Conveying device

Abstract

The transport vehicle travels in a state where the support surface is disposed at a second height when a straight travel distance (L) from a travel start point at which the transport vehicle starts to travel while supporting the article to a direction change position (80) at which a turning operation without accompanying a posture change of the article should be performed is within a predetermined distance (Ls), and the transport vehicle travels in a state where the support surface is disposed at a second height. When the straight travel distance (L) is longer than the predetermined distance (Ls), the vehicle travels with the support surface disposed at the third height.

Description

Technical Field

[0001] The present invention relates to a conveying device, which comprises: a transfer target portion having a loading surface for loading articles; and a conveying vehicle having a transfer device for transferring the articles between the transfer target portion and the transfer target portion and a trolley body for supporting the transfer device and traveling. Background Art

[0002] An example of such a conveying device is disclosed in Japanese Patent No. 6571916 (Patent Document 1). In the following description of the background art, the reference numerals shown in parentheses are the reference numerals of Patent Document 1.

[0003] As shown in Figures 12 to 16 of Patent Document 1, the transport vehicle (1a) includes a trolley body (11) and a transfer device (12a). The trolley body (11) can rotate independently of the transfer device (12a), and can change the direction of travel without changing the orientation of the article (9) supported by the transfer device (12a). The transfer device (12a) is provided with a support surface that supports the article (9) from below. The transfer device (12a) is constructed in a manner that allows the height of the support surface to be changed. The transport vehicle (11a) is constructed in the following manner: in a state where it is submerged under a portion to be transferred (e.g., a conveyor C1), the article (9) is transferred between the support surface of the transfer device (12a) and the conveyor (C1) by raising and lowering the transfer device (12a). Prior Art Literature Patent Literature

[0004] Patent document 1: Japanese Patent No. 6571916. Summary of the invention Problems to be solved by the invention

[0005] However, in Patent Document 1, the relationship between the running state of the transport vehicle and the height of the support surface (the surface of the transfer device supporting the article) is not particularly disclosed. The height of the support surface affects the stability of the supported article. The stability of the article affects the running speed of the transport vehicle. Moreover, the running speed of the transport vehicle affects the transportation time of the article. That is, the relationship between the running state of the transport vehicle and the height of the support surface may affect the transportation time of the article.

[0006] In view of the above-mentioned actual situation, it is desired to realize a conveying facility that can easily shorten the conveying time of articles. Solutions to Solve Problems

[0007] A conveying device, which is a conveying device having the following: a transfer target portion having a placement surface on which an article is placed; and A transport vehicle comprising a transfer device for transferring the article between the article and the transfer target location and a vehicle body for supporting the transfer device and traveling. The transport vehicle is configured in such a manner that it travels along a floor surface, changes position in a direction determined in accordance with a destination, and performs a turning motion in order to change the traveling direction. The transfer device comprises a support portion having a support surface for supporting the article from below, a lifting portion for lifting the support portion, and a rotating portion for rotating the support portion around a rotating axis along the vertical direction relative to the carriage body. The lifting unit is configured to change the height of the support surface to a first height higher than the placement surface, a second height lower than the placement surface, and a third height lower than the second height. The transfer device transfers the article between the transfer target portion by raising and lowering the support surface between the first height and the second height or the third height. The transport vehicle performs the aforementioned rotating action in a state where the support surface is arranged at the aforementioned second height, while the aforementioned support portion is relatively rotated relative to the aforementioned trolley body by utilizing the aforementioned rotating portion, and the direction of the aforementioned trolley body is changed without changing the posture of the aforementioned article supported on the aforementioned support surface when viewed from above. When the straight distance from the travel starting point where the transport vehicle starts traveling in a state of supporting the aforementioned article to the aforementioned direction change position where the aforementioned swing action without being accompanied by a change in the posture of the aforementioned article should be performed is within the prescribed distance, the transport vehicle travels in a state where the aforementioned support surface is arranged at the aforementioned second height; when the aforementioned straight distance is longer than the aforementioned prescribed distance, the transport vehicle travels in a state where the aforementioned support surface is arranged at the aforementioned third height.

[0008] According to this configuration, when the straight-ahead distance is within the prescribed distance, the travel speed of the transport vehicle is difficult to increase, and thus by configuring the support surface at the second height, even if the article supported on the support surface is maintained at a position up to a certain degree, the posture of the article will not be unstable and the trolley body will be driven. Moreover, the transport vehicle can reach the direction change position where the pivoting action should be performed while maintaining the height of the support surface at the second height, and thus can be transformed into a pivoting action without changing the height of the support surface at the direction change position. Therefore, the transportation time of the article can be shortened. In addition, according to this configuration, when the straight-ahead distance is longer than the prescribed distance, by configuring the support surface at the third height, the center of gravity of the transport vehicle can be lowered, and thus the posture of the article can be stabilized and the trolley can be driven at high speed at the same time. Therefore, from this point of view, the transportation time of the article can also be shortened.

[0009] Further features and advantages of the technology related to the present disclosure will become more apparent from the following description of illustrative and non-limiting embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a top view of the conveying equipment. Figure 2 It is a diagram showing the relationship between the placement surface of the transfer target portion and the height of the support surface of the support portion. Figure 3 This is a diagram illustrating the spinning action. Figure 4 It is a control block diagram. Figure 5 This is an explanatory diagram of a case where the straight distance to the direction change position where the relative swing action should be performed is within a predetermined distance and the posture of the article is not changed at the conveyance start point and the conveyance destination. Figure 6 It is shown in Figure 5 A diagram showing the behavior of the transport vehicle at each location under the circumstances. Figure 7 This is an explanatory diagram showing how the posture of an article is changed at a conveyance start point and a conveyance destination by an integrated rotating motion. Figure 8 It is shown in Figure 7 A diagram showing the behavior of the transport vehicle at each location under the circumstances. Fig. 9 This is an explanatory diagram of a case where the straight distance to the direction change position where the relative swing action is to be performed is longer than a predetermined distance and the posture of the article is not changed at the conveyance start point and the conveyance destination. Fig.10 It is shown in Fig. 9 A diagram showing the behavior of the transport vehicle at each location under the circumstances. Fig.11 It is a top view showing a transport vehicle in another embodiment. DETAILED DESCRIPTION

[0011] Hereinafter, embodiments of the conveying equipment will be described with reference to the drawings.

[0012] like Figure 1 and Figure 2 As shown, the conveying device 100 includes: a transfer target portion 7 having a loading surface 7f for loading articles 9; and a conveying vehicle 1 including a transfer device 20 for transferring articles 9 between the transfer target portion 7 and a vehicle body 10 for supporting the transfer device 20 and traveling. In this embodiment, the conveying device 100 includes a control device C (see Figure 4The control device C is configured to manage the transportation schedule of the entire facility or issue transportation instructions to the transportation vehicle 1 .

[0013] In this embodiment, the article 9 includes a pallet 90 and a plurality of or a single cargo 91 placed on the pallet 90. The transport vehicle 1 is configured to transport a pallet 90 on which a plurality of or a single cargo 91 is placed or an empty pallet 90 not carrying any cargo 91. The transfer target location 7 is configured to directly place the pallet 90 thereon.

[0014] In the present embodiment, the transport facility 100 includes a travel area RA in which the transport vehicle 1 travels and a work area WA in which work on the articles 9 is performed.

[0015] In the present embodiment, the plurality of transfer target locations 7 are arranged adjacent to the travel area RA. Therefore, the transport vehicle 1 can transport the article 9 to each of the plurality of transfer target locations 7 by traveling in the travel area RA while supporting the article 9.

[0016] In addition, in the present embodiment, a part of the plurality of transfer target parts 7 is arranged at a position adjacent to the working area WA. The articles 9 transported to the transfer target part 7 adjacent to the working area WA are processed by an operator or a robot. In the illustrated example, an operator W is arranged in the working area WA. For example, in the working area WA, the operator W performs a picking operation on the goods 91. For example, in the picking operation, the operation of taking out the required goods 91 from the plurality of goods 91 placed on the pallet 90 is performed. In addition, the operations performed in the working area WA are not limited to the above, and operations of stacking the goods 91 on the pallet 90 or other operations may also be performed.

