Article conveying facility

Abstract

The invention provides an article transport facility. An article transport facility (100) is provided with a plurality of transport vehicles (1). In a combined state in which the plurality of transport vehicles (1) are combined so as to be adjacent to each other, the plurality of transfer units cooperate to constitute a transport path (P) for transporting an article (W). At least one transport vehicle (1) of the integrated transport vehicle group (G1) is disposed at an adjacent position (Ca) adjacent to the connection target site (C), and the integrated transport vehicle group (G1) is in a connected state in which the article (W) can be delivered between the integrated transport vehicle group (G1) and the connection target site (C). The control system is configured to move the integrated transport vehicle group (G1) between an adjacent position (Ca) adjacent to the first connection target site and an adjacent position (Ca) adjacent to the second connection target site while maintaining a state in which the plurality of transport vehicles (1) are integrated.

Description

Technical Field

[0001] The present invention relates to article transport equipment including a plurality of transport vehicles that transport articles by traveling on a travel surface without tracks. Background Art

[0002] In recent years, automation of article transportation has been developing in article transportation facilities such as logistics warehouses. In such article transportation facilities, for example, there is a case where a transportation vehicle (10) such as that disclosed in Japanese Patent Laying-Open No. 2022-050240 (Patent Document 1) is effectively used.

[0003] The transport vehicle (10) is configured to transport articles by traveling on a travel floor without human intervention. In the device described in Patent Document 1, the transport mode is as follows: a transport instruction is given to each of the plurality of transport vehicles (10), and each of the plurality of transport vehicles (10) transports a specific article from a transport source to a transport destination based on the transport instruction. Summary of the invention

[0004] When conveying articles using a conveyor vehicle as described in Patent Document 1, there are limits on the size and number of articles that can be conveyed by one conveyor vehicle, and it is difficult to adopt a conveyor vehicle that continuously conveys a plurality of articles.

[0005] In view of the above-mentioned actual situation, it is desired to realize an article conveying device that can flexibly change the conveying mode.

[0006] The technology for solving the above-mentioned problems is as follows.

[0007] An article conveying device comprises: a plurality of conveying vehicles that convey articles by running on a running surface without tracks; a plurality of connection object parts that become objects to which the conveying vehicles are connected; and a control system that controls the plurality of conveying vehicles; the conveying vehicles comprise: a loading part that loads the articles; and a transfer part that transfers the articles loaded on the loading part; in a combined state in which the plurality of conveying vehicles are combined in an adjacent manner, the plurality of transfer parts cooperate with each other to form a conveying path for conveying the articles; the plurality of conveying vehicles in the combined state are set as a combined conveying vehicle group; at least one of the combined conveying vehicle groups controls the conveying of the articles. The aforementioned transport vehicles are arranged at adjacent positions adjacent to the aforementioned connection object parts, and the aforementioned combined transport vehicle group is in a connection state capable of performing the transfer of the aforementioned articles between the aforementioned connection object parts; the plurality of aforementioned connection object parts include a first connection object part and a second connection object part arranged at a position different from the aforementioned first connection object part; the aforementioned control system is configured to enable the aforementioned combined transport vehicle group to move between the aforementioned adjacent position adjacent to the aforementioned first connection object part and the aforementioned adjacent position adjacent to the aforementioned second connection object part while maintaining the state in which the plurality of aforementioned transport vehicles are combined.

[0008] According to the present structure, each transport vehicle can transport articles to various locations individually, and a plurality of transport vehicles can transport articles along a continuous transport path by combining. That is, the transport vehicles can be used to realize a transport mode in which a specific article is transported to a specific location and a transport mode in which a plurality of articles are continuously transported to the same location. Furthermore, the combined transport vehicle group can utilize the respective loading parts of the plurality of transport vehicles constituting the combined transport vehicle group to load articles of a size or quantity that cannot be transported by a single transport vehicle. Moreover, the combined transport vehicle group can move between a plurality of connection object locations while maintaining the original state of the combined state. Therefore, articles of a size or quantity that cannot be transported by a single transport vehicle can be transported between a plurality of connection object locations. As described above, according to the present structure, the transport mode of articles can be flexibly changed.

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

[0010] Figure 1 It is a top view of the article conveying equipment.

[0011] Figure 2 It is a control block diagram.

[0012] Figure 3 This is a diagram showing a state in which an article is transferred between a transport vehicle and a transfer target location.

[0013] Figure 4 It is a diagram showing the transfer structure of the transport vehicle.

[0014] Figure 5 It is a diagram showing the travel structure of the transport vehicle.

[0015] Figure 6 It is a schematic top view of the transport vehicle.

[0016] Figure 7 It is a diagram showing a combined state of a plurality of transport vehicles.

[0017] Figure 8 This is a diagram showing one form of a combined transport vehicle group.

[0018] Fig. 9 It is a diagram showing a state where a combined transport vehicle group is connected to a connection target portion.

[0019] Fig.10 This is a diagram showing an example of a transportation mode performed by a plurality of transportation vehicles in a combined state.

[0020] Fig.11 This is a diagram showing an example of a transportation mode performed by a plurality of transportation vehicles in a combined state.

[0021] Fig.12 This is a diagram showing an example of a transportation mode performed by a plurality of transportation vehicles in a combined state.

[0022] Fig.13 This is a diagram showing a state in which the combined transport vehicle group receives power from the power supply unit.

[0023] Fig.14 This is a diagram showing an example of a transportation mode performed by a plurality of transportation vehicles in a combined state. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of the article transport facility will be described with reference to the drawings.

[0025] In addition, in this specification, the term "transferring an article" means delivering an article to a transfer target location, and the term "transporting an article" means moving an article toward a destination, in other words, transporting an article.

[0026] like Figure 1 As shown, the article transport facility 100 includes a plurality of transport vehicles 1 that transport articles W by traveling on a travel surface without tracks, a plurality of connection target locations C to which the transport vehicles 1 are connected, and a host control device H (see FIG. 1 ) that controls the plurality of transport vehicles 1. Figure 2In this embodiment, the article transport facility 100 is provided with a power supply unit 7 for supplying power to the transport vehicle 1 in a state where the position relative to the travel surface is fixed. In the example shown in the figure, a plurality of power supply units 7 are provided in the article transport facility 100.

