aforementioned lifting body in the aforementioned first direction under the aforementioned engaging posture.

22. The article conveying device according to any one of claims 18 to 21, characterized in that, The aforementioned transport vehicle also includes a second lifting device located below the aforementioned sliding device, which raises and lowers the aforementioned holding part relative to the aforementioned sliding device.

23. The article conveying device according to any one of claims 18 to 21, characterized in that, The direction orthogonal to the aforementioned first direction in the aforementioned vertical view is defined as the first width direction; the aforementioned first track includes a pair of first track bodies disposed apart from each other in the aforementioned first width direction; The aforementioned lifting device, when viewed in the aforementioned vertical direction, causes the aforementioned lifting body to move up and down between a pair of the aforementioned first track bodies in the aforementioned first width direction; The aforementioned engaging portion is disposed on at least one of the pair of aforementioned first track bodies; The aforementioned engaging drive unit changes the posture of the aforementioned engaging part by moving the aforementioned engaging part forward and backward along the aforementioned first width direction to the aforementioned engaging posture and the aforementioned disengaging posture.

24. The article conveying device according to claim 22, characterized in that, The direction orthogonal to the aforementioned first direction in the above vertical observation is defined as the first width direction; The aforementioned first track includes a pair of first track bodies disposed apart in the aforementioned first width direction; The aforementioned lifting device, when viewed in the aforementioned vertical direction, causes the aforementioned lifting body to move up and down between a pair of the aforementioned first track bodies in the aforementioned first width direction; The aforementioned engaging portion is disposed on at least one of the pair of aforementioned first track bodies; The aforementioned engaging drive unit changes the posture of the aforementioned engaging part by moving the aforementioned engaging part forward and backward along the aforementioned first width direction to the aforementioned engaging posture and the aforementioned disengaging posture.

25. The article conveying device according to any one of claims 18 to 21, characterized in that, The aforementioned engaging part is fixed to the aforementioned first track on the lower side than the aforementioned first traveling surface.

26. The article conveying device according to claim 22, characterized in that, The aforementioned engaging part is fixed to the aforementioned first track on the lower side than the aforementioned first traveling surface.

27. The article conveying device according to claim 23, characterized in that, The aforementioned engaging part is fixed to the aforementioned first track on the lower side than the aforementioned first traveling surface.

28. The article conveying device according to claim 24, characterized in that, The aforementioned engaging part is fixed to the aforementioned first track on the lower side than the aforementioned first traveling surface.

29. The article conveying device according to claim 1, characterized in that, The direction orthogonal to the aforementioned first direction in the above vertical observation is defined as the first width direction; The aforementioned first tracks are arranged and configured in the aforementioned first width direction; Each of the aforementioned first tracks includes a pair of first track bodies disposed apart in the aforementioned first width direction; Two adjacent first tracks in the aforementioned first width direction share a first track body, and a pair of first travel surfaces are formed on the first track body, the pair of first travel surfaces belonging to each of the two adjacent first tracks in the aforementioned first width direction.

30. The article conveying device according to claim 29, characterized in that, The aforementioned first track has a first guide surface facing the aforementioned first width direction; The aforementioned first driving unit has a first guide wheel that is guided by the aforementioned first guide surface; The aforementioned first guide wheel is configured to be in contact with the aforementioned first guide surface in the aforementioned first wheel mounting posture of the aforementioned first driving unit, and to leave the aforementioned first guide surface in the aforementioned first wheel retraction posture of the aforementioned first driving unit. The aforementioned first track body includes a first main body extending along the aforementioned first direction, and a first wall portion protruding upward from the aforementioned first main body and extending along the aforementioned first direction; The aforementioned first driving surface is formed by the upward-facing surface of the aforementioned first main body; The aforementioned first driving surface is provided on each of the two sides of the aforementioned first wall portion in the aforementioned first width direction; The aforementioned first guide surface is formed by the two sides of the aforementioned first wall portion facing the aforementioned first width direction.

31. The article conveying device according to claim 29, characterized in that, The direction orthogonal to the aforementioned second direction in the above-down direction observation is defined as the second width direction; Multiple of the aforementioned second tracks are arranged and configured in the aforementioned second width direction; Each of the aforementioned second orbits includes a pair of second orbital bodies disposed apart in the aforementioned second width direction; Two adjacent second tracks in the aforementioned second width direction share a single second track body, on which a pair of second travel surfaces are formed, the pair of second travel surfaces belonging to each of the two adjacent second tracks in the aforementioned second width direction.

32. The article conveying device according to claim 30, characterized in that, The direction orthogonal to the aforementioned second direction in the above-down direction observation is defined as the second width direction; Multiple of the aforementioned second tracks are arranged and configured in the aforementioned second width direction; Each of the aforementioned second orbits includes a pair of second orbital bodies disposed apart in the aforementioned second width direction; Two adjacent second tracks in the aforementioned second width direction share a single second track body, on which a pair of second travel surfaces are formed, the pair of second travel surfaces belonging to each of the two adjacent second tracks in the aforementioned second width direction.