[0017] like Figure 1 As shown, in this embodiment, the conveying device 100 includes: an in-carrying section 61, which carries the items 9 in from outside the device; an out-carrying section 62, which carries the items 9 out of the device; an automatic warehouse (not shown), which stores the items 9; a storage section 51, which stores the items 9 into the automatic warehouse; and an out-carrying section 52, which takes the items 9 out of the automatic warehouse.

[0018] In the present embodiment, each of the carrying-in section 61, the carrying-out section 62, the storage section 51, and the out-of-stock section 52 includes a conveyor for conveying articles 9. The conveyor includes a pair of conveying sections 710 that are separately arranged in a direction (width direction) orthogonal to the conveying direction of the conveyed articles 9. Each of the pair of conveying sections 710 conveys the articles 9 along the conveying direction in a state supported from below. That is, the upper surface of each of the pair of conveying sections 710 constituting the conveyor is a loading surface 7f for loading the articles 9. In the present example, the conveyor is constituted by a chain conveyor that conveys the articles 9 by a pair of chains (conveying sections 710). Each conveyor becomes a portion of an object for transferring the articles 9 between the transfer device 20 of the transport vehicle 1. That is, in the present embodiment, the conveyor provided by each of the carrying-in section 61, the carrying-out section 62, the storage section 51, and the out-of-stock section 52 is equivalent to the transfer object portion 7. In other words, each of the carry-in section 61 , the carry-out section 62 , the storage section 51 , and the discharge section 52 corresponds to the transfer target location 7 .

[0019] In this embodiment, the transfer target portion 7 includes a plurality of support columns 72 that are separated and arranged at least in the vehicle body width direction of the transport vehicle 1 (see Figure 2 ) and an article support portion 720 provided on the upper part of each support column 72. In this example, the transfer target portion 7 adjacent to the work area WA among the multiple transfer target portions 7 provided in the conveying equipment 100 includes a plurality of support columns 72 and an article support portion 720 provided on the upper part of each support column 72. In addition, as described above, the carrying-in portion 61, the carrying-out portion 62, the storage portion 51, and the storage-out portion 52, which are respectively the transfer target portions 7, include a pair of conveying portions 710 (in this example, chains) capable of supporting the articles 9 from below.

[0020] Each of the plurality of article support portions 720 is formed with a placement surface 7f for placing articles 9. Figure 1 As shown, in this embodiment, the transfer target location 7 adjacent to the work area WA includes four pillars 72 (four article supports 720). The article 9 placed on the transfer target location 7 is supported at four corners from below by the four pillars 72 (four article supports 720).

[0021] like Figure 1 and Figure 2As shown, in this embodiment, each of the plurality of article supports 720 includes a restriction portion 721, which is formed so as to protrude upward from the placement surface 7f and restricts the horizontal position of the article 9 placed on the placement surface 7f. The restriction portion 721 of each of the plurality of article supports 720 is arranged so as to surround the outer edge of the article 9 from the outside in the horizontal direction when the article 9 is placed on the placement surface 7f of each of the plurality of article supports 720. Thus, the horizontal position of the article 9 can be restricted so that the article 9 placed on the transfer target portion 7 does not move in the horizontal direction.

[0022] In this embodiment, the transport vehicle 1 includes a detection unit 40 (see Figure 4 ). In addition, a detected portion 8 detected by the detection unit 40 is provided at a plurality of locations on the floor surface. The detected portion 8 is configured to store or display position information where the detected portion 8 is configured. Furthermore, the transport vehicle 1 is configured to be able to grasp its current position by detecting the detected portion 8 by the detection unit 40.

[0023] In the present embodiment, a plurality of detected parts 8 are arranged in a regular manner side by side at intervals in the driving area RA. In addition, a detected part 8 is also arranged at each of the plurality of transfer object parts 7. In the present example, a detected part 8 is arranged at a portion of the floor surface corresponding to each of the plurality of transfer object parts 7. The transport vehicle 1 is configured as follows: while correcting its current position (current estimated position) based on the detection result of the detection part 8 by the detection part 40, it travels on the floor surface. In the present example, the detected part 8 is configured using an identification code such as a one-dimensional code or a two-dimensional code. Moreover, the detection part 40 of the transport vehicle 1 is configured using a code reader that reads the identification code. However, it is not limited to such a configuration. For example, the detected part 8 may be configured using an IC tag, and the detection part 40 may be configured using an IC tag reader. Alternatively, the detected part 8 may be configured using a mark, and the detection part 40 may be configured using a camera that photographs the mark.

[0024] like Figure 5 As shown in the embodiment, the control device C (refer to Figure 4) is configured to set a conveying path R for the article 9 from the conveying starting point Pd to the conveying destination Pa. The conveying path R is set in a manner that connects a plurality of detected parts 8. In the present embodiment, the conveying starting point Pd is determined based on the position of the detected part 8 disposed at the transfer target portion 7 that becomes the conveying starting point Pd. In addition, the conveying destination Pa is determined based on the position of the detected part 8 disposed at the transfer target portion 7 that becomes the conveying destination Pa. The conveying path R is set in a manner that connects a plurality of detected parts 8 existing between the detected part 8 corresponding to the conveying starting point Pd and the detected part 8 corresponding to the conveying destination Pa. The two directions (here, two horizontal directions) that are orthogonal to each other when viewed from above are the first direction D1 and the second direction D2. In this example, the conveying path R is set in a manner that connects the detected parts 8 adjacent to each other in the first direction D1 or the detected parts 8 adjacent to each other in the second direction D2. Therefore, in this example, the conveying path R is a path that combines a straight path along the first direction D1 and a straight path along the second direction D2. The transport vehicle 1 traveling on the transport path R moves straight along the first direction D1 or moves straight along the second direction D2.

[0025] like Figure 1 and Figure 2 As shown, the transport vehicle 1 is constructed in the following manner: it travels along the floor surface and changes position 80 (see Figure 5 etc.), in order to change the direction of travel, a turning action is performed. Figure 5 As shown in FIG. 1 and FIG. 2 , “destination” refers to the transfer target portion 7 that becomes the conveying destination Pa. In addition, the direction change position 80 is determined based on the positions of the plurality of detected portions 8. Specifically, the position of the detected portion 8 that is arranged at the curved portion of the conveying path R (in this example, the portion curved at a right angle) among the plurality of detected portions 8 that constitute the conveying path R is determined as the direction change position 80.

[0026] As described above, the transport vehicle 1 includes the vehicle body 10 and the transfer device 20 supported by the vehicle body 10 .

[0027] The vehicle body 10 includes a travel unit 11. In the present embodiment, the travel unit 11 includes a plurality of wheels 11a disposed at least apart from each other in the vehicle body width direction and a travel drive unit (not shown) for rotationally driving the plurality of wheels 11a. The travel drive unit is configured using, for example, an electric motor.

[0028] The transfer device 20 is configured to transfer the article 9 to and from the transfer target location 7. When the transport vehicle 1 is at the transfer target location 7, the transfer device 20 is configured to transfer the article 9 to or receive the article 9 from the transfer target location 7.

[0029] like Figure 2 As shown, the transfer device 20 comprises: a support portion 21 having a support surface 21f for supporting the article 9 from below; a lifting portion 22 for lifting the support portion 21; and a rotating portion 23 (see Figure 4 ) which causes the support portion 21 to rotate relative to the vehicle body 10 around a rotation axis Ax along the up-down direction.

[0030] In this embodiment, the support portion 21 is formed in a rectangular shape in a plan view (see Figure 3 ). In more detail, the support portion 21 is formed in a square shape when viewed from above. The support portion 21 is sized to pass between the plurality of mounting surfaces 7f of the transfer target portion 7 in the vertical direction, and is smaller than the arrangement interval of the plurality of mounting surfaces 7f of the transfer target portion 7 when viewed from above.