[0027] The traveling surface is, for example, the floor surface of an article conveying device. The so-called "trackless traveling" means traveling without using a track such as a guide rail. Therefore, the transport vehicle 1 is configured to be able to travel freely on the floor surface of the article conveying device 100 without being constrained by a track such as a guide rail. For example, the following structure can be made: a plurality of detected objects such as QR codes and RF (Radio Frequency) tags are set on the floor surface, and the transport vehicle 1 travels along a route connecting the plurality of detected objects. In addition, the following structure can also be made: such a detected object is not set on the floor surface, and the transport vehicle 1 travels along a route calculated based on the recognition result of the surrounding environment.

[0028] In the article transport facility 100, a plurality of transfer target locations T are set to transfer articles W. In this embodiment, the article transport facility 100 includes a loading and unloading area 9 for transporting articles W in and out of the facility, and an automatic warehouse 8 provided inside the facility.

[0029] The loading and unloading area 9 is, for example, a truck parking area. A plurality of transfer target locations T are set in the loading and unloading area 9. In the transfer target locations T of the loading and unloading area 9, inbound articles W or outbound articles W are transferred by a forklift, a conveyor, or a transport vehicle 1 (not shown).

[0030] In this embodiment, a plurality of automatic warehouses 8 are provided inside the equipment. Each of the plurality of automatic warehouses 8 includes a storage shelf (not shown) for storing articles W, a storage entry section 81 for entering articles W into the storage shelf, a storage exit section 82 for exiting articles W from the storage shelf, and an intra-shelf transport device (not shown) for transporting articles W inside the storage shelf. Examples of the intra-shelf transport device include a stacking crane, a lift, a conveyor, a transport trolley, and the like.

[0031] In this embodiment, the transfer target location T includes a storage unit 81 and a storage unit 82. When the transport vehicle 1 transfers the article W between the storage unit 81 and the storage unit 81, it is connected to the storage unit 81 (see also Figure 3 ). Similarly, when the transport vehicle 1 transfers articles W between the transport vehicle 1 and the outgoing storage section 82, the transport vehicle 1 is connected to the outgoing storage section 82. In this way, the storage entry section 81 and the outgoing storage section 82 are set as the connection object part C to which the transport vehicle 1 is connected. That is, in this embodiment, the storage entry section 81 and the outgoing storage section 82 are the transfer object parts T, and are also the connection object parts C.

[0032] The connection target part C includes a conveyor Cb (see also Figure 3 ). In the present embodiment, the storage unit 81 and the storage unit 82 as the connection target location C are configured using a conveyor Cb. Examples of such a conveyor Cb include a roller conveyor, a belt conveyor, a chain conveyor, and the like.

[0033] like Figure 2 As shown, in the present embodiment, the article conveying equipment 100 has a host control device H for controlling a plurality of conveying vehicles 1. The host control device H is configured to be able to communicate with a plurality of conveying vehicles 1. The host control device H is configured to, for example, send a conveying instruction that specifies a specific article W, a conveying source, and a conveying destination to each conveying vehicle 1. The conveying vehicle 1 that receives the conveying instruction is configured to convey the article W based on the conveying instruction. In this specification, the host control device H is equivalent to a "control system". However, the host control device H only needs to constitute at least a part of the control system. For example, in addition to the host control device H, a control device other than the host control device H, a control unit H1 (described later) possessed by the conveying vehicle 1, etc. may be used to constitute a "control system". In addition, the host control device H may not be provided, but a plurality of control units H1 that are communicatively connected to each other may cooperate to constitute a control system.

[0034] The transport vehicle 1 is provided with a control unit H1 for controlling the vehicle. The control unit H1 is configured to control various functional units of the transport vehicle 1. The various functional units of the transport vehicle 1 include a functional unit for driving, a functional unit for transferring articles W, a functional unit for communication, and the like. The control unit H1 is configured to control the vehicle based on a transport instruction from a higher-level control device H so as to transport the articles W from a designated transport source to a transport destination.

[0035] The host control device H and the control unit H1 include, for example, a processor such as a microcomputer, peripheral circuits such as a memory, etc. Each function is realized by cooperation between these hardware and a program executed on the processor such as a computer.

[0036] like Figure 3 and Figure 4 As shown, the transport vehicle 1 includes a placement portion 13 on which articles W are placed, and a transfer portion 14 that transfers the articles W placed on the placement portion 13 between a transfer target location T. Figure 3 1 shows a state where the transport vehicle 1 transfers articles W between the storage section 81 as the transfer target location T. Figure 3As shown, the transport vehicle 1 is configured such that the transfer unit 14 transfers the article W placed on the placement unit 13 to the storage unit 81 (transfer target location T). In addition, when the transport vehicle 1 transfers the article W between the storage unit 82 as the transfer target location T, the above operation is reversed. That is, the transport vehicle 1 is configured such that the transfer unit 14 receives the article W placed on the storage unit 82 (transfer target location T).

[0037] like Figure 4 As shown, in this embodiment, the transfer unit 14 includes a first transfer mechanism 141 for moving the article W on the loading unit 13, and a second transfer mechanism 142 for moving the article W in a direction different from that of the first transfer mechanism 141. All or part of the transport vehicles 1 of the plurality of transport vehicles 1 included in the article transport facility 100 are equipped with a transfer unit 14 including the first transfer mechanism 141 and the second transfer mechanism 142.

[0038] In this embodiment, the first transfer mechanism 141 is configured to move the article W along the vehicle body front-rear direction X. In the example shown in the figure, the first transfer mechanism 141 is configured using a roller conveyor. The plurality of rollers constituting the roller conveyor are arranged in a state extending in the vehicle body width direction Y in the vehicle body front-rear direction X.