33. The article conveying device according to claim 31, characterized in that, The aforementioned second track has a second guide surface facing the aforementioned second width direction; The aforementioned second driving unit has a second guide wheel that is guided by the aforementioned second guide surface; The aforementioned second guide wheel is configured to be in contact with the aforementioned second guide surface in the aforementioned second wheel mounting posture of the aforementioned second driving unit, and to leave the aforementioned second guide surface in the aforementioned second wheel retraction posture of the aforementioned second driving unit; The aforementioned second track body includes a second main body extending along the aforementioned second direction, and a second wall portion protruding upward from the aforementioned second main body and extending along the aforementioned second direction; The aforementioned second driving surface is formed by the upward-facing surface of the aforementioned second main body; The aforementioned second driving surface is provided on each of the two sides of the aforementioned second wall portion in the aforementioned second width direction; The aforementioned second guide surface is formed by the two sides of the aforementioned second wall portion facing the aforementioned second width direction.

34. The article conveying device according to claim 32, characterized in that, The aforementioned second track has a second guide surface facing the aforementioned second width direction; The aforementioned second driving unit has a second guide wheel that is guided by the aforementioned second guide surface; The aforementioned second guide wheel is configured to be in contact with the aforementioned second guide surface in the aforementioned second wheel mounting posture of the aforementioned second driving unit, and to leave the aforementioned second guide surface in the aforementioned second wheel retraction posture of the aforementioned second driving unit; The aforementioned second track body includes a second main body extending along the aforementioned second direction, and a second wall portion protruding upward from the aforementioned second main body and extending along the aforementioned second direction; The aforementioned second driving surface is formed by the upward-facing surface of the aforementioned second main body; The aforementioned second driving surface is provided on each of the two sides of the aforementioned second wall portion in the aforementioned second width direction; The aforementioned second guide surface is formed by the two sides of the aforementioned second wall portion facing the aforementioned second width direction.

35. The article conveying device according to any one of claims 29 to 34, characterized in that, It also has: Second transport vehicle; The third track, with a third driving surface; and The fourth track has a fourth running surface; The aforementioned third track is positioned downward relative to the aforementioned first track, and is configured to intersect with the aforementioned first track in the aforementioned vertical direction. The aforementioned fourth track is positioned between the aforementioned first track and the aforementioned third track in the vertical direction, and is positioned parallel to the aforementioned first track in the vertical direction view; The aforementioned second transport vehicle includes a second vehicle body, a third travel unit that causes the aforementioned second vehicle body to travel along the aforementioned third track, a fourth travel unit that causes the aforementioned second vehicle body to travel along the aforementioned fourth track, and a second control unit that controls the operation of the aforementioned third travel unit and the aforementioned fourth travel unit. The aforementioned third driving unit includes a third wheel and a third posture changing mechanism for changing the posture of the aforementioned third wheel relative to the aforementioned second vehicle body, configured such that the posture is changed to a third wheel mounting posture in which the aforementioned third wheel is mounted on the aforementioned third driving surface and a third wheel retraction posture in which the aforementioned third wheel leaves the aforementioned third driving surface. The aforementioned fourth driving unit includes a fourth wheel and a fourth posture changing mechanism for changing the posture of the aforementioned fourth wheel relative to the aforementioned second vehicle body, configured such that the posture is changed to a fourth wheel mounting posture in which the aforementioned fourth wheel is mounted on the aforementioned fourth driving surface and a fourth wheel retraction posture in which the aforementioned fourth wheel leaves the aforementioned fourth driving surface. The aforementioned second control unit is configured to be able to change modes to: a third mode, in which the aforementioned third driving unit is set to the aforementioned third wheel mounting posture and the aforementioned fourth driving unit is set to the aforementioned fourth wheel retraction posture, so that the aforementioned second vehicle body travels along the aforementioned third track; and a fourth mode, in which the aforementioned fourth driving unit is set to the aforementioned fourth wheel mounting posture and the aforementioned third driving unit is set to the aforementioned third wheel retraction posture, so that the aforementioned second vehicle body travels along the aforementioned fourth track; Multiple of the aforementioned fourth tracks are arranged and configured in the aforementioned first width direction; Each of the aforementioned fourth orbits includes a pair of fourth orbital bodies disposed apart in the aforementioned first width direction; The aforementioned fourth orbital body and the aforementioned first orbital body that is adjacent to the fourth orbital body on the upper side are integrally formed.

36. The article conveying device according to claim 35, characterized in that, Two adjacent fourth tracks in the aforementioned first width direction share a fourth track body, and a pair of fourth travel surfaces are formed on the fourth track body, the pair of fourth travel surfaces belonging to each of the two adjacent fourth tracks in the aforementioned first width direction.

Images