[0031] The rotating portion 23 drives the support portion 21 to rotate about a rotation axis Ax along the up-down direction. The rotating portion 23 is configured using, for example, an electric motor or the like.

[0032] In this embodiment, the lifting part 22 includes a shaft member 22a and a lifting drive unit (not shown) that moves the shaft member 22a forward and backward in the vertical direction. In this example, the support part 21 is connected to the upper end of the shaft member 22a. The shaft member 22a is driven by the lifting drive unit to move forward and backward in the vertical direction, so that the support part 21 is lifted and lowered in the vertical direction. The lifting drive unit is configured using, for example, an electric motor.

[0033] The lifting unit 22 is configured to change the height of the support surface 21f to a first height H1 higher than the mounting surface 7f, a second height H2 lower than the mounting surface 7f, and a third height H3 lower than the second height H2. That is, the lifting unit 22 is configured to change the height of the support surface 21f in at least three stages.

[0034] In the present embodiment, the height of the loading surface 7f (hereinafter, sometimes simply referred to as "loading surface height H7") is fixed. The first height H1 is higher than the loading surface height H7. The second height H2 and the third height H3 are lower than the loading surface height H7. That is, the loading surface height H7 is set between the first height H1 and the second height H2 and the third height H3. The transfer device 20 is configured to transfer the article 9 between the transfer object part 7 by raising and lowering the support surface 21f between the first height H1 and the second height H2 or the third height H3. Specifically, the transfer device 20 transfers the article 9 to the loading surface 7f by changing the support surface 21f in a state of supporting the article 9 from the first height H1 to the second height H2 or the third height H3. In addition, the transfer device 20 receives the article 9 supported on the loading surface 7f by changing the support surface 21f from the second height H2 or the third height H3 to the first height H1.

[0035] In the present embodiment, the height H7 of the loading surface is common to each of the plurality of transfer target locations 7 provided in the conveyor 100. Therefore, the transfer device 20 can transfer (hand over or receive) the article 9 to all of the plurality of transfer target locations 7 by raising and lowering the support surface 21f between the first height H1 and the second height H2 or the third height H3.

[0036] Specifically, in the transfer target part 7 adjacent to the work area WA among the multiple transfer target parts 7, the article 9 is transferred as follows. That is, the transport vehicle 1 transfers the article 9 between the transfer target part 7 by raising and lowering the support surface 21f between the first height H1 and the second height H2 or the third height H3, while the support part 21 is arranged between the multiple article support parts 720 in a plan view. In the present embodiment, the first height H1 is set at a position higher than the upper end of the limiting part 721. Specifically, the first height H1 is set at a position higher than the upper end of the limiting part 721 by at least the thickness of the support part 21 in the vertical direction. When transferring the article 9 to the transfer target part 7, the transport vehicle 1 enters between the multiple article support parts 720 in a plan view, while the support surface 21f supporting the article 9 is arranged at the first height H1. As described above, the first height H1 is set at a position higher than the upper end of the limiting portion 721 provided on the article support portion 720, so that the support portion 21 or the article 9 supported by the support portion 21 can avoid interfering with the limiting portion 721 when the transport vehicle 1 enters. In addition, when receiving the article 9 from the transfer target portion 7, the transport vehicle 1 enters between the plurality of article support portions 720 in a plan view, raises the support surface 21f from the second height H2 or the third height H3 to the first height H1, and receives the article 9, and then withdraws from between the plurality of article support portions 720 while maintaining the height of the support surface 21f at the first height H1. As a result, when the transport vehicle 1 withdraws, the support portion 21 or the article 9 supported by the support portion 21 can avoid interfering with the limiting portion 721.

[0037] In addition, in the carrying-in section 61, the carrying-out section 62, the storage section 51, or the outgoing section 52 among the plurality of transfer target locations 7, the article 9 is transferred as follows. That is, the transport vehicle 1 moves the supporting surface 21f between the first height H1 and the second height H2 or the third height H3 while the supporting section 21 is arranged between the pair of transport sections 710 in a plan view, thereby transferring the article 9 between the transfer target location 7 (the carrying-in section 61, the carrying-out section 62, the storage section 51, or the outgoing section 52). When the transport vehicle 1 transfers the article 9 to the transfer target location 7, the supporting surface 21f supporting the article 9 is arranged at the first height H1, and enters between the pair of transport sections 710 in a plan view. In addition, when the transport vehicle 1 receives the article 9 from the transfer object part 7, it enters between the pair of transport parts 710 in a top view, raises the support surface 21f from the second height H2 or the third height H3 to the first height H1 to receive the article 9, and then exits from between the pair of transport parts 710 while maintaining the height of the support surface 21f at the first height H1.

[0038] In this embodiment, the transport vehicle 1 includes an auxiliary support portion 30 that assists the support portion 21 in supporting the article 9. The auxiliary support portion 30 has an auxiliary support surface 30f with a fixed height. The auxiliary support portion 30 is fixed to the upper surface of the vehicle body 10 and is fixed in position relative to the vehicle body 10.

[0039] like Figure 3 As shown, in this embodiment, the auxiliary support parts 30 are arranged separately so as to sandwich the support part 21 in a plan view. In this example, a plurality of (four in the example shown) auxiliary support parts 30 are arranged separately around the support part 21 in a plan view.

[0040] like Figure 2 As shown in the figure, the first height H1 and the second height H2 are higher than the height of the auxiliary support surface 30f. On the other hand, the third height H3 is the same as or lower than the height of the auxiliary support surface 30f. In the present embodiment, the third height H3 is lower than the height of the auxiliary support surface 30f. Thus, the support surface 21f in a state of supporting the article 9 is configured from the first height H1 or the second height H2 to the third height H3, so that the support of the article 9 by the support surface 21f is released, and the article 9 is supported by the auxiliary support surface 30f of the auxiliary support portion 30.

[0041] Here, the proper posture of the article 9 (proper posture when viewed from above) is different for each of the plurality of transfer target locations 7. For example, in the transfer target location 7 adjacent to the work area WA, the posture of the article 9 is required to be a posture suitable for carrying out the work of the article 9. In each of the carrying-in section 61, the carrying-out section 62, the storage section 51, and the storage-out section 52, which are other transfer target locations 7, the posture of the article 9 is required to be a posture suitable for conveying the article 9.

[0042] When the transport vehicle 1 needs to change the posture of the article 9 in a plan view between the transfer target location 7 at the transport starting point Pd and the transfer target location 7 at the transport destination Pa (for example, Figure 7 In the case shown in the figure), while the article 9 is being transported between the transfer target location 7 at the transport starting point Pd and the transfer target location 7 at the transport destination Pa, the posture of the article 9 is changed to an appropriate posture corresponding to the transfer target location 7 at the transport destination Pa.

[0043] As described above, the transport vehicle 1 is configured to perform a turning motion on the spot in order to change the traveling direction (see Figure 3 ). In the conveying device 100 involved in the present disclosure, the posture of the article 9 when viewed from above is changed by the swinging motion of the conveying vehicle 1. Alternatively, in the conveying device 100, the posture of the article 9 when viewed from above is not changed by the swinging motion of the conveying vehicle 1. This will be described in detail below.

[0044] The transport vehicle 1 is configured to perform at least two types of rotating motions: a relative rotating motion without a change in the posture of the article 9 in a plan view and an integral rotating motion with a change in the posture of the article 9 in a plan view. Figure 3 (a) shows a state in which the transport vehicle 1 performs a relative swing operation. Figure 3 (b) shows a case where the transport vehicle 1 performs an integrated rotation motion. In the relative rotation motion, the support portion 21 rotates in the opposite direction to the rotation direction of the vehicle body 10 through the rotation portion 23 independently of the rotation of the vehicle body 10 (see Figure 3 (a)). In the integrated rotation operation, the support portion 21 does not rotate by the rotation portion 23, but the support portion 21 rotates in the same direction as the rotation direction by the rotation of the carriage body 10 (see Figure 3 (b)). In addition, Figure 3 In FIG. 1 , in order to facilitate understanding of the posture of the support portion 21 , half of the support portion 21 is hatched.