[0039] In this embodiment, the second transfer mechanism 142 is configured to move the article W in the vehicle width direction Y. That is, in this example, the first transfer mechanism 141 and the second transfer mechanism 142 are configured to move the article W in directions orthogonal to each other when viewed in the vertical direction.

[0040] In this embodiment, the second transfer mechanism 142 is configured using a conveyor having a plurality of chains or belts. Each of the plurality of chains or belts (three belts in the example shown in the figure) is arranged between the rollers constituting the first transfer mechanism 141.

[0041] The second transfer mechanism 142 is configured to be raised and lowered between a storage position arranged below the first transfer mechanism 141 and a protruding position arranged above the first transfer mechanism 141. The second transfer mechanism 142 is stored inside the transport vehicle 1 in the storage position. In this state, the article W is supported by the first transfer mechanism 141 and can be transferred by the first transfer mechanism 141 (see Figure 4 (a)). In addition, the second transfer mechanism 142 protrudes upward from the first transfer mechanism 141 when in the protruding position. In this state, the article W is supported by the second transfer mechanism 142 and can be transferred by the second transfer mechanism 142 (see Figure 4 (b)).

[0042] like Figure 5As shown, the transport vehicle 1 includes a vehicle body 10 and a plurality of wheels 11 supported by the vehicle body 10. At least one of the plurality of wheels 11 is driven by a driving source such as a motor. Thus, a propulsion force is applied to the transport vehicle 1.

[0043] In this embodiment, the transport vehicle 1 includes a swivel mechanism 12 for swivelling each wheel 11 around an upper and lower axis. Each of the plurality of wheels 11 is supported by the vehicle body 10 via the swivel mechanism 12. The swivel mechanism 12 directs the rotation axis of the wheel 11 toward the vehicle body width direction Y, thereby the transport vehicle 1 is in a first travel posture in which it can travel toward the vehicle body front-rear direction X (see FIG. Figure 5 (a)). The turning mechanism 12 makes the rotation axis of the wheel 11 face the vehicle body front-rear direction X, so that the transport vehicle 1 is in the second travel posture in which it can travel in the vehicle body width direction Y (see Figure 5 (b)) In addition, the transport vehicle 1 can basically travel vertically and horizontally on the travel surface by changing the direction in the first travel posture.

[0044] like Figure 6 As shown, the transport vehicle 1 includes a peripheral detection sensor 30. The control unit H1 (see Figure 2 ) is configured to stop or slow down the vehicle when an obstacle is detected by the surrounding detection sensor 30 around the vehicle while the vehicle is traveling. As an obstacle detected by the surrounding detection sensor 30, for example, another transport vehicle 1 can be cited. In this way, collisions between transport vehicles 1 traveling without people can be avoided. Examples of the surrounding detection sensor 30 include optical sensors, ultrasonic sensors, LiDER (Light Detection And Ranging), sonar sensors, millimeter wave radars, etc.

[0045] In the present embodiment, the surrounding detection sensor 30 is configured to detect obstacles using the front range R1, rear range R2, left range R3, and right range R4 of the vehicle as the detection range R. In this example, the surrounding detection sensor 30 includes a front sensor 31 for detecting the front range R1 of the vehicle, a rear sensor 32 for detecting the rear range R2 of the vehicle, a left sensor 33 for detecting the left range R3 of the vehicle, and a right sensor 34 for detecting the right range R4 of the vehicle. That is, in this example, the transport vehicle 1 includes at least four surrounding detection sensors 30.

[0046] like Figure 7 As shown, the plurality of transport vehicles 1 are configured to be able to be combined with each other. Furthermore, in the combined state where the plurality of transport vehicles 1 are combined in an adjacent manner, the plurality of transfer units 14 cooperate with each other to form a transport path P for transporting articles W (see Figure 8). In the article conveying equipment 100 related to the present disclosure, each conveying vehicle 1 is configured to convey the article W to various locations individually when traveling individually. That is, it is possible to realize a conveying form in which a specific article W is conveyed to a specific location. Moreover, a plurality of conveying vehicles 1 are configured to convey the article W along a continuous conveying path P by combining with each other. That is, it is possible to realize a conveying form in which a plurality of articles W are continuously conveyed to the same location. In this specification, a plurality of conveying vehicles 1 in a combined state are defined as a combined conveying vehicle group G1.

[0047] like Figure 6 and Figure 7 As shown in FIG. 1 , in this embodiment, the transport vehicle 1 further includes a connection portion 20 for connecting with another transport vehicle 1. The connection portion 20 is provided on the vehicle body 10 and is configured to protrude from the vehicle body 10 when viewed in the vertical direction. The transport vehicle 1 and the vehicle 1 to be combined with the other transport vehicle 1 are configured to be in a combined state by being connected by the connection portion 20 (see FIG. 1 ). Figure 7 ).

[0048] In this embodiment, the transport vehicle 1 includes a front connection portion 21 provided at the front of the vehicle, a rear connection portion 22 provided at the rear of the vehicle, a left connection portion 23 provided at the left of the vehicle, and a right connection portion 24 provided at the right of the vehicle as the connection portion 20.

[0049] The front connecting portion 21 of the vehicle is connected to the rear connecting portion 22 of the vehicle 1 to be combined, and the rear connecting portion 22 of the vehicle is connected to the front connecting portion 21 of the vehicle 1 to be combined. In the present embodiment, the front connecting portion 21 and the rear connecting portion 22 are shaped to correspond to each other and are configured to engage with each other. In this example, the front connecting portion 21 has a tapered insertion portion. The rear connecting portion 22 has a hole portion for inserting the insertion portion of the front connecting portion 21. The insertion portion of the front connecting portion 21 is inserted into the hole portion of the rear connecting portion 22, thereby connecting the front connecting portion 21 and the rear connecting portion 22.

[0050] The structure is such that the left connecting part 23 of the vehicle is connected to the right connecting part 24 of the vehicle to be combined 1, and the right connecting part 24 of the vehicle is connected to the left connecting part 23 of the vehicle to be combined 1. In the present embodiment, the left connecting part 23 and the right connecting part 24 are shaped to correspond to each other and are configured to engage with each other. In this example, the left connecting part 23 has a tapered insertion part. The right connecting part 24 has a hole for inserting the insertion part of the left connecting part 23. The insertion part of the left connecting part 23 is inserted into the hole of the right connecting part 24, thereby connecting the left connecting part 23 to the right connecting part 24.

