Article transport facility and moving trolley

Abstract

And the reduction possibility of the detection capability of the two-dimensional code is reduced. An article transport facility is provided with a travel guide rail (3), a travel rail (4), and a moving trolley (20). The moving trolley (20) is provided with a first driving wheel (22) and a second driving wheel (23) which roll on the top surface of the traveling guide rail (3); the first guide wheel (281) and the second guide wheel (291) roll on the side face of the traveling guide rail (3); and a first driven wheel (24) and a second driven wheel (25) which roll on the top surface of the traveling track (4). A two-dimensional code containing position information is attached to the side face of the traveling track (4), and the position information is related information of the position of the traveling track (4) in the length direction. The mobile carriage (20) further has a two-dimensional code reader (81) that reads the position information from the two-dimensional code.

Description

Technical Field

[0001] The invention relates to article handling equipment and a mobile trolley. Background Art

[0002] In the past, there is a known stacking robot that moves along a guide rail to carry articles. The stacking robot has a mobile trolley with wheels, and moves on the travel track by driving the wheels of the mobile trolley. The correct position of the mobile trolley relative to the travel track can be detected by reading information from a two-dimensional code or the like.

[0003] For example, Patent Document 1 describes an automatic warehouse equipped with a stacking robot. In the automatic warehouse, a beam is provided along an upper track located on the ceiling portion for guiding a guide wheel. On the beam, a block or a QR code or other object to be detected for controlling the movement of the stacking robot is installed. The stacking robot controls movement based on the detection result from the object to be detected.

[0004] (Prior art literature)

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2015-189567 Summary of the invention

[0006] (Problems to be solved by the invention)

[0007] In the automatic warehouse of Patent Document 1, a beam for mounting the detected object needs to be provided separately from the upper rail. In order to reduce the number of components, an identifier for controlling the movement of the stacking robot arm may be attached to the traveling rail on which the mobile trolley of the stacking robot arm moves. However, if an identifier is attached to the traveling rail on which the mobile trolley moves, the identifier may be worn by the rollers rolling on the traveling rail, or dust from the rollers may accumulate on the identifier. Therefore, the detection capability of the identifier may be reduced.

[0008] An object of one embodiment of the present invention is to reduce the possibility of a decrease in the ability to detect an identifier.

[0009] (Technical means to solve the problem)

[0010] In order to solve the above-mentioned problem, an article handling device according to one aspect of the present invention comprises a first track, a second track arranged parallel to the first track, and a first mobile trolley, wherein the first mobile trolley has: a first wheel rolling on the top surface of the first track, a first roller rolling on the side surface of the first track, and a second roller rolling on the top surface of the second track, an identifier including position information is attached to the side surface of the second track, wherein the position information is relevant information about the position of the second track in the longitudinal direction, and the first mobile trolley also has a first reader that reads the position information from the identifier.

[0011] In order to solve the above-mentioned problem, a mobile cart according to one aspect of the present invention comprises: wheels rolling on the top surface of a first track; a first roller rolling on the side surface of the first track; a second roller rolling on the top surface of a second track arranged in parallel with the first track; and a reader reading position information from an identifier attached to the side surface of the second track, wherein the position information is relevant information about the position in the longitudinal direction of the second track.

[0012] (Effects of the Invention)

[0013] According to one aspect of the invention, a reduction in the ability to detect an identifier may result in a performance degradation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram showing an example of article transport equipment according to Embodiment 1 of the present invention.

[0015] Figure 2 yes Figure 1 A perspective view of the stacking robot arm shown.

[0016] Figure 3 yes Figure 2 A perspective view of the mobile trolley provided with the stacking robot arm shown.

[0017] Figure 4 Observed from above Figure 2 A top view of the mobile trolley provided with the stacking robot arm shown.

[0018] Figure 5 Observed from above Figure 2 A top view of the lifting platform of the stacking robot arm shown.

[0019] Figure 6 Observed from the right side Figure 2 A cross-sectional view of a lifting platform provided with the stacking robot arm is shown.

[0020] Figure 7 It is a schematic diagram for explaining a QR code reader and a QR code attached to the side of a running track.

[0021] Figure 8 yes Figure 2 Block diagram of the electrical system of the stacking robot shown.

[0022] Fig. 9 This is a schematic diagram of a stacker robot included in the article transport facility according to the second embodiment of the present invention.

[0023] Fig.10 Observed from above Fig. 9 A perspective view of the mobile trolley provided with the stacking robot arm shown.

[0024] Fig.11 Observed from below Fig. 9 A perspective view of the mobile trolley provided with the stacking robot arm shown.

[0025] Fig.12 This is an enlarged view of the main parts of the article transport facility according to the second embodiment.

[0026] <Description of Reference Numerals>

[0027] 1Stacking Robot Arm

[0028] 3 Crane guide rails

[0029] 4 driving tracks

[0030] 10 columns

[0031] 20 mobile trolley

[0032] 21 Car Frames

[0033] 22 1st driving wheel

[0034] 23 2nd driving wheel

[0035] 28 No.1 guide wheel group

[0036] 29 2nd guide wheel set

[0037] 41 Control device

[0038] 80 distance sensor

[0039] 81 QR code reader

[0040] 100 Goods handling equipment

[0041] 281 No.1 guide wheel

[0042] 291 2nd guide wheel DETAILED DESCRIPTION

[0043] [Implementation method 1]

[0044] Below, refer to Figures 1 to 8 An embodiment of the present invention will be described in detail.

[0045] (Goods handling equipment)

[0046] Reference Figure 1 The outline of the article transport facility 100 will be described. Figure 1 1 is a schematic diagram of an example of an article transport device 100. Figure 1 It should be noted that in this embodiment, the up-down direction is a direction perpendicular to both the front-back direction and the left-right direction, and the front-back direction is a direction perpendicular to the left-right direction.

[0047] Figure 1 The article handling equipment 100 shown includes a stacking robot 1, a shelf 2, a traveling rail 3, and a traveling track 4. The shelf 2 is a shelf that can carry articles. The shelf 2 is provided with multiple layers in the up and down direction, and each layer divides a space for carrying articles in the left and right direction. The traveling rail 3 and the traveling track 4 are provided on the floor between the front shelf 2 and the rear shelf 2, and they constitute a moving path of the stacking robot 1. Therefore, the stacking robot 1 can move between the front shelf 2 and the rear shelf 2. The traveling rail 3 is an example of the first track. The traveling track 4 is arranged in parallel with the traveling rail 3. In the present embodiment, the traveling track 4 is an example of the second track. The length direction of the traveling rail 3 and the traveling track 4 is the left and right direction.

[0048] The stacking robot arm 1 is a device for transporting articles. The height of the stacking robot arm 1 in the vertical direction is about 2m to 18m. The stacking robot arm 1 moves along the traveling rail 3. In the present embodiment, the moving direction D1 of the stacking robot arm 1 is the left-right direction. In the article transporting equipment 100, there may also be multiple stacking robot arms 1 moving on the same traveling rail 3 and the same traveling track 4. In addition, in the article transporting equipment 100, a solution in which a single stacking robot arm 1 moves on the traveling rail 3 and the traveling track 4 may also be adopted.