[0045] like Figure 2 and Figure 3As shown, the transport vehicle 1 performs a rotation action (relative rotation action) in a state where the support surface 21f is arranged at the second height H2, while the support portion 21 is relatively rotated relative to the trolley body 10 by using the rotation portion 23, without changing the posture of the article 9 supported on the support surface 21f when viewed from above, in the case where the direction of the trolley body 10 is changed. In the case where the transport vehicle 1 supports the article 9, the article 9 is supported by the support portion 21 or the auxiliary support portion 30 (trolley body 10). In the state where the support surface 21f is arranged at the second height H2 as described above, the article 9 is supported only by the support portion 21. At this time, the trolley body 10 (auxiliary support portion 30) does not participate in the support of the article 9. Therefore, by arranging the support surface 21f at the second height H2, the posture of the article 9 can be unaffected by the change of direction (rotation) of the trolley body 10. Therefore, a relative rotation action without a change in the posture of the article 9 when viewed from above can be appropriately performed.

[0046] In the present embodiment, when the transport vehicle 1 performs a relative rotation motion without a change in the posture of the article 9 when viewed from above, the support portion 21 rotates at the same rotation angle as the rotation angle of the trolley body 10 in a direction opposite to the rotation direction of the trolley body 10. In the present embodiment, the support portion 21 is formed in a positive N-angle shape (N is an integer greater than 3) when viewed from above, and the rotation portion 23 is configured so that the support portion 21 rotates at a unit of 360 / N degrees relative to the trolley body 10. Thus, even if the support portion 21 does not change its posture when viewed from above and the transport vehicle 1 performs a rotation motion, the outer shape of the support portion 21 can be made the same as the relationship between the trolley body 10 when viewed from above. As described above, in the present example, the support portion 21 is formed in a square shape (N=4) when viewed from above. Therefore, the rotation portion 23 rotates the support portion 21 at a unit of 360 / 4 degrees (90 degrees) relative to the trolley body 10. That is, in Figure 3 In the example shown in (a), the transport vehicle 1 rotates the vehicle body 10 90 degrees clockwise and the support portion 21 90 degrees counterclockwise in a plan view. As shown in the figure, the posture of the vehicle body 10 changes by the relative rotation, but the posture of the support portion 21 does not change.

[0047] like Figure 2 and Figure 3As shown, the transport vehicle 1 performs a rotation action (integrated rotation action) when the support surface 21f is arranged at the third height H3, while the support portion 21 is rotated integrally relative to the trolley body 10 to change the direction of the trolley body 10 along with the change of the posture of the article 9 supported on the support surface 21f when viewed from above. That is, the transport vehicle 1 performs a rotation action (integrated rotation action) when the support surface 21f is arranged at the third height H3, while the support surface 21f is arranged at the third height H3, while the support portion 21 is rotated integrally relative to the trolley body 10 to change the direction of the trolley body 10. As described above, when the transport vehicle 1 supports the article 9, the article 9 is supported by the support portion 21 or the auxiliary support portion 30 (trolley body 10). When the support surface 21f is arranged at the second height H2, the article 9 is supported only by the support portion 21, but if the support surface 21f is arranged at the third height H3, the article 9 supported on the support surface 21f is supported by the auxiliary support surface 30f arranged at a position higher than the third height H3. At this time, the support portion 21 does not participate in supporting the article 9. Therefore, by arranging the support surface 21f at the third height H3, the posture of the article 9 depends on the direction change (rotation) of the carriage body 10. Therefore, the integral rotation action accompanying the posture change of the article 9 in a plan view can be appropriately performed.

[0048] exist Figure 3 In the example shown in (b), the transport vehicle 1 rotates the vehicle body 10 90 degrees clockwise in a top view. As a result, the support portion 21 that is not driven by the rotating portion 23 rotates 90 degrees clockwise together with the vehicle body 10. As shown in the figure, the posture of the vehicle body 10 and the posture of the support portion 21 change through the integrated rotating action.

[0049] like Figure 1 As shown, in this embodiment, the vehicle body 10 can be moved at a predetermined reference speed Vs (see Figure 8 ) is configured to travel in a manner. In this example, the reference speed Vs is the maximum speed of the vehicle body 10. The reference speed Vs (in this example, the maximum speed) is appropriately determined according to the operation of the equipment, etc. In this example, the control device C (refer to Figure 4 ) is configured in such a way that the traveling speed V of the vehicle body 10 can be set to a reference speed Vs. Figure 1 The indicated "V" is the actual travel speed V of the vehicle body 10. When the travel speed V of the vehicle body 10 is set to the reference speed Vs, the control device C performs feedback control on the travel speed V of the vehicle body 10 using the reference speed Vs as a target value, for example.

[0050] like Figure 4As shown, in the present embodiment, the control device C includes: an upper control device Ct, which manages the entire device; and a conveying control device C1, which is mounted on each conveying vehicle 1 and controls the functional parts of each conveying vehicle 1. The upper control device Ct and the conveying control device C1 are configured to communicate with each other. The upper control device Ct specifies the conveying starting point Pd and the conveying destination Pa of the article 9, and outputs a conveying instruction that specifies the conveying path R from the conveying starting point Pd to the conveying destination Pa to the conveying control device C1 (conveyance vehicle 1). The conveying control device C1 that receives the conveying instruction controls the functional parts of the conveying vehicle 1 equipped with itself according to the conveying instruction. The upper control device Ct and the conveying control device C1 have, for example, a processor such as a microcomputer, a peripheral circuit such as a memory, and the like. Moreover, each process or each function is realized by the cooperation of these hardware and a program executed on a processor such as a computer. In the following, the upper control device Ct and the conveying control device C1 are sometimes collectively referred to as "control device C".

[0051] [Example 1] Next, refer to Figure 5 and Figure 6 An example of a case where the transport vehicle 1 transports the article 9 from the transport starting point Pd to the transport destination Pa will be described. Figure 5 and Figure 6 In the figure, for the convenience of explanation, the transport vehicle 1 and the article 9 are omitted.

[0052] Figure 5 The transport path R of the transport vehicle 1 is shown when the posture of the article 9 at the transfer target location 7 serving as the transport start point Pd and the posture of the article 9 at the transfer target location 7 serving as the transport destination Pa are the same. Figure 6 The height of the support surface 21 f at each point of the transport path R in this case, the set speed of the vehicle body 10 , and the operation of the transport vehicle 1 are shown.

[0053] exist Figure 5 In the example shown, the transport route R is set so as to connect the detected portion 8 at the transport starting point Pd, the detected portion 8 at the point A, the detected portion 8 at the point B, the detected portion 8 at the point C, and the detected portion 8 at the transport destination Pa. The transport vehicle 1 travels on the transport route R in the order of the transport starting point Pd→point A→point B→point C→the transport destination Pa.

[0054] In this case, if Figure 6As shown, the transporter 1 receives the article 9 from the transfer target part 7 at the transfer starting point Pd by changing the height of the support surface 21f from the third height H3 to the first height H1. At the transfer starting point Pd, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V when the transporter 1 receives the article 9 from the transfer target part 7 at the transfer starting point Pd is set to zero. That is, the carriage body 10 stops.

[0055] After receiving the article 9, the transporter 1 starts traveling in the state of supporting the article 9 toward the next location (the position of the detection part 8). In the illustrated example, the transporter 1 starts traveling from the transfer starting point Pd toward location A.