[0051] In this way, each transport vehicle 1 can be combined with other transport vehicles 1, and a continuous transport path P can be formed by the combination. However, as described above, each transport vehicle 1 is equipped with a peripheral detection sensor 30 as a collision prevention mechanism, and stops or slows down when there is an obstacle within the detection range R of the peripheral detection sensor 30. Therefore, the combination target vehicle 1 to be combined with the transport vehicle 1 is detected as an obstacle by the peripheral detection sensor 30 before the combination. In this case, the collision prevention mechanism using the peripheral detection sensor 30 hinders the combination of the transport vehicles 1.

[0052] So, if Figure 7 As shown, in this embodiment, the control unit H1 (see Figure 2 ) is configured such that, when the vehicle is performing a combination operation with another transport vehicle 1, i.e., the combination target vehicle 1, the surrounding detection sensor 30 is at least partially disabled so as not to detect the combination target vehicle 1. Thus, the surrounding detection sensor 30 that is partially disabled can prevent the combination target vehicle 1 from being detected as an obstacle. Therefore, the combination of the transport vehicle 1 and the combination target vehicle 1 can be appropriately performed.

[0053] In the present embodiment, the control unit H1 of the transport vehicle 1 is configured to invalidate detection of at least one detection range R on the side where the combination target vehicle 1 is present among the plurality of detection ranges R when the transport vehicle 1 is performing a combination operation with the combination target vehicle 1. Figure 7 In the example shown, the control unit H1 of the transport vehicle 1 sets the front range R1 (see Figure 6 ) is set to be invalid. Figure 6 ) The detection of the peripheral detection sensor 30 is set to be invalid.

[0054] In addition, the partial invalidation of the peripheral detection sensor 30 is performed not only when a plurality of transport vehicles 1 are combined, but also when, for example, Figure 3 The transport vehicle 1 shown in the figure also performs the operation when transferring an article W between the transfer target location T.

[0055] In this embodiment, the transport vehicle 1 and the combined vehicle 1 are configured to perform a combined operation by approaching each other or one approaching the other. When the transport vehicle 1 and the combined vehicle 1 are relatively close to each other, the mutual connecting parts 20 are connected, and the transport vehicle 1 and the combined vehicle 1 are in a combined state.

[0056] In the present embodiment, the transport vehicle 1 and the combination target vehicle 1 are configured to be combined in the vehicle body front-to-back direction X. For example, the transport vehicle 1 and the combination target vehicle 1 are combined in the vehicle body front-to-back direction X by connecting the front connection portion 21 of the transport vehicle 1 to the rear connection portion 22 of the combination target vehicle 1 (see FIG. Figure 7 ). At this time, the front sensor 31 of the transport vehicle 1 is set to be invalid, and the rear sensor 32 of the combined object vehicle 1 is set to be invalid. In addition, when the transport vehicle 1 and the combined object vehicle 1 perform a combined action in which they are combined in the vehicle body front-rear direction X, the driving posture of at least one of the transport vehicle 1 and the combined object vehicle 1 (the one approaching the other) becomes the first driving posture (refer to Figure 5 (a)) As a result, the transport vehicle 1 and the vehicle to be combined 1 can be brought relatively close to each other along the vehicle body front-rear direction X, and the two can be combined appropriately in the vehicle body front-rear direction X.

[0057] In the present embodiment, the transport vehicle 1 and the combination object vehicle 1 are configured to be able to be combined in the vehicle body width direction Y. For example, the transport vehicle 1 and the combination object vehicle 1 are combined in the vehicle body width direction Y by connecting the left connection portion 23 of the transport vehicle 1 with the right connection portion 24 of the combination object vehicle 1. At this time, the left sensor 33 of the transport vehicle 1 is set to be invalid, and the right sensor 34 of the combination object vehicle 1 is set to be invalid. In addition, when the transport vehicle 1 and the combination object vehicle 1 perform a combination action in which they are combined in the vehicle body width direction Y, the driving posture of at least one of the transport vehicle 1 and the combination object vehicle 1 (the side approaching the other side) becomes the second driving posture (refer to Figure 5 (b)) As a result, the transport vehicle 1 and the vehicle to be combined 1 can be brought relatively close to each other along the vehicle width direction Y, and the two can be combined appropriately in the vehicle width direction Y.

[0058] When multiple transport vehicles 1 perform combined actions, they can cooperate by mutually projecting and receiving light signals. Alternatively, they can cooperate by performing short-range wireless communication instead of projecting and receiving light signals. Alternatively, they can cooperate based on the position information of each transport vehicle 1 known by the upper control device H.

[0059] like Figure 6 and Figure 7 As shown, in this embodiment, the transport vehicle 1 and the peripheral detection sensor 30 are separately provided with a contact sensor 40 for detecting contact between a contact object and the vehicle. Thus, even if the peripheral detection sensor 30 becomes invalid, the contact sensor 40 can detect the contact object with the vehicle body 10. For example, when the transport vehicles 1 are not properly connected to each other and the vehicle bodies 10 come into contact with each other, the transport vehicles 1 can be stopped.

[0060] In this embodiment, the contact detection range of the contact sensor 40 is set to the entire outer periphery of the vehicle body 10 of the transport vehicle 1. In other words, the detection unit of the contact sensor 40 is provided over the entire outer periphery of the vehicle body 10 of the transport vehicle 1. For example, the contact sensor 40 is configured using a bumper sensor.

[0061] like Figure 7 As shown, in the combined state of a plurality of transport vehicles 1, a gap is formed between the contact sensors 40 of the mutually adjacent transport vehicles 1. That is, in the combined state of a plurality of transport vehicles 1, a gap is formed between the mutually adjacent transport vehicles 1. Thus, the vehicle bodies 10 or the contact sensors 40 of the adjacent transport vehicles 1 in the combined state do not contact each other. Therefore, according to the above structure, in the combined state of a plurality of transport vehicles 1, it is possible to avoid erroneous detection of the transport vehicle 1 by the contact sensor 40.