[0049] In the following description, Figure 1 The stacking robot 1 shown on the left is called the stacking robot 1A. Figure 1 The palletizing robot 1 shown on the right is referred to as a palletizing robot 1B.

[0050] When the stacking robot arms 1A and 1B are in a standby state without carrying any articles, they stand by at the respective warehouse positions HP1 and HP2. The warehouse position HP1 of the stacking robot arm 1A is arranged on the left side of the traveling guide rail 3, and the warehouse position HP2 of the stacking robot arm 1B is arranged on the right side of the traveling guide rail 3. An entry and exit port EP1 for receiving and receiving articles from the stacking robot arm 1A is arranged on the right side of the warehouse position HP1. An entry and exit port EP2 for receiving and receiving articles from the stacking robot arm 1B is arranged on the left side of the warehouse position HP2. In addition, the warehouse position HP1 and the entry and exit port EP1 may be the same position, and the warehouse position HP2 and the entry and exit port EP2 may be the same position. The transport position CP1 is a position where the stacking robot arm 1A can pick up and place articles with the front shelf 2 or the rear shelf 2. The transport position CP2 is a position where the stacking robot arm 1B can pick up and place articles with the front shelf 2 or the rear shelf 2. The transfer positions CP1 and CP2 vary depending on the loading position of the articles to be picked up or placed in the front or rear shelf 2. The transfer position CP1 of the stacking robot 1A is located at the right side of the travel guide rail 3 from the access port EP1. The transfer position CP2 of the stacking robot 1B is located at the left side of the travel guide rail 3 from the access port EP2.

[0051] The stacking robot 1A moves to the stacking position HP1, the access port EP1 or the transfer position CP1 according to the transport command signal. In addition, the stacking robot 1B moves to the stacking position HP2, the access port EP2 or the transfer position CP2 according to the transport command signal. For example, when the stacking robot 1A receives the transport command signal to place the item in the fourth column from the left in the front shelf 2, the stacking robot 1A receives the item from the storage transfer machine at the access port EP2 and then moves to the stacking position HP2. Figure 1 The stacking robot 1A moves to the transfer position CP1. Figure 1 After placing the article in the front shelf 2 at the transfer position CP1 shown, the stacking robot 1A moves to the warehouse position HP1, the access port EP1 or the transfer position CP1 according to the next transfer command signal. On the other hand, when the stacking robot 1A receives the transfer command signal to take out the article in the fourth column from the left on the front shelf 2, the stacking robot 1A moves to the warehouse position HP1, the access port EP1 or the transfer position CP1. Figure 1 The stacking robot 1A moves to the transfer position CP1. Figure 1 After taking out the articles from the shelf 2, the transfer position CP1 moves to the access port EP1 and hands the articles to the outbound transporter at the access port EP1. The stacking robot 1A moves to the stacking position HP1, access port EP1 or transfer position CP1 according to the next transport instruction signal.

[0052] In addition, from the perspective of the moving direction, although the access ports EP1 and EP2 are respectively located on the outside of the shelf 2, this is not limited to such a solution. From the perspective of the moving direction, the access ports EP1 and EP2 may also be respectively located at positions that overlap with the shelf 2. That is, either of the front and rear shelves 2 may have access ports EP1 and EP2 accordingly. At this time, an opening that can be used to transfer items is formed in the shelf 2 having the access ports EP1 and EP2. For example, the stacking robot 1A stops in front of the row of shelves 2 having the access ports EP1. In addition, although the access ports EP1 and EP2 are different access ports, this is not limited to such a solution. The access port EP2 and the access port EP1 may also be the same access port.

[0053] (Stacking Robot Arm)

[0054] Next, refer to Figure 2 to Figure 7 The detailed structure of the palletizing robot 1A will be described. Figure 2 yes Figure 1 The three-dimensional diagram of the stacking robot arm 1A is shown in FIG. Figure 2 As shown, the stacking robot 1A includes a column 10 , a moving carriage 20 , a lifting platform 30 , a control box 40 , and a driver box 45 .

[0055] (Column)

[0056] The column 10 is a columnar member extending in the vertical direction. The stacking robot 1A has a pair of columns 10. In the following description, the column 10 on the left side of the drawing (the side of the warehouse position HP1) is referred to as the first column 10A, and the column 10 on the right side of the drawing (the side of the transfer position CP1) is referred to as the second column 10B.

[0057] The first column 10A and the second column 10B are separated in the left-right direction. A lifting platform 30 described later is provided between the first column 10A and the second column 10B. The first column 10A and the second column 10B each have a lifting rail 11. The lifting rail 11 guides the lifting platform 30 to move in the up-down direction.

[0058] An upper frame 12 is provided above the column 10. The upper frame 12 is provided to connect the upper end of the first column 10A with the upper end of the second column 10B. The upper frame 12 engages with an upper rail (not shown) provided along the travel guide rail 3. In addition, the upper frame 12 has a guide wheel, and the upper part of the column 10 is guided along the upper rail by the guide wheel of the upper frame 12. That is, the upper end of the column 10 is guided along the moving direction D1 by the upper rail. In addition, the stacking robot 1A may not have the upper frame 12.

[0059] A lifting motor 13 is provided below each of the pair of columns 10, and serves as a driving unit for lifting the lifting platform 30 relative to the columns 10. The lifting motor 13 is provided at the rear side of the column 10, that is, at the side of the column 10 close to the vehicle track 4.

[0060] The lifting motor 13 drives a driving drum (not shown) provided below the column 10. The lifting belt (not shown) wound on the driving drum advances and retreats from the driving drum by the forward or reverse rotation of the lifting motor 13. A pulley for stopping the lifting belt is provided above a pair of columns 10. A lifting platform 30 is fixed to one end of the lifting belt, and a counterweight is fixed to the other end of the lifting belt. The lifting platform 30 moves in the up-and-down direction along the lifting guide rail 11 by the advancement and retreat of the lifting belt. That is, the lifting platform 30 is raised and lowered in the lifting direction D2 relative to the column 10 by the drive of the lifting motor 13. In addition, the lifting platform 30 can also be raised and lowered relative to the column 10 by a lifting wire rope or a lifting chain instead of a lifting belt.

[0061] (Mobile trolley)

[0062] Next, refer to Figure 3 and Figure 4 The detailed structure of the moving carriage 20 will be described. Figure 3 yes Figure 2 The illustrated perspective view is of a movable carriage 20 included in the stacking robot 1A. Figure 4 Observed from above Figure 2 FIG. 1 is a top view of the mobile trolley 20 provided in the stacking robot 1A. Figure 3 and Figure 4 As shown, the mobile cart 20 has a cart frame 21. The mobile cart 20 of the stacking robot 1A is an example of a first mobile cart. The cart frame 21 is composed of a first side frame 211, a second side frame 212, a first connecting frame 213, and a second connecting frame 214. In this embodiment, the first side frame 211, the second side frame 212, the first connecting frame 213, and the second connecting frame 214 are formed as a whole.