[0056] Here, when the straight-line distance L from the traveling start point (here, the transfer starting point Pd) where the transporter 1 starts traveling in the state of supporting the article 9 to the direction change position 80 (here, location B) where a turning operation (relative turning operation) without changing the posture of the article 9 should be performed is within the specified distance Ls, the transporter 1 travels in the state where the support surface 21f is arranged at the second height H2. In such a case where the straight-line distance L is within the specified distance Ls, when the support surface 21f is not arranged at the second height H2 at the traveling start point, the change of the height of the support surface 21f to the second height H2 can be performed before the start of the travel of the transporter 1 or during the travel after the start of the travel of the transporter 1. In the latter case, the change of the height of the support surface 21f to the second height H2 is completed before the transporter 1 reaches the direction change position 80. In the present embodiment, the control device C sets the transport path R of the article 9 from the transfer starting point Pd to the transport destination Pa, and determines whether the straight-line distance L is within the specified distance Ls based on the transport path R. As described above, in this example, the transport path R is a path combining a straight-line path along the first direction D1 and a straight-line path along the second direction D2. The control device C calculates the straight-line distance L based on these straight-line paths constituting the transport path R, and determines whether this straight-line distance L is within the specified distance Ls. The specified distance Ls is appropriately determined based on the operation of the equipment and the like.

[0057] In Figure 5In the illustrated example, the direction change position 80 where the transporter 1 initially arrives is location B. Additionally, the straight-line distance L from the transport starting point Pd, which is the starting point of travel, to location B is within a specified distance Ls (L ≤ Ls). Therefore, between the transport starting point Pd and location B, the transporter 1 positions the support surface 21f at the second height H2 and travels simultaneously. Thus, when performing a relative turning operation, it is necessary to position the support surface 21f at the second height H2. However, compared to reaching the direction change position 80 (location B) where the relative turning operation should be performed, the transporter 1 can position the support surface 21f at the second height H2 earlier. Therefore, the transporter 1 can change to the relative turning operation without changing the height of the support surface 21f at the direction change position 80 (here, location B). As a result, the transport time of the article 9 can be shortened.

[0058] In Figure 5 and Figure 6 In the illustrated example, between the transport starting point Pd and location A, the transporter 1 changes the height of the support surface 21f from the first height H1 to the second height H2. At this time, the traveling speed V of the cart body 10 is set lower than the reference speed Vs (V < Vs).

[0059] The transporter 1 maintains the height of the support surface 21f at the second height H2 at location A. At this time, the traveling speed V of the cart body 10 is set lower than the reference speed Vs (V < Vs). In this state, the transporter 1 travels from location A to location B.

[0060] The transporter 1 maintains the height of the support surface 21f at the second height H2 at location B. At this time, the traveling speed V of the cart body 10 is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V at location B is set to zero. The transporter 1 performs a relative turning operation at location B, which is the direction change position 80, while stopped. As a result, without changing the posture of the article 9 in a top view, the traveling direction of the cart body 10 is changed toward the next location C. Thereafter, the transporter 1 starts traveling from location B toward location C.

[0061] In Figure 5 and Figure 6In the illustrated example, the straight-line distance L from the starting point of travel of the transporter 1 (here, point B) to the direction-changing position 80 (here, point C) where a turning operation (relative turning operation) without a posture change of the article 9 is to be performed is within a specified distance Ls (L ≦ Ls). Therefore, between point B and point C, the transporter 1 disposes the support surface 21f at the second height H2 and travels simultaneously. Thus, the starting point of travel of the transporter 1 is not limited to the starting point (transport starting point Pd) of the transport path R. When the transporter 1 performs a turning operation, the straight-line distance L is determined with the point (in this example, point B) where the turning operation is performed as the starting point of travel.

[0062] At point C, the transporter 1 maintains the height of the support surface 21f at the second height H2. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V at point C is set to zero. The transporter 1 performs a relative turning operation at point C, which is the direction-changing position 80, while in a stopped state. Thereby, without changing the posture of the article 9 in a top view, the traveling direction of the carriage body 10 is directed toward the transport destination Pa. Thereafter, the transporter 1 starts traveling from point C toward the transport destination Pa.

[0063] Between point C and the transport destination Pa, the transporter 1 changes the height of the support surface 21f from the second height H2 to the first height H1. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V < Vs).

[0064] The transporter 1 transfers the article 9 to the transfer target portion 7 at the transport destination Pa by changing the height of the support surface 21f from the first height H1 to the third height H3 at the transport destination Pa. At the transport destination Pa, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V when the transporter 1 transfers the article 9 to the transfer target portion 7 at the transport destination Pa is set to zero. That is, the carriage body 10 stops.

[0065]

Example 2

[0066] Figure 7The conveying path R of the conveying vehicle 1 is shown in the case where the posture of the article 9 at the transfer target part 7 that becomes the conveying start point Pd is different from the posture of the article 9 at the transfer target part 7 that becomes the conveying destination Pa. Figure 8 The height of the support surface 21f, the set speed of the carriage main body 10, and the operation of the conveying vehicle 1 at each location of the conveying path R in this case are shown.

[0067] In Figure 7 In the illustrated example, the conveying path R is set in such a way that the detected parts 8 at the conveying start point Pd, the detected part 8 at the location A, the detected part 8 at the location B, the detected part 8 at the location C, the detected part 8 at the location D, and the detected part 8 at the conveying destination Pa are connected. The conveying vehicle 1 travels on the conveying path R in the order of the conveying start point Pd → the location A → the location B → the location C → the location D → the conveying destination Pa.

[0068] In this case, as Figure 8 shown, the conveying vehicle 1 receives the article 9 from the transfer target part 7 at the conveying start point Pd by changing the height of the support surface 21f from the third height H3 to the first height H1 at the conveying start point Pd. At the conveying start point Pd, the traveling speed V of the carriage main body 10 is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V when the conveying vehicle 1 receives the article 9 from the transfer target part 7 at the conveying start point Pd is set to zero. That is, the carriage main body 10 stops.

[0069] After receiving the article 9, the conveying vehicle 1 starts to travel toward the next location (the position of the detected part 8) while supporting the article 9. In the illustrated example, the conveying vehicle 1 starts to travel from the conveying start point Pd toward the location A.

[0070] Here, regardless of whether the straight-line distance from the traveling start point (here, the conveying start point Pd) where the conveying vehicle 1 starts to travel while supporting the article 9 to the direction change position 80 (here, the location B) where the turning operation (integral turning operation) accompanied by the posture change of the article 9 should be performed is within the specified distance, the conveying vehicle 1 travels with the support surface 21f arranged at the third height H3. In Figure 7In the illustrated example, the direction-changing position 80 where the transporter 1 first arrives is point B, and at this point B, the transporter 1 is scheduled to perform an integral turning operation accompanied by a posture change of the article 9. Therefore, between the transport starting point Pd and point B, the support surface 21f is arranged at the third height H3 and the transporter 1 travels simultaneously. Thus, when performing the integral turning operation, it is necessary to arrange the support surface 21f at the third height H3, but the transporter 1 can arrange the support surface 21f at the third height H3 earlier than when it arrives at the direction-changing position 80 (point B in this case) where the integral turning operation should be performed. Therefore, the transporter 1 can change to the integral turning operation without changing the height of the support surface 21f at the direction-changing position 80 (here, point B). Furthermore, by arranging the support surface 21f at the third height H3, the center of gravity of the transporter 1 can be lowered, so that the posture of the article 9 can be stabilized and it can travel at high speed simultaneously. Therefore, the transport time of the article 9 can be shortened.

[0071] In Figure 7 and Figure 8 In the illustrated example, between the transport starting point Pd and point A, the height of the support surface 21f of the transporter 1 is changed from the first height H1 to the third height H3. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V < Vs). Here, in a state where the support surface 21f is arranged at the first height H1, the position of the article 9 supported by the support surface 21f is higher than in the cases where the support surface 21f is arranged at the second height H2 and the third height H3, and accordingly, the posture of the article 9 is difficult to stabilize. In the present embodiment, when the lifting unit 22 raises and lowers the support surface 21f between the first height H1 and the second height H2 or the third height H3, the carriage body 10 travels or stops at a speed lower than the reference speed Vs. Thus, the height change of the support surface 21f including the case where the height of the support surface 21f becomes the first height H1 can be reliably performed.

[0072] The transporter 1 maintains the height of the support surface 21f at the third height H3 at point A. As described above, in a state where the support surface 21f is arranged at the third height H3, the transporter 1 can stably support the article 9, so that it can travel at high speed. Therefore, the traveling speed V of the carriage body 10 at this time is set to the reference speed Vs (V = Vs). In this state, the transporter 1 travels from point A to point B.