[0062] In the present embodiment, each of the plurality of transport vehicles 1 is provided with a power transmission unit 52 for transmitting electric power to other transport vehicles 1 when combined with other transport vehicles 1. In this example, a power line of the power transmission unit 52 is provided in the connection unit 20. When the transport vehicles 1 to be combined are connected to each other by the connection unit 20, the terminals of the power transmission units 52 of each transport vehicle 1 are connected to each other. Thus, the transport vehicles 1 to be combined are electrically connected to each other through the power transmission units 52.

[0063] As described above, the article transport facility 100 is provided with a power supply unit 7 (see Figure 1 ). Moreover, if Figure 6 As shown, the transport vehicle 1 includes a power receiving unit 51 for receiving power from the power supply unit 7. In this example, the power receiving unit 51 is formed using a power receiving pad, and the transport vehicle 1 is configured to receive power supply in a non-contact manner with respect to the power supply unit 7 provided with the power transmitting pad. The power receiving unit 51 is provided on the vehicle body 10 of the transport vehicle 1. In the example shown in the figure, the power receiving unit 51 is provided on each of both sides of the vehicle body 10 in the vehicle body width direction Y. However, the power receiving unit 51 may be provided only on one side of the vehicle body 10 in the vehicle body width direction Y.

[0064] Figure 8 FIG. 1 shows one form of the combined transport G1. As described above, the combined transport vehicle group G1 forms a transport path P for the article W. In this embodiment, the upper control device H (see Figure 2) is configured to enable the combined transport vehicle group G1 to selectively form a series form, a branch form, and a merging form. The series form is a form in which the transport path P becomes one path. The branch form is a form in which a branch portion Pa for branching one path into two or more paths is provided at at least one portion of the transport path P. The merging form is a form in which a merging portion Pb for merging two or more paths into one is provided at at least one portion of the transport path P. The upper control device H is configured to control the combined transport vehicle group G1 so that the series form, the branch form, and the merging form are formed separately, or these forms are formed in combination. Figure 8 In the example shown, the transport path P formed by the combined transport vehicle group G1 has all forms including a series form, a branch form and a confluence form. In addition, the series form can be curved in an L shape or a U shape in addition to being a straight line. In addition, the series form can also be a ring without ends.

[0065] like Fig. 9 As shown, by configuring at least one transport vehicle 1 of the combined transport vehicle group G1 at an adjacent position Ca adjacent to the connection object part C, the combined transport vehicle group G1 is in a connected state in which the article W can be delivered to and from the connection object part C. In this example, the transport vehicle 1 at least at one end of the combined transport vehicle group G1 (in other words, the transport vehicle 1 constituting at least one end of the transport path P) is configured at the adjacent position Ca. In addition, in this example, in the connected state of the combined transport vehicle group G1, a gap is formed between the transport vehicle 1 configured at the adjacent position Ca and the connection object part C. That is, the transport vehicle 1 configured at the adjacent position Ca is not physically connected to the connection object part C. As a result, the combined transport vehicle group G1 can smoothly connect and disconnect relative to the connection object part C.

[0066] exist Fig. 9, the storage section 81 is illustrated as the connection object part C. Moreover, as described above, the connection object part C includes the conveyor Cb. In the present embodiment, when the upper control device H sets the combined transport vehicle group G1 to the connection state, the combined transport vehicle group G1 is moved along the direction in which the articles W are transported by the conveyor Cb, that is, the conveying direction of the conveyor, so that the combined transport vehicle group G1 is close to the adjacent position Ca, thereby configuring at least one transport vehicle 1 of the combined transport vehicle group G1 at the adjacent position Ca. In the present example, the combined transport vehicle group G1 is moved as described above so that the combined transport vehicle group G1 is close to the adjacent position Ca, thereby configuring the transport vehicle 1 at one end of the combined transport vehicle group G1 at the adjacent position Ca. Thus, it is easy to appropriately make the direction in which the articles W are transported by the conveyor Cb of the connection object part C consistent with the direction in which the articles W are transported by each transport vehicle 1 constituting the combined transport vehicle group G1. For example, by starting to convey the article W on the combined transport vehicle group G1 before the combined transport vehicle group G1 is connected to the connection target location C, the article W can be transferred to the conveyor Cb of the connection target location C immediately after the combined transport vehicle group G1 is connected to the connection target location C. In this example, the combined transport vehicle group G1 moves along the conveying direction of the conveyor at least within a range of a predetermined distance or less from the adjacent location Ca. In addition, when the combined transport vehicle group G1 moves away from the adjacent location Ca, it may also move along the conveying direction of the conveyor, a direction orthogonal to the conveying direction of the conveyor, or a direction oblique to the conveying direction of the conveyor.

[0067] Fig.10 An example of a transporting form performed by a plurality of transport vehicles 1 in a combined state is shown. As described above, a plurality of transport vehicles 1 are combined to form a combined transport vehicle group G1, thereby forming a continuous transport path P. As a result, a plurality of articles W can be continuously transported along the transport path P. That is, by a plurality of transport vehicles 1 being in a combined state to form a transport path P that connects different transfer target locations T to each other, a plurality of articles W can be continuously transported between different transfer target locations T. In this way, according to the article transporting device 100 disclosed in the present invention, a transporting form in which a plurality of articles W are continuously transported to the same location can be realized.

[0068] exist Fig.10 In the example shown, a plurality of transport vehicles 1 are combined to form a transport path P connecting the loading and unloading area 9 to the automatic warehouse 8. In other words, a combined transport vehicle group G1 is configured to connect the loading and unloading area 9 to the automatic warehouse 8. In this example, a plurality of transport vehicles 1 are arranged in a row to form a transport path P and a combined transport vehicle group G1. Thus, a plurality of articles W can be continuously transported from the loading and unloading area 9 to the automatic warehouse 8.