[0063] In addition, the frames 211 to 214 constituting the trolley frame 21 are not limited to being formed as an integral body, but may be independent components. In this case, the left end of the first side frame 211 and the left end of the second side frame 212 are fixed to the first connecting frame 213 by bolts or the like. In addition, the right end of the first side frame 211 and the right end of the second side frame 212 are fixed to the second connecting frame 214 by bolts or the like. By making each frame 211 to 214 an independent component, a large-sized stacking robot 1 can be delivered in a disassembled state. Therefore, the stacking robot 1 can be transported compactly at the time of delivery.

[0064] like Figure 3As shown, the first side frame 211 is a frame located in front of the moving carriage 20, and extends along the extension direction of the travel rails 3 and the travel rails 4. That is, the first side frame 211 is a frame with the moving direction D1, that is, the left-right direction as the long side direction. The second side frame 212 is a frame located behind the moving carriage 20, and extends along the extension direction of the travel rails 3 and the travel rails 4. That is, the second side frame 212 is a frame with the left-right direction as the long side direction. Figure 4 As shown, the second side frame 212 and the first side frame 211 are opposed to each other in the front-rear direction. The length of the second side frame 212 in the left-right direction is shorter than the length of the first side frame 211 in the left-right direction.

[0065] like Figure 3 As shown, the first connecting frame 213 is a frame that connects the first side frame 211 and the second side frame 212, and is located on the left half of the mobile carriage 20. More specifically, the first connecting frame 213 connects the left end of the first side frame 211 and the left end of the second side frame 212. The first connecting frame 213 is a frame with the front-to-back direction as the long side direction. Figure 4 As shown, a first column 10A is erected on the first connection frame 213 .

[0066] like Figure 3 As shown, the second connecting frame 214 is a frame that connects the first side frame 211 and the second side frame 212, and is located on the right half of the moving carriage 20. More specifically, the second connecting frame 214 connects the right end of the first side frame 211 and the right end of the second side frame 212. The second connecting frame 214 is a frame with the front-to-back direction as the long side direction. The second connecting frame 214 and the first connecting frame 213 are opposite to each other in the left-right direction. Figure 4 As shown, a second column 10B is erected on the second connection frame 214 .

[0067] like Figure 3 As shown, the moving carriage 20 has a plurality of wheels that roll on the travel rails 3 and the travel tracks 4. More specifically, the moving carriage 20 has a first driving wheel 22, a second driving wheel 23, a first driven wheel 24, and a second driven wheel 25.

[0068] The first drive wheel 22 and the second drive wheel 23 are mounted on the first side frame 211 and roll on the top surface of the travel guide rail 3. The first drive wheel 22 and the second drive wheel 23 are examples of the first wheel. The first drive wheel 22 and the second drive wheel 23 are separated and configured in the left-right direction. In more detail, the first drive wheel 22 is located on the left end side of the first side frame 211, as viewed from the center position CL in the left-right direction of the trolley frame 21. The second drive wheel 23 is located on the right end side of the first side frame 211, as viewed from the center position CL. The first drive wheel 22 is located on the left side of the first connecting frame 213, as viewed from the left-right direction. The second drive wheel 23 is located on the right side of the second connecting frame 214, as viewed from the left-right direction.

[0069] The first driven wheel 24 and the second driven wheel 25 are mounted on the second side frame 212, and roll on the top surface of the traveling track 4. In the present embodiment, the first driven wheel 24 and the second driven wheel 25 are examples of second rollers. The first driven wheel 24 and the second driven wheel 25 are configured separately in the left-right direction. In more detail, the first driven wheel 24 is located on the left end side of the second side frame 212, as viewed from the center position CL in the left-right direction of the trolley frame 21. The second driven wheel 25 is located on the right end side of the second side frame 212, as viewed from the center position CL. The first driven wheel 24 is located on the right side of the first driving wheel 22, as viewed from the left-right direction. The second driven wheel 25 is located on the left side of the second driving wheel 23, as viewed from the left-right direction.

[0070] The carriage frame 21 is provided with a moving motor 26, which serves as a driving unit for moving the stacking robot 1A. In the following description, the moving motor 26 on the left side (the side of the warehouse position HP1) is referred to as the first moving motor 26A, and the moving motor 26 on the right side (the side of the transfer position CP1) is referred to as the second moving motor 26B. The first moving motor 26A is located on the left end side of the first side frame 211 and drives the first drive wheel 22. The second moving motor 26B is located on the right end side of the first side frame 211 and drives the second drive wheel 23.

[0071] The movable carriage 20 has a first guide wheel group 28 and a second guide wheel group 29. The first guide wheel group 28 and the second guide wheel group 29 are installed on the first side frame 211. The second guide wheel group 29 is separated from the first guide wheel group 28 in the left-right direction. When viewed in the left-right direction, the first guide wheel group 28 is located on the left side, and the second guide wheel group 29 is located on the right side. That is, when viewed in the left-right direction, the first guide wheel group 28 is closer to the first drive wheel 22 side than the second guide wheel group 29. In addition, when viewed in the left-right direction, the first guide wheel group 28 is closer to the first drive wheel 22 side than the second distance sensor 80B described later. When viewed in the left-right direction, the first guide wheel group 28 and the second guide wheel group 29 are located between the first drive wheel 22 and the second drive wheel 23.

[0072] like Figure 4 As shown, the first guide wheel group 28 is located at the left half of the first side frame 211 and at the right side of the first connecting frame 213, based on the central position CL in the left-right direction of the trolley frame 21. The first guide wheel group 28 is composed of a pair of first guide wheels 281. The pair of first guide wheels 281 clamps the traveling guide rail 3 in the front-to-back direction. In more detail, the front first guide wheel 281 abuts against the front side of the traveling guide rail 3 and rolls on the front side of the traveling guide rail 3. The rear first guide wheel 281 abuts against the rear side of the traveling guide rail 3 and rolls on the rear side of the traveling guide rail 3. The first guide wheel 281 is an example of a first roller.

[0073] The second guide wheel group 29 is located at the right half of the first side frame 211 and at the left side of the second connecting frame 214, with reference to the center position CL of the trolley frame 21 in the left-right direction. The second guide wheel group 29 is composed of a pair of second guide wheels 291. The pair of second guide wheels 291 clamps the travel guide rail 3 in the front-back direction. In more detail, the front second guide wheel 291 abuts against the front side of the travel guide rail 3 and rolls on the front side of the travel guide rail 3. The rear second guide wheel 291 abuts against the rear side of the travel guide rail 3 and rolls on the rear side of the travel guide rail 3. The second guide wheel 291 is an example of a first roller.

[0074] The first guide wheel 281 in the first guide wheel group 28 and the second guide wheel 291 in the second guide wheel group 29 are rollers having elasticity. As an example, the first guide wheel 281 and the second guide wheel 291 are made of urethane. When the first driving wheel 22 and the second driving wheel 23 are driven, the moving carriage 20 is guided along the extending direction of the traveling guide rail 3 by the first guide wheel group 28 and the second guide wheel group 29. As a result, the stacking robot 1A moves along the moving direction D1.