[0073] The transporter 1 maintains the height of the support surface 21f at the third height H3 at location B. At this time, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V at location B is set to zero. The transporter 1 performs an integral turning operation at location B, which is the direction change position 80, while in a stopped state. Thereby, the traveling direction of the carriage body 10 is oriented toward location C, and the posture of the article 9 is changed to an appropriate posture at the transport destination Pa. Thereafter, the transporter 1 starts traveling from location B toward location C.

[0074] The transporter 1 maintains the height of the support surface 21f at the third height H3 at location C. At this time, the traveling speed V of the carriage body 10 is set to the reference speed Vs (V = Vs). In this state, the transporter 1 travels from location C to location D.

[0075] The transporter 1 maintains the height of the support surface 21f at the third height H3 at location D. At this time, the traveling speed V of the carriage body 10 is set to the reference speed Vs (V = Vs). In this state, the transporter 1 travels from location D to the transport destination Pa.

[0076] Between location D and the transport destination Pa, the transporter 1 changes the height of the support surface 21f from the third height H3 to the first height H1. At this time, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs).

[0077] The transporter 1 transfers the article 9 to the transfer target part 7 at the transport destination Pa by changing the height of the support surface 21f from the first height H1 to the third height H3 at the transport destination Pa. At the transport destination Pa, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V when the transporter 1 transfers the article 9 to the transfer target part 7 at the transport destination Pa is set to zero. That is, the carriage body 10 stops.

[0078]

Example 3

[0079] Fig. 9 The transport path R of the transporter 1 is shown in the case where the posture of the article 9 at the transfer target part 7 that becomes the transport start point Pd is the same as the posture of the article 9 at the transfer target part 7 that becomes the transport destination Pa. Fig.10Shows the height of the support surface 21f, the set speed of the carriage body 10, and the operation of the transporter 1 at each location of the transport path R in this case.

[0080] In Fig. 9 In the example shown, the transport path R is set in such a way that the detected parts 8 at the transport start point Pd, the detected part 8 at the location A, the detected part 8 at the location B, the detected part 8 at the location C, the detected part 8 at the location D, the detected part 8 at the location E, and the detected part 8 at the transport destination Pa are connected. The transporter 1 travels on the transport path R in the order of transport start point Pd → location A → location B → location C → location D → location E → transport destination Pa.

[0081] In this case, as Fig.10 shown, the transporter 1 changes the height of the support surface 21f from the third height H3 to the first height H1 at the transport start point Pd and receives the article 9 from the transfer target part 7 at the transport start point Pd. At the transport start point Pd, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V when the transporter 1 receives the article 9 from the transfer target part 7 at the transport start point Pd is set to zero. That is, the carriage body 10 stops.

[0082] After receiving the article 9, the transporter 1 starts to travel toward the next location (the position of the detected part 8) while supporting the article 9. In the example shown, the transporter 1 starts to travel from the transport start point Pd toward the location A.

[0083] In Fig. 9 the example shown, the direction change position 80 where the transporter 1 first arrives is the location B. In addition, the straight-line distance L from the transport start point Pd as the traveling start location to the location B is within the specified distance Ls (L ≤ Ls). Therefore, between the transport start point Pd and the location B, the transporter 1 disposes the support surface 21f at the second height H2 and travels at the same time.

[0084] In Fig. 9 and Fig.10 the example shown, between the transport start point Pd and the location A, the transporter 1 changes the height of the support surface 21f from the first height H1 to the second height H2. At this time, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs).

[0085] The transporter 1 maintains the height of the support surface 21f at the second height H2 at the location A. At this time, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this state, the transporter 1 travels from the location A to the location B.

[0086] The transporter 1 maintains the height of the support surface 21f at the second height H2 at location B. At this time, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V at location B is set to zero. The transporter 1 performs a relative turning motion at location B, which is the direction change position 80, while in a stopped state. Thereby, without changing the posture of the article 9 in a top view, the traveling direction of the carriage body 10 is directed toward the next location C. Thereafter, the transporter 1 starts traveling from location B toward location C.

[0087] Here, when the straight-line distance L from the traveling start location (here, location B) where the transporter 1 starts traveling while supporting the article 9 to the direction change position 80 (here, location E) where a turning motion (relative turning motion) not accompanied by a change in the posture of the article 9 should be performed is longer than the specified distance Ls, the transporter 1 travels with the support surface 21f disposed at the third height H3. In such a case where the straight-line distance L is longer than the specified distance Ls, when the support surface 21f is not disposed at the third height H3 at the traveling start location, the change in the height of the support surface 21f to the third height H3 can be performed before the start of travel of the transporter 1 or during the travel after the start of travel of the transporter 1. In the latter case, the change in the height of the support surface 21f to the third height H3 is completed before the transporter 1 reaches the direction change position 80. When the straight-line distance L is longer than the specified distance Ls, even if it is necessary to dispose the support surface 21f at the second height H2 later (that is, when performing a relative turning motion, it is necessary to dispose the support surface 21f at the second height H2), the transporter 1 traveling at a high speed with the height of the support surface 21f at a third height H3 lower than the second height H2 can contribute to shortening the conveyance time of the article 9. As described above, by disposing the support surface 21f at the third height H3, the center of gravity of the transporter 1 can be lowered, and thus the posture of the article 9 can be stabilized and at the same time travel at a high speed. In the present embodiment, when the straight-line distance L is longer than the specified distance Ls, the transporter 1 travels at the reference speed Vs.

[0088] In Fig. 9 the example shown, the straight-line distance L from location B as the traveling start location to location E as the next direction change position 80 is longer than the specified distance Ls (L > Ls). Therefore, between location B and location E, the transporter 1 disposes the support surface 21f at the third height H3 and at the same time travels at the reference speed Vs.

[0089] The transport vehicle 1 changes the height of the support surface 21f from the second height H2 to the third height H3 during the travel from the location B to the location C. That is, in the present embodiment, the lifting unit 22 lifts the support surface 21f between the second height H2 and the third height H3 during the travel of the trolley body 10. The height change of the support surface 21f between the second height H2 and the third height H3 does not include the state in which the height of the support surface 21f becomes the first height H1, so that the posture of the article 9 is easily stabilized. As in the above-mentioned configuration, by lifting the support surface 21f between the second height H2 and the third height H3 during the travel of the trolley body 10, it is possible to contribute to the shortening of the transport time of the article 9. The travel speed V (that is, in the illustrated example, the travel speed V during the travel of the transport vehicle 1 from the location B to the location C) when the transport vehicle 1 travels and simultaneously lifts the support surface 21f between the second height H2 and the third height H3 is set to the reference speed Vs. However, even in this case, the travel speed V can be set lower than the reference speed Vs.

[0090] The transport vehicle 1 maintains the height of the support surface 21f at the third height H3 at the point C. The travel speed V of the vehicle body 10 at this time is set to the reference speed Vs (V=Vs).

[0091] The transport vehicle 1 maintains the height of the support surface 21f at the third height H3 at the point D. The travel speed V of the vehicle body 10 at this time is set to the reference speed Vs (V=Vs).

[0092] The location E is a direction change position 80 where a relative rotation action without a posture change of the article 9 should be performed, and the support surface 21f needs to be arranged at the second height H2 at the location E. The transport vehicle 1 changes the height of the support surface 21f from the third height H3 to the second height H2 while traveling from the location D to the location E. As described above, in the height change of the support surface 21f between the second height H2 and the third height H3, it is easy to make the posture of the article 9 relatively stable, so the transport vehicle 1 changes the height of the support surface 21f while traveling. In addition, the travel speed V of the trolley body 10 at this time is set to the reference speed Vs (V=Vs).

[0093] The transporter 1 maintains the height of the support surface 21f at the second height H2 at location E. At this time, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V at location E is set to zero. While the transporter 1 is in a stopped state, at location E which is the direction change position 80, a relative turning operation is performed. Thereby, without changing the posture of the article 9 in a top view, the traveling direction of the carriage body 10 is oriented toward the transport destination Pa. Thereafter, the transporter 1 starts traveling from location E toward the transport destination Pa.