[0069] like Fig.11As shown, the upper control device H is configured to move the combined transport vehicle group G1 between multiple connection target locations C while maintaining the combined state of multiple transport vehicles 1. In the example shown in the figure, the upper control device H moves the combined transport vehicle group G1 from the storage entry section 81 to the storage exit section 82 of the automatic warehouse 8 while maintaining the combined state of multiple transport vehicles 1. Thus, after the combined transport vehicle group G1 continuously stores multiple articles W into the automatic warehouse 8, multiple articles W that will be the storage exit targets can be continuously taken out from the automatic warehouse 8.

[0070] Here, the combined transport vehicle group G1 can utilize the respective loading portions 13 (see Figure 3 ), and load articles W of a size or quantity that cannot be transported by one transport vehicle 1. Moreover, as described above, the combined transport vehicle group G1 can move between a plurality of connection target locations C while maintaining the combined state. Therefore, articles W of a size or quantity that cannot be transported by one transport vehicle 1 can be transported between a plurality of connection target locations C. In addition, according to the above-mentioned structure, compared with each transport vehicle 1 independently moving to the target connection target location C and then combining with each other to form the combined transport vehicle group G1, the combined transport vehicle group G1 can be moved between a plurality of different connection target locations C in a short time.

[0071] In addition, in order to distinguish between two connection object parts C arranged at different positions, one of them can be defined as a first connection object part and the other can be defined as a second connection object part. That is, among the plurality of connection object parts C, there are the first connection object part and the second connection object part arranged at a position different from the first connection object part, and the upper control device H is configured to move the combined transport vehicle group G1 between the adjacent position Ca adjacent to the first connection object part and the adjacent position Ca adjacent to the second connection object part while maintaining the state of the plurality of transport vehicles 1 being combined.

[0072] like Fig.12 As shown, in this embodiment, the upper control device H is configured to selectively change the form of the conveying path P for the combined conveying vehicle group G1 in the state connected to the connection target part C. For example, the upper control device H may also add at least one of the series form, the branch form, and the confluence form to the conveying form of the existing conveying path P for the combined conveying vehicle group G1 in the state connected to the connection target part C. Alternatively, at least one of the series form, the branch form, and the confluence form may be removed from the conveying form of the existing conveying path P.

[0073] exist Fig.12In the example shown, the upper control device H controls the combined transport vehicle group G1 to set a branch portion Pa in the transport path P to add a branching form, and the transport path P becomes a series form extending in a straight line from the outgoing portion 82 as the connection object portion C. The two transport paths P on the downstream side of the branch portion Pa are respectively connected to different transfer object portions T. Thus, for example, when the number of articles W out of the automatic warehouse 8 is large, the plurality of articles W transported from the outgoing portion 82 by the combined transport vehicle group G1 can be dispersed to a plurality of transfer object portions T. Although detailed illustrations are omitted, the upper control device H can also control the combined transport vehicle group G1 to set a confluence portion Pb in the transport path P to add a confluence form, and the transport path P becomes a series form extending in a straight line from the outgoing portion 82 as the connection object portion C.

[0074] As described above, the article transport facility 100 is provided with a plurality of power supply units 7 for supplying power to the transport vehicle 1. In the present embodiment, at least one of the plurality of power supply units 7 is provided at a position adjacent to the connection target portion C. Thus, the combined transport vehicle group G1 or the individual transport vehicle 1 connected to the connection target portion C is stopped, and power can be supplied to the combined transport vehicle group G1 or the individual transport vehicle 1 during the period in which the combined transport vehicle group G1 or the individual transport vehicle 1 is stopped.

[0075] like Fig.13 As shown, in the present embodiment, at least a part of the transport vehicles 1 in the combined transport vehicle group G1, namely, the power receiving transport vehicle 1, is configured to receive power supply from the power supply unit 7. In this example, the power receiving transport vehicle 1 is set as the transport vehicle 1 arranged at the adjacent position Ca of the connection target position C among the plurality of transport vehicles 1 constituting the combined transport vehicle group G1. Moreover, the plurality of transport vehicles 1 constituting the combined transport vehicle group G1 are electrically connected to each other by the power transmission unit 52 (in other words, via the power transmission unit 52), so that the remaining transport vehicles 1 of the combined transport vehicle group G1 receive power supply from the power receiving transport vehicle 1.

[0076] In the present embodiment, the power receiving transport vehicle 1 is configured to receive power supply from the power supply unit 7 in a non-contact manner. Furthermore, as described above, the power line of the power transmission unit 52 is provided in the connection unit 20 that connects the adjacent transport vehicles 1 to each other. Therefore, the transport vehicles 1 other than the power receiving transport vehicle 1 are configured to transmit and receive power via the connection unit 20 with other adjacent transport vehicles 1. In the present example, the plurality of transport vehicles 1 other than the power receiving transport vehicle 1 are configured to transmit and receive power to each other while the power receiving transport vehicle 1 is receiving power supply from the power supply unit 7.

[0077] With such a structure, it is possible to charge a plurality of transport vehicles 1 constituting the combined transport vehicle group G1 at one time. In addition, the power supply unit 7 only needs to supply power to at least a portion of the transport vehicles 1 in the combined transport vehicle group G1, so it is not necessary to directly supply power to all of the plurality of transport vehicles 1 constituting the combined transport vehicle group G1. Therefore, it is possible to miniaturize the power supply unit 7. In addition, by miniaturizing the power supply unit 7, the degree of freedom of configuration of the power supply unit 7 is also improved.

[0078] [Other implementation methods]

[0079] Next, other embodiments will be described.

[0080] (1) In the above-mentioned embodiment, a plurality of transport vehicles 1 are combined in an adjacent manner to form a combined transport vehicle group G1, and the transfer units 14 of each transport vehicle 1 cooperate with each other to form a transport path P for transporting articles W. Such a combined transport vehicle group G1 can be composed of two or more transport vehicles 1. For example, Fig.14 As shown, the combined transport vehicle group G1 is formed by two transport vehicles 1. In this case, the transfer sections 14 of the two transport vehicles 1 form a transport path P. Such a structure is preferred when transporting articles W of a size or quantity that cannot be transported by one transport vehicle 1 to a specific location.