[0075] like Figure 3 As shown, a plurality of distance sensors 80 are installed on the first side frame 211 of the moving carriage 20. The distance sensor 80 is a sensor for detecting the horizontal distance between the first side frame 211 and the travel guide rail 3. More specifically, the distance sensor 80 detects the horizontal distance between the front side of the first side frame 211 and the rear side of the travel guide rail 3. In this embodiment, the distance sensor 80 detects the distance between the first side frame 211 and the travel guide rail 3 in the front-rear direction. As an example of the distance sensor 80, an infrared sensor can be cited.

[0076] In the following description, the distance sensor 80 on the left side of the drawing (the cargo position HP1 side) is referred to as a first distance sensor 80A, and the distance sensor 80 on the right side of the drawing (the transfer position CP1 side) is referred to as a second distance sensor 80B.

[0077] like Figure 4As shown in the figure, when viewed in the left-right direction, the first distance sensor 80A and the second distance sensor 80B are located between the first drive wheel 22 and the second drive wheel 23. More specifically, when viewed in the left-right direction, the first distance sensor 80A and the second distance sensor 80B are located between the first guide wheel group 28 and the second guide wheel group 29. In addition, when viewed in the left-right direction, the first distance sensor 80A may also be located between the first drive wheel 22 and the first guide wheel group 28. In addition, when viewed in the left-right direction, the second distance sensor 80B may also be located between the second drive wheel 23 and the second guide wheel group 29.

[0078] The first distance sensor 80A and the second distance sensor 80B are arranged separately in the left-right direction. When viewed in the left-right direction, the first distance sensor 80A is located on the left side, and the second distance sensor 80B is located on the right side. That is, when viewed in the left-right direction, the first distance sensor 80A is closer to the first drive wheel 22 side than the second distance sensor 80B. In addition, when viewed in the left-right direction, the first distance sensor 80A is closer to the first drive wheel 22 side than the second guide wheel group 29. Based on the center position CL in the left-right direction of the carriage frame 21, the first distance sensor 80A and the second distance sensor 80B are installed opposite to each other in the left-right direction. Based on the center position CL in the left-right direction of the first side frame 211, the first distance sensor 80A is located on the left side. Based on the center position CL in the left-right direction of the first side frame 211, the second distance sensor 80B is located on the right side.

[0079] The first distance sensor 80A is installed at a position closer to the first drive wheel 22 than the second distance sensor 80B. The first distance sensor 80A is arranged near the first guide wheel group 28. Specifically, the distance L1 between the first distance sensor 80A and the first guide wheel group 28 in the left-right direction is shorter than the distance L2 between the first distance sensor 80A and the first drive wheel 22 in the left-right direction. More specifically, the distance L1 is the distance in the left-right direction between the center of the rotation axis of the first guide wheel 281 of the first guide wheel group 28 and the first distance sensor 80A. In addition, the distance L2 is the distance in the left-right direction between the center of the rotation axis of the first drive wheel 22 and the first distance sensor 80A.

[0080] In addition, the second distance sensor 80B is arranged near the second guide wheel group 29. Specifically, the distance L3 between the second distance sensor 80B and the second guide wheel group 29 in the left-right direction is shorter than the distance L4 between the second distance sensor 80B and the second drive wheel 23 in the left-right direction. More specifically, the distance L3 is the distance in the left-right direction between the rotation axis center of the second guide wheel 291 of the second guide wheel group 29 and the second distance sensor 80B. The distance L4 is the distance in the left-right direction between the rotation axis center of the second drive wheel 23 and the second distance sensor 80B.

[0081] like Figure 3 and Figure 4 As shown, a two-dimensional code reader 81 is installed on the second side frame 212 of the moving carriage 20. The two-dimensional code reader 81 is a device for reading a two-dimensional code 83 attached to the front side of the traveling track 4. The two-dimensional code reader 81 is an example of a first reader. When viewed from above, the two-dimensional code reader 81 is arranged between the traveling guide rail 3 and the traveling track 4. That is, when viewed from the front and rear direction, the two-dimensional code reader 81 is installed on the moving carriage 20 in a manner of being located between the traveling guide rail 3 and the traveling track 4. The two-dimensional code reader 81 is opposite to the front side of the traveling track 4.

[0082] Here, refer to Figure 7 The two-dimensional code reader 81 and the two-dimensional code 83 will be described. Figure 7 8 is a schematic diagram for explaining the two-dimensional code reader 81 and the two-dimensional code 83 attached to the side of the driving track 4. Figure 7 As shown, a two-dimensional code 83 is attached to the side of the travel track 4. The two-dimensional code 83 is an example of an identifier. More specifically, the two-dimensional code 83 is attached to the front side of the travel track 4. The two-dimensional code 83 includes information related to the position in the length direction of the travel track 4, that is, position information. The position information included in the two-dimensional code 83 is equivalent to the position of the stacking robot 1A in the moving direction. The stacking robot 1A moves to the warehouse position HP1 or the transfer position CP1 based on the position information read from the two-dimensional code 83 of the travel track 4.

[0083] According to the above scheme, the two-dimensional code 83 is attached to the side of the travel track 4 where the first driven wheel 24 and the second driven wheel 25 do not roll. Therefore, the following possibilities (i) and (ii) can be reduced: (i) the possibility of the two-dimensional code 83 being worn due to the rolling of the first driven wheel 24 and the second driven wheel 25; (ii) the possibility of roller dust generated from the first driving wheel 22, the second driving wheel 23, the first guide wheel 281, the second guide wheel 291, the first driven wheel 24, and the second driven wheel 25 being accumulated on the two-dimensional code 83. As a result, the possibility of a decrease in the detection capability of the two-dimensional code 83 is reduced. In addition, since the two-dimensional code 83 is attached to the travel track 4 provided on the floor, that is, the two-dimensional code 83 is attached to a portion close to the floor, it is possible to easily perform maintenance operations on the two-dimensional code reader 81 and the two-dimensional code 83.

[0084] like Figure 4 As shown, an emergency stop sensor 82 is mounted on the first side frame 211. The emergency stop sensor 82 is a sensor for stopping the movement of the stacker robot 1A when the stacker robot 1A passes the stacking position HP1 or the transfer position CP1 where the stacker robot 1A is scheduled to stop.

[0085] The cable 90 is a cable for supplying power to the stacking robot 1A. The cable 90 can supply power to each drive unit of the stacking robot 1A. The cable 90 is held by CABL EBEAR (registered trademark) and driven by the movement of the stacking robot 1A. Here, if the cable 90 is moved in a direction perpendicular to the moving direction D1 in the horizontal plane (for example, Figure 3 , 4 The cable 90 is connected to the moving vehicle 20 in the second area. That is, when the driving track 4 is regarded as the center in the front and rear directions (i.e., the front and rear directions shown in the figure), the driving track 4 is divided into two areas, for example: the first area where the driving guide rail 3 is located, and the second area on the opposite side of the first area viewed from the center. The cable 90 is connected to the moving vehicle 20 in the second area. That is, when the driving track 4 is regarded as the center in the front and rear directions, the cable 90 is connected to the moving vehicle 20 behind the driving track 4. In addition, when viewed in the track width direction of the driving track 4 (i.e., the front and rear directions shown in the figure), the driving track 4 is located between the cable 90 and the driving guide rail 3.