[0094] Between location E and the transport destination Pa, the transporter 1 changes the height of the support surface 21f from the second height H2 to the first height H1. At this time, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs).

[0095] By changing the height of the support surface 21f from the first height H1 to the third height H3 at the transport destination Pa, the transporter 1 transfers the article 9 to the transfer target portion 7 at the transport destination Pa. At the transport destination Pa, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the traveling speed V when the transporter 1 transfers the article 9 to the transfer target portion 7 at the transport destination Pa is set to zero. That is, the carriage body 10 stops.

[0096] According to the transport device 100 described above, it is possible to shorten the transport time of the article 9.

[0097]

Other Embodiments

[0098] (1) In the above-described embodiment, an example configured as follows has been described: The support portion 21 is formed in a regular N-sided shape (N is an integer of 3 or more) in a top view, and the turning portion 23 turns the support portion 21 relative to the carriage body 10 in units of 360 / N degrees. Moreover, as an example thereof, an example has been described in which the support portion 21 is formed in a square shape (N = 4) in a top view, and the turning portion 23 turns the support portion 21 relative to the carriage body 10 in units of 360 / 4 degrees (90 degrees). However, it is not limited to such an example. For example, as Fig.11As shown, it can also be constructed in the following manner: the support portion 21 is formed in a regular octagonal shape (N=8) when viewed from above, and the rotating portion 23 allows the support portion 21 to rotate relative to the trolley body 10 in units of 360 / 8 degrees (45 degrees). Thus, even if the support portion 21 does not change its posture when viewed from above and the transport vehicle 1 performs a rotating action, the outer shape of the support portion 21 can be made the same as the relationship between the trolley body 10 when viewed from above. In addition, although detailed illustrations are omitted, it can also be constructed in the following manner: the support portion 21 is formed in a perfect circle when viewed from above, and the rotating portion 23 allows the support portion 21 to rotate at an arbitrary angle relative to the trolley body 10. Thus, the same effect as described above can be achieved. That is, even if the support portion 21 does not change its posture when viewed from above and the transport vehicle 1 performs a rotating action, the outer shape of the support portion 21 can be made the same as the relationship between the trolley body 10 when viewed from above.

[0099] (2) In the above-mentioned embodiment, the following example is described: the lifting unit 22 lifts the support surface 21f between the second height H2 and the third height H3 while the carriage body 10 is traveling. However, the present invention is not limited to such an example, and the lifting unit 22 may lift the support surface 21f between the second height H2 and the third height H3 while the carriage body 10 is stopped.

[0100] (3) In the above-mentioned embodiment, the following example is described: the lifting unit 22 is configured to be able to change the height of the support surface 21f in at least three stages: the first height H1, the second height H2, and the third height H3. The lifting unit 22 may be configured to be able to change the height of the support surface 21f in four or more stages.

[0101] (4) In the above-mentioned embodiment, the following example is described: the transfer target portion 7 includes a plurality of pillars 72 that are separated and arranged at least in the width direction of the vehicle body of the transport vehicle 1, and an article support portion 720 provided on the upper portion of each pillar 72. However, the present invention is not limited to such an example, and the transfer target portion 7 may include, for example, a pair of placement plates that are separated and arranged in the width direction of the vehicle body.

[0102] (5) In the above-mentioned embodiment, the following example is described: the conveying path R is set in a manner that connects a plurality of detection parts 8. However, the present invention is not limited to such an example, and the conveying path R may be set based on, for example, a magnetic tape continuously disposed on a floor surface. In addition, it is also possible to have a configuration in which the direction change position 80 is not determined based on the position of the detected object disposed on the floor surface (the detected object such as the detection part 8 or the magnetic tape used to set the conveying path R). For example, the conveying vehicle 1 may have the following configuration: the current position of the vehicle is identified based on a detection signal of a GNSS (Global Navigation Satellite System) receiver, and when the current position reaches the direction change position 80, a turning action is performed.

[0103] (6) In addition, the configuration disclosed in the above-mentioned embodiment can also be combined with the configuration disclosed in other embodiments and applied as long as no contradiction occurs. With regard to other configurations, the embodiments disclosed in this specification are merely illustrative in all points. Therefore, various changes can be appropriately made without departing from the scope of the present disclosure.

[0104] [Overview of the above embodiment] Next, the conveying equipment described above will be described.

[0105] A conveying device, which is a conveying device having the following: a transfer target portion having a placement surface on which an article is placed; and A transport vehicle comprising a transfer device for transferring the article between the article and the transfer target location and a vehicle body for supporting the transfer device and traveling. The transport vehicle is configured in such a manner that it travels along a floor surface, changes position in a direction determined in accordance with a destination, and performs a turning motion in order to change the traveling direction. The transfer device comprises a support portion having a support surface for supporting the article from below, a lifting portion for lifting the support portion, and a rotating portion for rotating the support portion around a rotating axis along the vertical direction relative to the carriage body. The lifting unit is configured to change the height of the support surface to a first height higher than the placement surface, a second height lower than the placement surface, and a third height lower than the second height. The transfer device transfers the article between the transfer target portion by raising and lowering the support surface between the first height and the second height or the third height. The transport vehicle performs the aforementioned rotating action in a state where the support surface is arranged at the aforementioned second height, while the aforementioned support portion is relatively rotated relative to the aforementioned trolley body by utilizing the aforementioned rotating portion, and the direction of the aforementioned trolley body is changed without changing the posture of the aforementioned article supported on the aforementioned support surface when viewed from above. When the straight distance from the travel starting point where the transport vehicle starts traveling in a state of supporting the aforementioned article to the aforementioned direction change position where the aforementioned swing action without being accompanied by a change in the posture of the aforementioned article should be performed is within the prescribed distance, the transport vehicle travels in a state where the aforementioned support surface is arranged at the aforementioned second height; when the aforementioned straight distance is longer than the aforementioned prescribed distance, the transport vehicle travels in a state where the aforementioned support surface is arranged at the aforementioned third height.

[0106] According to this configuration, when the straight-ahead distance is within the prescribed distance, the travel speed of the transport vehicle is difficult to increase, and thus by configuring the support surface at the second height, even if the article supported on the support surface is maintained at a position up to a certain degree, the posture of the article will not be unstable and the trolley body will be driven. Moreover, the transport vehicle can reach the direction change position where the pivoting action should be performed while maintaining the height of the support surface at the second height, and thus can be transformed into a pivoting action without changing the height of the support surface at the direction change position. Therefore, the transportation time of the article can be shortened. In addition, according to this configuration, when the straight-ahead distance is longer than the prescribed distance, by configuring the support surface at the third height, the center of gravity of the transport vehicle can be lowered, and thus the posture of the article can be stabilized and the trolley can be driven at high speed at the same time. Therefore, from this point of view, the transportation time of the article can also be shortened.

[0107] Preferably, the vehicle body is configured to be able to travel at a predetermined reference speed. When the lifting unit raises or lowers the support surface between the first height and the second height or the third height, the carriage body travels at a speed lower than the reference speed or stops.

[0108] When the support surface is arranged at the first height, the position of the article supported on the support surface is higher than when the support surface is arranged at the second height or the third height, and accordingly, the posture of the article is difficult to stabilize. According to this configuration, when the height of the support surface is changed, and when the change includes the state where the height of the support surface becomes the first height, the trolley body travels or stops at a speed lower than the reference speed. Therefore, the change of the height of the support surface including the state where the height of the support surface becomes the first height can be performed with high reliability.

[0109] Preferably, the lifting unit lifts and lowers the support surface between the second height and the third height during travel of the carriage body.

[0110] Compared with the case where the height change of the support surface is performed including the state where the height of the support surface is at the first height, the posture of the article is easily stabilized in the case where the height change of the support surface is performed between the second height and the third height without including the state where the height of the support surface is at the first height. According to this configuration, in such a case, by performing the height change of the support surface during the travel of the trolley body, the travel of the trolley body and the change of the height of the support surface can be performed at the same time, thereby easily shortening the conveying time.