[0081] (2) In the above-mentioned embodiment, an example is described in which a plurality of transport vehicles 1 are connected by the connecting portion 20 of each transport vehicle 1 and a combined transport vehicle group G1 is formed. However, this is not limited to such an example, and a plurality of transport vehicles 1 may not be physically connected, and may be formed into a combined transport vehicle group G by being close to each other. In this case, in a state in which a plurality of transport vehicles 1 are combined, each of the plurality of transport vehicles 1 may be configured to travel synchronously with each other while maintaining the original state of the combined state. The control unit H1 possessed by each transport vehicle 1 communicates with each other, and the transport vehicles 1 cooperate and travel synchronously. In addition, a part of the plurality of transport vehicles 1 constituting the combined transport vehicle group G1 may be combined using the connecting portion 20, and another part may be combined by synchronization in control.

[0082] (3) In the above-mentioned embodiment, an example is described in which a gap is formed between the transport vehicle 1 arranged at the adjacent position Ca and the connection target portion C in the connected state of the combined transport vehicle group G1. However, the present invention is not limited to such an example, and the transport vehicle 1 arranged at the adjacent position Ca and the connection target portion C may be physically connected without a gap.

[0083] (4) In the above-mentioned embodiment, an example is described in which a plurality of transport vehicles 1 are arranged in a row to form a transport path P and constitute a combined transport vehicle group G1. However, the present invention is not limited to such an example, and a plurality of transport vehicles 1 may be arranged in two or more rows to form a transport path P and constitute a combined transport vehicle group G1. In this case, the transport path P is set to be a path wider than the path width formed by the plurality of transport vehicles 1 in a row.

[0084] (5) In the above-mentioned embodiment, the storage unit 81 and the storage unit 82 are exemplified as the connection target parts C. However, the connection target parts C are not limited to such examples, and the connection target parts C can be any parts as long as the transport vehicle 1 is connected to transfer the articles W. Other examples of connection target parts C include the boundary of the work area where various operations are performed, other transport devices other than the transport vehicle 1, and the like.

[0085] (6) In the above-mentioned embodiment, an example is described in which a plurality of transport vehicles 1 other than the power receiving transport vehicle 1 are configured to mutually transmit and receive power while the power receiving transport vehicle 1 receives power from the power supply unit 7. However, the present invention is not limited to such an example, and the power receiving transport vehicle 1 may receive sufficient power from the power supply unit 7 and store the power, and after the entire combined transport vehicle group G1 leaves the power supply unit 7, a plurality of transport vehicles 1 other than the power receiving transport vehicle 1 receive power from the power receiving transport vehicle 1 and mutually transmit and receive power. In this case, the power receiving transport vehicle 1 is preferably equipped with a large-capacity battery that can be charged at a high speed.

[0086] (7) In the above-mentioned embodiment, an example is described in which the power receiving unit 51 of the transport vehicle 1 is configured using a power receiving pad, and the transport vehicle 1 is configured to receive power supply in a non-contact manner from the power supply unit 7 having the power transmission pad. However, the present invention is not limited to such an example, and the transport vehicle 1 may be configured to receive power supply while being connected to the power supply unit 7 by a power line.

[0087] (8) In the above-mentioned embodiment, an example is described in which the transport vehicles 1 constituting the combined transport vehicle group G1 are electrically connected to each other via the power transmission unit 52 that transmits power to other transport vehicles 1 in a contact manner. However, the present invention is not limited to such an example, and the transport vehicles 1 constituting the combined transport vehicle group G1 may be electrically connected to each other via the power transmission unit 52 that transmits power to other transport vehicles 1 in a non-contact manner.

[0088] (9) In addition, the structure disclosed in the above-mentioned embodiment can also be combined with the structure disclosed in other embodiments and applied as long as there is no contradiction. Regarding other structures, the embodiments disclosed in this specification are also only illustrative in all aspects. Therefore, various changes can be appropriately made within the scope of the main purpose of the present disclosure.

[0089] [Summary of this embodiment]

[0090] Hereinafter, a summary of this embodiment will be described.

[0091] An article conveying device comprises: a plurality of conveying vehicles that convey articles by running on a running surface without tracks; a plurality of connection object parts that become objects to which the conveying vehicles are connected; and a control system that controls the plurality of conveying vehicles; the conveying vehicles comprise: a loading part that loads the articles; and a transfer part that transfers the articles loaded on the loading part; in a combined state in which the plurality of conveying vehicles are combined in an adjacent manner, the plurality of transfer parts cooperate with each other to form a conveying path for conveying the articles; the plurality of conveying vehicles in the combined state are set as a combined conveying vehicle group; at least one of the combined conveying vehicle groups controls the conveying of the articles. The aforementioned transport vehicles are arranged at adjacent positions adjacent to the aforementioned connection object parts, and the aforementioned combined transport vehicle group is in a connection state capable of performing the transfer of the aforementioned articles between the aforementioned connection object parts; the plurality of aforementioned connection object parts include a first connection object part and a second connection object part arranged at a position different from the aforementioned first connection object part; the aforementioned control system is configured to enable the aforementioned combined transport vehicle group to move between the aforementioned adjacent position adjacent to the aforementioned first connection object part and the aforementioned adjacent position adjacent to the aforementioned second connection object part while maintaining the state in which the plurality of aforementioned transport vehicles are combined.

[0092] According to the present structure, each transport vehicle can transport articles to various locations individually, and a plurality of transport vehicles can transport articles along a continuous transport path by combining. That is, the transport vehicles can be used to realize a transport mode in which a specific article is transported to a specific location and a transport mode in which a plurality of articles are continuously transported to the same location. Furthermore, the combined transport vehicle group can utilize the respective loading parts of the plurality of transport vehicles constituting the combined transport vehicle group to load articles of a size or quantity that cannot be transported by a single transport vehicle. Moreover, the combined transport vehicle group can move between a plurality of connection object locations while maintaining the original state of the combined state. Therefore, articles of a size or quantity that cannot be transported by a single transport vehicle can be transported between a plurality of connection object locations. As described above, according to the present structure, the transport mode of articles can be flexibly changed.