[0086] According to the above scheme, even if the cable 90 is provided, the cable 90 and the two-dimensional code reader 81 do not contact each other. Therefore, the two-dimensional code reader 81 does not tilt relative to the travel track 4 due to the contact between the cable 90 and the two-dimensional code reader 81. Thus, even if the moving carriage 20 moves, the two-dimensional code reader 81 can read the two-dimensional code 83 on the travel track 4. In addition, when viewed from above, the two-dimensional code reader 81 is located between the travel guide rail 3 and the travel track 4, so the moving carriage 20 can be miniaturized.

[0087] (Lifting platform)

[0088] Reference Figure 5 and Figure 6 , the detailed structure of the lifting platform 30 is described. Figure 5 Observed from above Figure 2 The illustrated embodiment is a plan view of a lifting platform 30 provided in the stacking robot 1A. Figure 6 Observed from the right side Figure 2 The illustrated embodiment is a cross-sectional view of a lifting platform 30 provided in the stacking robot 1A.

[0089] The lifting platform 30 is provided so as to be able to place articles M thereon (see Figure 6 ) and can be raised and lowered relative to the column 10. Figure 5 As shown, the lift table 30 includes a lift table frame 31 , a fork 60 , a rotating portion 70 , and a cable box 37 . The fork 60 and the rotating portion 70 are mounted on the lift table frame 31 .

[0090] The lifting platform frame 31 has a guide portion 32 that guides the lifting platform 30 in the lifting direction D2 as the lifting belt advances and retreats. The guide portion 32 has a fixing portion 33 and a guide shoe 35. One end of the lifting belt inserted from an opening 34 formed on the fixing portion 33 is fixed to the fixing portion 33. The fixing portion 33 is pulled upward or the fixing portion 33 is lowered downward by the advancement and retreat of the lifting belt. The guide shoe 35 engages with the lifting rail 11 of the column 10 and slides relative to the lifting rail 11.

[0091] The fork 60 is used to place and take the article M between the shelf 2 and the lifting platform 30. The fork 60 is provided on a rotating frame 71 of a rotating unit 70 described later. The fork 60 includes a fork 61, an arm 62, a gear box 65, and a fork motor unit 66. The fork 61 has a loading surface 611 (see FIG. 6A ) on which the article M can be loaded. Figure 6 The top surface of the fork 61 is the mounting surface 611. The fork 61 is mounted on the gear box 65.

[0092] The arm portion 62 is provided as a pair in the left-right direction. As the arm portion 62 moves in the front-rear direction, the fork 61 moves in the forward and backward direction D4 (refer to Figure 6 ) to move relative to the lifting platform 30. The arm portion 62 includes a first arm 63 and a second arm 64. One end 631 of the first arm 63 in the longitudinal direction is connected to the fork 61 via a gear box 65. The first arm 63 rotates relative to the gear box 65 around the rotation axis A1.

[0093] The other end 632 of the first arm 63 in the longitudinal direction is connected to the second arm 64. In other words, the first arm 63 is provided at one end 641 in the longitudinal direction of the second arm 64. The first arm 63 rotates relative to the second arm 64 around the rotation axis A2.

[0094] The other end 642 in the longitudinal direction of the second arm 64 is connected to the fork motor 67 (see Figure 6 The fork motor unit 66 is a driving unit for moving the fork 61 in the forward and backward direction D4. The second arm 64 rotates relative to the lifting platform 30 around the rotation axis A3 by the driving force transmitted from the fork motor 67.

[0095] There are multiple fork motor units 66. The fork motor unit 66 has a fork motor 67 and an encoder (not shown). Through the forward or reverse rotation of the fork motor 67, a pair of second arms 64 each rotate around the rotation axis A3. When each second arm 64 rotates around the rotation axis A3, one end 641 of each second arm 64 moves forward or backward. As one end 641 of each second arm 64 moves in the front-to-back direction, a pair of first arms 63 move in the front-to-back direction respectively. At this time, the other end 632 of each first arm 63 rotates relative to the second arm 64, and one end 631 of each first arm 63 rotates relative to the gear box 65. As one end 631 of each first arm 63 moves in the front-to-back direction, the fork 61 moves in the front-to-back direction together with the gear box 65. In the present embodiment, the advance and retreat direction D4 of the fork 61 of the fork portion 60 is the front-to-back direction.

[0096] The rotating part 70 rotates relative to the lifting platform 30 to rotate the fork 60. The rotating part 70 includes a rotating frame 71 and a rotating motor unit 75.

[0097] The rotating frame 71 is a disc-shaped component on which the fork 60 is arranged. Figure 6 As shown, the rotating frame 71 is connected to the rotating axis A4 of the rotating motor 76 of the rotating motor unit 75. The rotating motor unit 75 is a driving unit that rotates the rotating frame 71. The rotating motor unit 75 includes a rotating motor 76 and an encoder (not shown). When a driving force is applied to the rotating frame 71 from the rotating motor 76, the rotating frame 71 rotates around the rotating axis A4. When the rotating frame 71 rotates relative to the lifting platform 30, the fork 60 rotates relative to the lifting platform 30 along the rotation direction D3.

[0098] Figure 5 The position of the fork 60 shown is a position where the stacking robot 1A can pick up and place the article M relative to the front shelf 2. Figure 5 When the fork 60 is rotated 180° from the position shown, the fork 60 also rotates with the rotation of the rotating frame 71. Figure 5 When the position shown is rotated 180°, the stacking robot 1A can take and place the articles M with respect to the rear shelf 2 by means of the fork 60 .

[0099] The cable box 37 contains cables for connecting various devices such as sensors mounted on the lift 30 to devices disposed outside the lift 30. The cable box 37 is disposed on the left half side of the lift 30 (the side of the warehouse position HP1). The cable box 37 contains cables for performing signal communication with the fork motor unit 66 and the rotation motor unit 75 mounted on the lift 30. The cable box 37 has a connector arrangement plate for installing a connector, and the connector is used to connect to the lift cable. The connector of the cable box 37 is connected to the connector provided on the connector arrangement plate in the driver box 45 through the lift cable.

[0100] (Control Box)

[0101] The control box 40 is installed on the first column 10A. When viewed from the front-back direction, the control box 40 is installed on the rear side of the first column 10A. The control box 40 is a frame that accommodates a control device 41, and the control device 41 electronically controls the entire stacking robot 1A.

[0102] Reference Figure 8 , explaining the electrical system solution of the stacking robot arm 1A. Figure 8 yes Figure 2 The block diagram of the electrical system of the stacking robot 1A is shown in FIG. Figure 8 As shown, the control device 41 is composed of a computer having a processor such as a CPU (Central Processing Unit), a memory such as a RAM or a ROM, and a communication interface. The processor of the control device 41 executes various programs stored in the memory to perform various controls and various calculations. The processor of the control device 41 mainly performs movement control of the stacking robot 1A, lifting control of the lifting platform 30, forward and backward control of the fork 60, and rotation control of the rotating part 70.