[0111] Preferably, the transport vehicle comprises an auxiliary support portion for assisting the support portion in supporting the article. The auxiliary support parts are separately arranged so as to sandwich the support parts when viewed from above. The auxiliary support portion has an auxiliary support surface with a fixed height. The third height is the same as or lower than the height of the auxiliary supporting surface.

[0112] According to this configuration, when the support surface is arranged at the third height, the auxiliary support surface can be used to support the article, so that the article can be supported more stably.

[0113] Preferably, the transport vehicle performs the rotating motion in a state where the support surface is arranged at the third height, while changing the posture of the article supported on the support surface in a plan view in conjunction with the rotating motion.

[0114] According to this configuration, the transport vehicle performs a swivel motion while the supporting surface is arranged at the third height and the auxiliary supporting surface is used to support the article, so that the posture of the article when viewed from above can be changed together with the posture of the trolley body. Thus, the posture of the article when viewed from above can be changed to a posture suitable for the part to be transferred by the swivel motion of the transport vehicle.

[0115] Suitably, there is a control device, The control device sets a conveyance path from a conveyance starting point to a conveyance destination of the article, and determines whether the straight travel distance is within the predetermined distance based on the conveyance path.

[0116] According to this configuration, the control device can appropriately determine whether the straight-ahead distance is within a predetermined distance.

[0117] Preferably, the transport vehicle comprises a detection unit. At a plurality of locations on the floor surface, there are detected portions to be detected by the detection portion. The conveying path is set in a manner that connects a plurality of the detected parts. The direction change position is determined based on the positions of the plurality of detected parts.

[0118] According to this configuration, it is easy to control the travel position of the transport vehicle with high accuracy through a relatively simple configuration. In addition, it is easy to flexibly change the transport path or direction change position of the transport vehicle according to the operation status of the equipment.

[0119] Preferably, the support portion is formed in a positive N-angle shape (N is an integer greater than 3) when viewed from above. The revolving portion revolves the supporting portion relative to the vehicle body in units of 360 / N degrees.

[0120] According to this configuration, even if the support portion does not change its posture when viewed from above and the transport vehicle performs a swinging motion, the outer shape of the support portion and the vehicle body when viewed from above can be made the same. Therefore, the structures of the support portion and the vehicle body can be easily simplified.

[0121] Preferably, the transfer target portion includes a plurality of pillars disposed at least apart from each other in the width direction of the vehicle body of the transport vehicle and an article support portion provided on the upper portion of each pillar. The plurality of article supporting parts each have the placement surface formed thereon. The transport vehicle transfers the article between the transfer target location by raising and lowering the support surface between the first height and the second height or the third height, with the support portion disposed between the plurality of article support portions in a plan view.

[0122] According to this configuration, it is possible to easily realize a configuration in which an article can be transferred between a transfer target location by raising and lowering the support surface.

[0123] Preferably, each of the plurality of article supporting portions includes a restricting portion that is formed so as to protrude upward from the placement surface and restricts the horizontal position of the article placed on the placement surface. The first height is set at a position higher than the upper end of the restriction portion.

[0124] According to this configuration, the horizontal position of the article placed on the transfer object position can be limited by the limiting portion. In addition, when the support surface is configured at the first height, even when the transport vehicle enters and exits the transfer object position, the support portion and the limiting portion can be made not to interfere. Industrial Applicability

[0125] The technology disclosed herein can be used in a conveying device comprising: a transfer target portion having a loading surface for loading articles; and a transport vehicle comprising a transfer device for transferring the articles between the transfer target portion and the transfer target portion and a vehicle body for supporting the transfer device and traveling. Description of Reference Numerals

[0126] 100: Conveying equipment 1: Transport vehicle 10: Trolley body 20: Transfer device 21: Supporting part 21f: Support surface 22: Lifting unit 23: Cyclotron 30: Auxiliary support part 30f: Auxiliary support surface 40: Detection Department 7: Transfer target area 7f: Loading surface 72: Pillar 720: Article support 721: Restriction Department 8: Detected part 80: Direction change position 9: Items Ax: axis of rotation C: Control device Pa: Delivery destination Pd: conveying starting point R: Conveying path L: straight distance Ls: Specified distance H1: 1st height H2: 2nd height H3: 3rd height Vs: Base speed.

Claims

1. A conveying device, which is a conveying device having the following: a transfer target portion having a placement surface on which an article is placed; and A transport vehicle includes a transfer device for transferring the article between the transfer target location and a vehicle body for supporting the transfer device and traveling. The transport vehicle is configured in such a manner that it travels along a floor surface, changes position in a direction determined according to a destination, and performs a turning motion to change the traveling direction. The transfer device includes a support portion having a support surface for supporting the article from below, a lifting portion for lifting and lowering the support portion, and a rotating portion for rotating the support portion around a rotating axis along the vertical direction relative to the carriage body. The lifting unit is configured to be able to change the height of the support surface to a first height higher than the placement surface, a second height lower than the placement surface, and a third height lower than the second height. The transfer device transfers the article between the transfer target location by raising and lowering the support surface between the first height and the second height or the third height. The transport vehicle performs the rotating action in a state where the support surface is arranged at the second height, when the direction of the trolley body is changed by using the rotating portion to rotate the support portion relative to the trolley body without changing the posture of the article supported on the support surface when viewed from above. The transport vehicle travels with the support surface arranged at the second height when the straight-line distance from the travel starting point where the transport vehicle starts traveling in a state of supporting the article to the direction change position where the swing action without a posture change of the article should be performed is within a prescribed distance; and travels with the support surface arranged at the third height when the straight-line distance is longer than the prescribed distance.

2. The conveying device according to claim 1, wherein: The vehicle body is configured to be able to travel at a predetermined reference speed. When the lifting unit raises or lowers the support surface between the first height and the second height or the third height, the carriage main body travels at a speed lower than the reference speed or stops.

3. The conveying device according to claim 2, wherein: The lifting unit lifts and lowers the support surface between the second height and the third height while the vehicle body is traveling.

4. The conveying device according to claim 1, wherein: The transport vehicle includes an auxiliary support portion for assisting the support portion in supporting the article. The auxiliary support parts are separately arranged so as to sandwich the support parts in a plan view. The auxiliary support portion has an auxiliary support surface with a fixed height, The third height is the same as or lower than the height of the auxiliary supporting surface.

5. The conveying device according to claim 4, wherein: When the transport vehicle changes the posture of the article supported on the support surface in a plan view in accordance with the swinging motion, the transport vehicle performs the swinging motion in a state where the support surface is arranged at the third height.

6. The conveying device according to claim 1, wherein: Equipped with control device, The control device sets a transport path from a transport start point to a transport destination of the article, and determines whether the straight travel distance is within the predetermined distance based on the transport path.

7. The conveying device according to claim 6, wherein: The transport vehicle includes a detection unit. Detected parts to be detected by the detection part are provided at a plurality of locations on the floor surface. The conveying path is set in a manner that connects a plurality of the detected parts. The direction change position is determined based on the positions of the plurality of detected parts.

8. The conveying device according to claim 1, wherein: The support portion is formed in a positive N-angle shape (N is an integer greater than 3) when viewed from above. The turning portion turns the support portion relative to the vehicle body in units of 360 / N degrees.

9. The conveying device according to claim 1, wherein: The transfer target portion includes a plurality of pillars that are separated and arranged at least in the width direction of the vehicle body of the transport vehicle, and an article support portion provided on the upper portion of each pillar. The placing surface is formed on each of the plurality of article supporting parts. The transport vehicle transfers the article between the transfer target location by raising and lowering the support surface between the first height and the second height or the third height in a state where the support portion is disposed between the plurality of article support portions in a plan view.

10. The conveying device according to claim 9, wherein: Each of the plurality of article supporting portions includes a restricting portion that is formed so as to protrude upward from the placement surface and restricts a horizontal position of the article placed on the placement surface. The first height is set at a position higher than an upper end of the restriction portion.

Images