[0093] Preferably, the aforementioned connection object part includes a conveyor; and the aforementioned control system, when setting the aforementioned combined conveying vehicle group to the aforementioned connection state, causes the aforementioned combined conveying vehicle group to move along the direction in which the aforementioned articles are conveyed by the aforementioned conveyor, i.e., the conveying direction of the conveyor, so that the aforementioned combined conveying vehicle group approaches the aforementioned adjacent position, thereby configuring at least one of the aforementioned conveying vehicles of the aforementioned combined conveying vehicle group at the aforementioned adjacent position.

[0094] According to this structure, when the transport vehicle arranged at the adjacent position is a transport vehicle at one end of the combined transport vehicle group, etc., it is easy to appropriately make the direction of the conveyor conveying the articles at the connection target portion coincide with the direction of the conveying articles by each transport vehicle constituting the combined transport vehicle group. In addition, it is easy to realize the state in which the combined transport vehicle group is connected to the connection target portion.

[0095] Preferably, the control system is configured to enable the combined transport vehicle group to selectively form a series form, a branch form and a merging form, the series form is a form in which the transport path becomes one path, the branch form is a form in which a branch portion that branches one path into two or more paths is provided at least one portion of the transport path, and the merging form is a form in which a merging portion that merges two or more paths into one is provided at least one portion of the transport path.

[0096] According to this structure, the shape of the transport path formed by the transfer parts of the plurality of transport vehicles can be easily and flexibly set. In addition, the degree of freedom of transport is improved.

[0097] Preferably, a power supply unit is provided for supplying power to the transport vehicle in a state where its position relative to the travel surface is fixed; each of the plurality of transport vehicles is provided with a power transmission unit for supplying power to other transport vehicles in a state where it is combined with the other transport vehicles; at least a part of the transport vehicles in the combined transport vehicle group, i.e., the power receiving transport vehicle, receives power from the power supply unit; and the plurality of transport vehicles constituting the combined transport vehicle group are electrically connected to each other via the power transmission unit so that the remaining transport vehicles in the combined transport vehicle group receive power from the power receiving transport vehicle.

[0098] According to this structure, multiple transport vehicles constituting a combined transport vehicle group can be charged at one time. In addition, the power supply unit only needs to supply power to at least a part of the transport vehicles in the combined transport vehicle group, and does not need to directly supply power to all of the multiple transport vehicles constituting the combined transport vehicle group. Therefore, it is easy to achieve miniaturization of the power supply unit and simplification of the structure.

[0099] Industrial Applicability

[0100] The technology according to the present disclosure can be utilized in article transport facilities including a plurality of transport vehicles that transport articles by traveling on a travel surface without tracks.

[0101] Description of Reference Numerals

[0102] 100: Goods conveying equipment

[0103] 1: Transport vehicle

[0104] 7: Power supply unit

[0105] 13: Loading section

[0106] 14: Transfer unit

[0107] 52: Power transmission unit

[0108] C: Connection target part

[0109] Ca: adjacent position

[0110] Cb: Conveyor

[0111] G1: Combined transport vehicle group

[0112] H: Host control device (control system)

[0113] P: Conveying path

[0114] Pa: Branch

[0115] Pb: confluence part

[0116] W :Item

Claims

1. An article conveying device, comprising: Multiple transport vehicles, running without tracks on the running surface to transport items; A plurality of connection target parts become targets to which the transport vehicle is connected; and A control system for controlling the plurality of aforementioned transport vehicles; It is characterized in that The above-mentioned transport vehicle has: a loading portion for loading the aforementioned articles; and A transfer unit for transferring the article placed on the placing unit; In a combined state where the plurality of transport vehicles are combined in an adjacent manner, the plurality of transfer units cooperate with each other to form a transport path for transporting the articles; The plurality of transport vehicles in the combined state are set as a combined transport vehicle group; At least one of the transport vehicles of the combined transport vehicle group is arranged at an adjacent position adjacent to the connection target portion, so that the combined transport vehicle group is in a connection state capable of delivering the article between the combined transport vehicle group and the connection target portion; The plurality of connection target sites include a first connection target site and a second connection target site disposed at a position different from the first connection target site; The control system is configured to move the combined transport vehicle group between the adjacent position adjacent to the first connection target site and the adjacent position adjacent to the second connection target site while maintaining the state in which the plurality of transport vehicles are combined.

2. The article conveying device according to claim 1, characterized in that: The aforementioned connection object part includes a conveyor; When the control system sets the combined transport vehicle group to the connected state, the control system moves the combined transport vehicle group along the direction in which the articles are transported by the conveyor, i.e., the conveying direction of the conveyor, so that the combined transport vehicle group approaches the adjacent position, thereby configuring at least one of the transport vehicles of the combined transport vehicle group at the adjacent position.

3. The article conveying device according to claim 1, characterized in that: The control system is configured to enable the combined transport vehicle group to selectively form a series form, a branch form and a merging form. The series form is a form in which the transport path becomes one path. The branch form is a form in which a branch portion that branches one path into two or more paths is provided at at least one position of the transport path. The merging form is a form in which a merging portion that merges two or more paths into one path is provided at at least one position of the transport path.

4. The article conveying device according to any one of claims 1 to 3, characterized in that: A power supply unit is provided for supplying power to the transport vehicle in a state where the position relative to the travel surface is fixed; Each of the plurality of transport vehicles comprises a power transmission unit for transmitting electric power to the other transport vehicles in a state of being combined with the other transport vehicles; At least a part of the transport vehicles in the combined transport vehicle group, namely, the power receiving transport vehicles, receives power from the power supply unit; The plurality of transport vehicles constituting the combined transport vehicle group are electrically connected to each other via the power transmission unit so that the remaining transport vehicles of the combined transport vehicle group receive power from the power receiving transport vehicle.

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