[0103] The control device 41 is connected to the following drivers in a manner that enables information communication: a lifting driver 46 that controls the power provided to the lifting motor 13; a moving driver 47 that controls the power provided to the moving motor 26; a fork driver 48 that controls the power provided to the fork motor 67; and a rotating driver 49 that controls the power provided to the rotating motor 76.

[0104] The control device 41 controls each driver 46 to 49. Specifically, the control device 41 sends a command signal to each driver 46 to 49 to control the operation of each driver 46 to 49. More specifically, the control device 41 sends a position command to each driver 46 to 49. Each driver 46 to 49 outputs power to be supplied to each motor 13, 26, 67, 76 according to the command signal from the control device 41.

[0105] In addition, the control device 41 is electrically connected to the distance sensor 80, the two-dimensional code reader 81, and the emergency stop sensor 82. The control device 41 calculates the distance between the driving guide rail 3 and the moving carriage 20 based on the signal obtained from the distance sensor 80. The control device 41 obtains the position information read by the two-dimensional code reader 81, and controls the moving driver 47 according to the obtained position information. The control device 41 controls the moving driver 47 according to the signal obtained from the emergency stop sensor 82.

[0106] (Drive Box)

[0107] like Figure 2 As shown in the figure, a driver box 45 is installed on the first column 10A. When viewed from the front-to-back direction, the driver box 45 is installed on the front side of the first column 10A. The driver box 45 contains a lifting driver 46, a moving driver 47, a fork driver 48, and a rotating driver 49. Each driver 46 to 49 is gathered in one driver box 45. The fork driver 48 and the rotating driver 49 are arranged outside the lifting platform 30. The fork driver 48 and the rotating driver 49 are connected to the cable box 37 of the lifting platform 30 through a lifting cable not shown in the figure.

[0108] like Figure 8 As shown, the lifting driver 46 is electrically connected to the lifting motor 13. The lifting driver 46 controls the amount of current to be supplied to the lifting motor 13 according to the command signal from the control device 41. The lifting driver 46 controls the amount of current to be supplied to the lifting motor 13 according to information fed back from an encoder (external encoder or lifting motor encoder) not shown. The lifting driver 46 includes a drive circuit that supplies current to the lifting motor 13.

[0109] The moving driver 47 is electrically connected to the moving motor 26. The moving driver 47 controls the amount of current to be supplied to the moving motor 26 based on the command signal from the control device 41. The moving driver 47 controls the amount of current to be supplied to the moving motor 26 based on information fed back from an encoder (external encoder or moving motor encoder) not shown. The moving driver 47 includes a drive circuit that supplies current to the moving motor 26.

[0110] The fork driver 48 is electrically connected to the fork motor 67 of the fork motor unit 66. The fork driver 48 controls the amount of current to be supplied to the fork motor 67 based on the command signal from the control device 41. The fork driver 48 controls the amount of current to be supplied to the fork motor 67 based on information fed back from an encoder (not shown) included in the fork motor unit 66. The fork driver 48 includes a drive circuit that supplies current to the fork motor 67.

[0111] The rotary driver 49 is electrically connected to the rotary motor 76 of the rotary motor unit 75. The rotary driver 49 controls the amount of current to be supplied to the rotary motor 76 according to the command signal from the control device 41. In addition, the rotary driver 49 controls the amount of current to be supplied to the rotary motor 76 based on information fed back from an encoder 77 (not shown) included in the rotary motor unit 75. The rotary driver 49 includes a drive circuit that supplies current to the rotary motor 76.

[0112] Here, in the article handling device 100, the stacking robot 1B has the same or equivalent structure as the stacking robot 1A except for a part of the structure. The part of the structure of the stacking robot 1B that is different from the structure of the stacking robot 1A is described. In the following description, the wheels of the mobile trolley 20 of the stacking robot 1B are respectively referred to as the first driving wheel 1B22, the second driving wheel 1B23, the first driven wheel 1B24, and the second driven wheel 1B25. In addition, the first side frame used to constitute the trolley frame 21 in the stacking robot 1B is referred to as the first side frame 1B211. The second side frame used to constitute the trolley frame 21 is referred to as the second side frame 1B212. The structures of the wheels 1B22 to 1B25 of the stacking robot 1B and the first and second side frames 1B211 and 1B212 of the carriage frame 21 are different from those of the wheels 22 to 25 of the stacking robot 1A and the first and second side frames 211 and 212 of the carriage frame 21 .

[0113] The track on which the first driving wheel 1B22 and the second driving wheel 1B23 of the mobile carriage 20 of the stacking robot 1B roll is different from the track on which the first driving wheel 22 and the second driving wheel 23 of the mobile carriage 20 of the stacking robot 1A roll. That is, the first driving wheel 22 and the second driving wheel 23 of the stacking robot 1A roll on the top surface of the travel rail 3. The first driving wheel 1B22 and the second driving wheel 1B23 of the stacking robot 1B roll on the top surface of the travel rail 4.

[0114] The first driving wheel 1B22 and the second driving wheel 1B23 are mounted on the second side frame 1B212 of the mobile cart 20. The mobile cart 20 of the stacking robot 1B is an example of the second mobile cart, and the first driving wheel 1B22 and the second driving wheel 1B23 are examples of the second wheel. In addition, the first driven wheel 1B24 and the second driven wheel 1B25 of the stacking robot 1B are mounted on the first side frame 1B211. The first driven wheel 1B24 and the second driven wheel 1B25 are examples of the fourth roller. The length of the second side frame 1B212 on which the driving wheels are mounted in the left-right direction is longer than the length of the first side frame 1B211 on which the driven wheels are mounted in the left-right direction.

[0115] The first guide wheel group 28 and the second guide wheel group 29 of the stacking robot 1A are also installed on the first side frame 1B211. The first guide wheel 281 and the second guide wheel 291 of the stacking robot 1B are examples of third rollers. In addition, the two-dimensional code reader 81 of the stacking robot 1B is also installed on the second side frame 1B212, similar to the two-dimensional code reader 81 of the stacking robot 1A. The two-dimensional code reader 81 of the stacking robot 1B is an example of a second reader.

[0116] In addition, similarly to the case of the stacking robot 1A, the cable 90 of the stacking robot 1B is connected to the mobile trolley 20 of the stacking robot 1B at the rear of the traveling rail 4 when viewed with the traveling rail 4 as the center in the front-back direction. However, the present invention is not limited to such a scheme. When viewed with the traveling rail 3 as the center in the front-back direction, the cable 90 of the stacking robot 1B may also be connected to the mobile trolley 20 of the stacking robot 1B at the front of the traveling rail 3.

[0117] According to the above scheme, the first guide wheel 281 and the second guide wheel 291 of the mobile trolley 20 of the stacking robot 1B roll on the side of the driving rail 3. Therefore, the two-dimensional code 83 on the driving rail 4 will not be worn by the first guide wheel 281 and the second guide wheel 291 of the stacking robot 1B. As a result, the possibility of a decrease in the detection ability of the two-dimensional code 83 is reduced. In addition, since the first guide wheel 281 and the second guide wheel 291 of the stacking robot 1B roll on the side of the driving rail 3, during the movement of the mobile trolley 20 of the stacking robot 1B, the first guide wheel 281 and the second guide wheel 291 of the stacking robot 1B will not contact each other with the cable 90 connected to the mobile trolley 20 of the stacking robot 1A. As a result, the mobile trolley 20 of the stacking robot 1B can be moved smoothly on the driving rail 3 and the driving rail 4.

[0118] (Detection by control device)

[0119] The control device 41 detects the wear of the first guide wheel 281 of the first guide wheel group 28 based on the horizontal distance detected by the first distance sensor 80A. In addition, the control device 41 detects the wear of the second guide wheel 291 of the second guide wheel group 29 based on the horizontal distance detected by the second distance sensor 80B.

[0120] The wear detection of the guide wheel by the control device 41 is described by taking the case where the first guide wheel 281 of the first guide wheel group 28 is worn as an example. In addition, the wear detection of the second guide wheel 291 of the second guide wheel group 29 by the control device 41 is performed in the same manner as the wear detection of the first guide wheel 281 of the first guide wheel group 28 by the control device 41.

[0121] If one of the pair of first guide wheels 281 is worn, the shaking of the moving carriage 20 in the front-rear direction relative to the travel guide rail 3 will increase, that is, the change in the distance between the first side frame 211 and the travel guide rail 3 will increase. For example, if the front first guide wheel 281 is worn, the distance between the first side frame 211 and the travel guide rail 3 detected by the first distance sensor 80A may increase. In addition, if the rear first guide wheel 281 is worn, the distance between the first side frame 211 and the travel guide rail 3 detected by the first distance sensor 80A may decrease. The control device 41 detects which of the pair of first guide wheels 281 is worn based on the change in the horizontal distance detected by the first distance sensor 80A.

[0122] In addition, the control device 41 detects the inclination of the moving carriage 20 based on the horizontal distance detected by the first distance sensor 80A and the horizontal distance detected by the second distance sensor 80B. Specifically, the control device 41 detects the inclination (yaw) of the moving carriage 20 relative to the travel guide rail 3 in the front-rear direction when the moving carriage 20 stops, based on the horizontal distance detected by the first distance sensor 80A and the horizontal distance detected by the second distance sensor 80B.

[0123] Since the first guide wheel 281 and the second guide wheel 291 are elastic components, they will be deformed due to the load in the front-to-back direction. If the first guide wheel 281 and / or the second guide wheel 291 are deformed, the moving cart 20 will be tilted relative to the travel guide rail 3 in the front-to-back direction. When the stacking robot 1A stops moving, the moving cart 20 may be tilted relative to the travel guide rail 3 in the front-to-back direction. If the moving cart 20 is tilted relative to the travel guide rail 3 in the front-to-back direction, the lifting platform 30 will also be tilted relative to the travel guide rail 3 in the front-to-back direction along with the tilt of the moving cart 20.

[0124] The control device 41 calculates the inclination of the moving carriage 20 relative to the travel guide rail 3 based on the horizontal distance detected by the first distance sensor 80A and the horizontal distance detected by the second distance sensor 80B, thereby detecting the inclination of the moving carriage 20. The control device 41 controls the rotating part 70 accordingly based on the detected inclination of the moving carriage. Specifically, the control device 41 drives the rotating motor 76 to rotate the rotating frame 71 in the direction opposite to the inclination direction of the moving carriage 20 (the inclination direction relative to the travel guide rail 3 in the front-rear direction).

[0125] [Implementation method 2]

[0126] The following reference Figures 9 to 12To illustrate other embodiments of the present invention. In addition, for the sake of convenience, the same symbols are given to the components having the same functions as the components described in the above embodiments, and the description will not be repeated. The article handling device 100A involved in Embodiment 2 is provided with a power supply unit that supplies power to the stacking robot 1C included in the article handling device 100A in a non-contact manner, and this point is different from the article handling device 100 involved in Embodiment 1. In addition, the stacking robot arm 1C involved in Embodiment 2 is provided with a power receiving unit that receives power from the power supply unit, and this point is also different from the stacking robot arm 1 involved in Embodiment 1.

[0127] Fig. 9 This is a schematic diagram of a palletizing robot 1C included in the article transport facility 100A according to the second embodiment. Fig.10 Observed from above Fig. 9 The illustrated perspective view is of a movable carriage 20A included in the stacking robot 1C. Fig.11 Observed from below Fig. 9 The illustrated perspective view is of a movable carriage 20A included in the stacking robot 1C. Fig.12 This is an enlarged view of a main part of the article transport facility 100A according to the second embodiment.

[0128] The article transport facility 100A includes a plurality of stacking robots 1C. In the article transport facility 100A, two stacking robots 1C move on the same driving guide rail 3 and the same driving track 4. Fig. 9 As shown, the stacker robot 1C included in the article transport facility 100A includes a pair of columns 10, a moving carriage 20A, and a lift 30A. A fork 60 is mounted on the lift frame 31 of the lift 30A.

[0129] like Fig.10 and Fig.11 As shown, the mobile carriage 20A has four driving wheels. The first driving wheel 22 and the second driving wheel 23 are installed in front of the carriage frame 21A of the mobile carriage 20A. More specifically, the first driving wheel 22 is installed at the front end of the first connecting frame 213A, and the second driving wheel 23 is installed at the front end of the second connecting frame 214A.

[0130] The third driving wheel 24A and the fourth driving wheel 25A are installed at the rear of the carriage frame 21A. More specifically, the third driving wheel 24A is installed at the rear end of the first connecting frame 213A, and the fourth driving wheel 25A is installed at the rear end of the second connecting frame 214A. The third driving wheel 24A and the fourth driving wheel 25A roll on the top surface of the travel track 4.

[0131] A conductive roller, i.e., a grounding roller 55, is mounted on the first side frame 211 of the moving carriage 20A. In the present embodiment, the grounding roller 55 is an example of a second roller. The grounding roller 55 rolls on the top surface of the grounding rail 5 described later. The grounding roller 55 has a grounding function and is a roller provided separately from the wheels of the moving carriage 20A. Fig.11 As shown, the two-dimensional code reader 81A is installed at the left end of the first side frame 211. In addition, the two-dimensional code reader 81A may be installed at the right end of the first side frame 211 or at the center of the first side frame 211 in the left-right direction.

[0132] The first side frame 211 is provided with a power taking coil 96. The power taking coil 96 is an example of a power receiving unit. The power taking coil 96 is disposed to face the induction line 95 described later with a gap therebetween.

[0133] like Fig.12 As shown, the article transporting device 100A includes an induction line 95. The induction line 95 is arranged in parallel with the vehicle track 4. The induction line 95 is an example of a power supply unit. Power is supplied to the induction line 95 from a power supply board (not shown). When power is supplied to the induction line 95, a magnetic field is generated on the induction line 95. The power collection coil 96 of the mobile cart 20A obtains power through the magnetic field generated by the induction line 95.

[0134] In addition, the article transporting equipment 100A further includes a metal rail, that is, a ground rail 5. In the present embodiment, the ground rail 5 is an example of a second rail. The ground rail 5 is arranged in parallel with the vehicle guide rail 3. When viewed in a direction perpendicular to the extending direction of the vehicle guide rail 3 in the horizontal plane, the vehicle guide rail 3 is located between the induction line 95 and the ground rail 5. That is, when viewed in the front-rear direction, the vehicle guide rail 3 is located between the induction line 95 and the ground rail 5.

[0135] The grounding rail 5 has a top wall 50 and a side wall 51. The top wall 50 has a top surface for the grounding roller 55 to roll. The side wall 51 extends downward from one end of the top wall 50 on the driving guide rail 3 side when viewed in a direction perpendicular to the length direction of the grounding rail 5 in a horizontal plane. That is, when viewed in the front-rear direction, the side wall 51 extends downward from the front end of the top wall 50.

[0136] A two-dimensional code 83A is attached to the side wall 51 of the ground rail 5. More specifically, the surface of the side wall 51 on which the two-dimensional code 83A is attached is the surface located on the side opposite to the above-mentioned opposite surface, as viewed from the surface of the side wall 51 facing the driving guide rail 3. That is, the two-dimensional code 83A is attached to the surface of the side wall 51 facing the rear. The two-dimensional code 83A includes relevant information (i.e., position information) about the position in the longitudinal direction of the ground rail 5. The two-dimensional code reader 81A is installed on the first side frame 211 and is opposite to the surface of the side wall 51 facing the rear on which the two-dimensional code 83A is attached.

[0137] According to the above scheme, the top wall 50 is located above the side of the side wall 51 on which the two-dimensional code 83A is attached. Therefore, dust falling from above will accumulate on the top wall 50 and will not easily adhere to the two-dimensional code 83A on the side wall 51. As a result, the possibility of a decrease in the detection capability of the two-dimensional code 83A is reduced.

[0138] In addition, according to the above configuration, the two-dimensional code 83A is attached to the ground rail 5 on which the ground roller 55 having a grounding function rolls. Therefore, it is not necessary to separately provide a component for attaching the two-dimensional code 83A. This can reduce the number of components.

[0139] In addition, according to the above configuration, the ground rail 5 is located away from the induction line 95, so the ground rail 5 can be outside the magnetic field generated by the induction line 95. This can prevent the temperature of the ground rail 5 from rising due to the magnetic field of the induction line 95.

[0140] In addition, the multiple stacking robots 1C provided in the article handling equipment 100A are all of the same or equivalent structural schemes. The mobile trolley 20A provided in one of the multiple stacking robots 1C is an example of the first mobile trolley. In the present embodiment, the mobile trolley 20A provided in the other stacking robot 1C among the multiple stacking robots 1C is an example of the third mobile trolley. In the present embodiment, the first drive wheel 22 and the second drive wheel 23 provided in the mobile trolley 20A of the other stacking robot 1C among the multiple stacking robots 1C are an example of the third wheel. In addition, in the present embodiment, the first guide wheel 281 and the second guide wheel 291 provided in the other stacking robot 1C among the multiple stacking robots 1C are an example of the third roller. In addition, in the present embodiment, the grounding roller 55 provided in the other stacking robot 1C among the multiple stacking robots 1C is an example of the fifth roller. In addition, the two-dimensional code reader 81A included in the other one of the plurality of palletizing robots 1C is an example of a third reader.

[0141] In the article transporting equipment 100A, the two-dimensional code reader 81A of each of the two stacking robot arms 1C reads the position information from the two-dimensional code 83A. That is, the two stacking robot arms 1C are controlled to move by the control device 41 based on the position information read from the same two-dimensional code 83A on the ground rail 5. That is, each stacking robot arm 1C moves to a warehouse when it is on standby without transporting articles, and to a transporting position for picking up and placing articles, based on the position information of the two-dimensional code 83A.

[0142] According to the above scheme, even if a plurality of mobile carts 20A move on the driving rail 3, it is not necessary to attach a number of two-dimensional codes 83A corresponding to the number of mobile carts 20A to the ground rail 5. That is, the two-dimensional code reader 81A of the stacking robot 1C on one side and the two-dimensional code reader 81A of the stacking robot 1C on the other side read the position information from the same two-dimensional code 83A. Thus, the position of the mobile cart 20 of the stacking robot 1C on one side and the position of the mobile cart 20 of the stacking robot 1C on the other side can be easily controlled.

[0143] [Notes]

[0144] The present invention is not limited to the above-mentioned embodiments, and various changes can be made within the scope of the technical idea described in the specification. Embodiments obtained by appropriately combining the technical means respectively disclosed in different embodiments are also included in the technical scope of the present invention.

Claims

1. An article handling device, characterized in that: The invention comprises a first track, a second track arranged in parallel with the first track, and a first moving carriage, The first movable carriage includes: a first wheel rolling on the top surface of the first rail, a first roller rolling on the side surface of the first rail, and a second roller rolling on the top surface of the second rail. An identifier including position information is attached to the side surface of the second track, wherein the position information is related information about the position of the second track in the length direction. The first moving vehicle further includes a first reader that reads the position information from the identifier.

2. The article handling equipment according to claim 1, wherein: The article transporting equipment further comprises a cable for supplying power to the first moving vehicle. When the second rail is divided into two regions in the center along a direction perpendicular to the extension direction of the first rail in a horizontal plane, the cable is connected to the first moving vehicle in the other region opposite to the one region where the first rail is located. Viewed from a horizontal plane, the first reader is located between the first track and the second track.

3. The article handling equipment according to claim 2, wherein: The article transporting equipment further comprises a second mobile trolley. The second moving carriage comprises: a second wheel as a driving wheel, which rolls on the top surface of the second track; a third roller, which rolls on the side surface of the first track; a fourth roller, which rolls on the top surface of the first track; and a second reader, which reads the position information from the identifier. The first wheels of the first movable vehicle are driving wheels.

4. The article transporting equipment according to any one of claims 1 to 3, wherein: The second track has: a top wall having a top surface for the second roller to roll on; and a side wall having a side surface on which the identifier is attached, and extending downward from an end of the top wall that is close to the first track when viewed in a direction perpendicular to the length direction of the second track in a horizontal plane, With reference to the surface of the side wall facing the first rail, the side surface on which the identifier is attached is a surface located on the opposite side to the facing surface.

5. The article handling equipment according to claim 1, wherein: The article transporting equipment further comprises a power supply unit for supplying power to the first moving vehicle by non-contact power supply. The second roller is a conductive roller. The second rail is a metal rail.

6. The article handling equipment according to claim 5, wherein: The first rail is located between the power supply portion and the second rail when viewed in a direction perpendicular to an extending direction of the first rail in a horizontal plane.

7. The article handling equipment according to claim 6, wherein: The article transporting equipment also includes a third mobile trolley. The third mobile cart has: a third wheel that rolls on the top surface of the first track; a third roller that rolls on the side surface of the first track; a fifth roller that rolls on the top surface of the second track; and a third reader that reads the position information from the identifier.

8. A mobile trolley, characterized in that have: A wheel rolling on the top surface of the first track; a first roller rolling on the side of the first track; a second roller rolling on the top surface of a second track arranged parallel to the first track; and A reader that reads position information from an identifier attached to a side surface of the second rail, wherein the position information is information related to a position in a longitudinal direction of the second rail.

Images