Article conveying facility
By adopting the method of rotary action and lifting platform design in the item conveying equipment for multi-layered driving floors, the problem of difficulty in starting the conveyor truck during the lifting process is solved, and the flexibility of the conveyor truck in the arrival floor is achieved.
Patent Information
- Application Number
- CN202380077654.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2022-11-08
- Filing Date
- 2023-08-22
- Publication Date
- 2025-06-20
AI Technical Summary
In the item conveying equipment for multi-level flooring, the conveyor vehicle is prone to difficulty in starting due to clamping during the lifting process, especially when it encounters difficulties when it needs to start smoothly in the arrival floor.
An item conveying equipment is designed, using a pair of cranes and a straight path. The conveyor truck is pre-adjusted to a suitable starting position by performing a slewing action during the lifting of the crane. At the same time, the lifting platform of the crane is larger than the slewing trajectory of the conveyor truck in the up and down directions, allowing the conveyor truck to rotate appropriately during the lifting process.
The conveyor vehicle starts smoothly in the arrival floor, avoids starting difficulties caused by engagement, and improves the flexibility and movement efficiency of the conveyor vehicle during lifting and lowering.
Smart Images
Figure CN120187650A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to an article conveying device including a traveling floor having a plurality of levels arranged in the vertical direction and a conveying vehicle that travels on the traveling floor and conveys articles. Background Art
[0002] An example of such an article conveying device is disclosed in Japanese Patent No. 6833983 (Patent Document 1). Hereinafter, the reference numerals shown in parentheses in the description of the background art are the reference numerals of Patent Document 1.
[0003] The device disclosed in Patent Document 1 includes a crane (20) that raises and lowers a conveying vehicle (30) between different levels (40, 41). When the conveying vehicle (30) is moved to a different level by the crane (20), a part (32) of the conveying vehicle (30) that enters the crane (20) engages with a part (116) of the crane (20). Then, in the state of this engagement as it is, the conveying vehicle (30) is raised and lowered by the crane (20).
[0004] Prior Art Documents
[0005] Patent Documents
[0006] Patent Document 1: Japanese Patent No. 6833983 Summary of the Invention
[0007] Problems to be Solved by the Invention
[0008] As described above, in the device of Patent Document 1, when the conveying vehicle (30) is raised and lowered by the crane (20), a part (32) of the conveying vehicle (30) is engaged with a part (116) of the crane (20). Therefore, the posture of the conveying vehicle (30) is the same at the departure level and the arrival level. Thus, when the conveying vehicle (30) advances on the departure level and enters the crane (20), it needs to reverse and exit the crane (20) at the arrival level. Since the normal movement of such a conveying vehicle is generally forward, there is a problem that it is difficult to smoothly start at the arrival level when it needs to reverse at the start of movement.
[0009] In view of the above actual situation, it is desired to implement a technology in an article conveying device having a traveling floor with a plurality of levels that can smoothly start a conveying vehicle at the arrival level.
[0010] Means for Solving the Problems
[0011] An article conveying device including a traveling floor having a plurality of levels arranged in the vertical direction and a conveyer for conveying articles while traveling on the traveling floor, comprising: a straight path provided on each of the plurality of traveling floors, which is a traveling path for the conveyer to travel straight; and a first crane and a second crane, which are a pair of cranes for lifting and lowering the conveyer across the plurality of traveling floors; the conveyer is configured to travel straight and perform a turning motion around a vertical axis on the spot to change its direction; the straight paths of a pair of the traveling floors adjacent to each other in the vertical direction are respectively set as a first straight path and a second straight path; the first straight path and the second straight path are parallel to each other, and the traveling directions of the conveyer in the first straight path and the traveling directions of the conveyer in the second straight path are set to be opposite to each other; the side where the conveyer travels in the first straight path is set as the first side of the straight path, and the side where the conveyer travels in the second straight path is set as the second side of the straight path; the first crane is configured to connect the end of the first side of the first straight path to the end of the first side of the second straight path; the second crane is configured to connect the end of the second side of the first straight path to the end of the second side of the second straight path; the first crane and the second crane respectively include a lifting platform capable of placing the conveyer; the lifting platform is larger than the turning trajectory of the conveyer performing the turning motion in the vertical direction view.
[0012] According to this structure, the conveyer can be pre-positioned in a posture suitable for starting on the arrival floor by performing a turning motion during the lifting by the crane. Therefore, the conveyer can smoothly start on the arrival floor. In addition, according to this structure, the lifting platform of the crane is larger than the turning trajectory of the conveyer in the vertical direction view. Therefore, the conveyer can appropriately perform a turning motion even during the lifting by the crane.
[0013] More features and advantages of the technology related to the present disclosure should become clearer from the following description of exemplary and non-limiting embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a top view showing the first floor traveling floor and the second floor traveling floor of the article conveying device.
[0015] Figure 2 It is an explanatory diagram showing the traveling motion of the conveyer.
[0016] Figure 3 It is an explanatory diagram showing the state of the conveyer circulating on each level.
[0017] Figure 4 It is an explanatory diagram showing the state of the transporter moving on the driving floors of different floors.
[0018] Figure 5 It is an explanatory diagram showing the intervals between the respective lifting platforms and the positional relationship between the lifting platforms and the driving floors. Detailed implementation mode
[0019] The article conveying device includes a plurality of levels of driving floors arranged in the vertical direction and a transporter that travels on the driving floors to convey articles. Hereinafter, an implementation mode of the article conveying device will be described with reference to the drawings.
[0020] As Figure 1 shown, the article conveying device 100 includes a plurality of levels of driving floors F arranged in the vertical direction, and a transporter V that travels on the driving surfaces Fa respectively formed on the plurality of driving floors F. Among the driving floors F of each level, a plurality of transporters V travel on the driving surface Fa.
[0021] In the present implementation mode, the article conveying device 100 further includes a control device M that controls the plurality of transporters V. The control device M issues conveyance instructions, standby instructions, etc. to each transporter V. In the conveyance instruction, the conveyance source and the conveyance destination of the article G are specified. The transporter V that receives the conveyance instruction receives the article G at the specified conveyance source and conveys the article G to the specified conveyance destination. In addition, a standby location is specified in the standby instruction. The transporter V that receives the standby instruction travels to the specified standby location and waits on the spot until the next instruction is received, etc.
[0022] In Figure 1 the example shown, the article conveying device 100 includes two levels of driving floors F. Figure 1 The driving floor F of the first floor and the driving floor F of the second floor are shown. However, the present disclosure is not limited to such a structure, and the article conveying device 100 may also include three or more levels of driving floors F.
[0023] The article conveying device 100 includes a straight path R, which is respectively provided on the plurality of driving floors F and is a driving path for the transporter V to travel straight. The straight paths R of a pair of driving floors F adjacent to each other in the vertical direction are respectively set as the first straight path R1 and the second straight path R2. In this example, the first straight path R1 is provided on the driving floor F of the first floor. The second straight path R2 is provided on the driving floor F of the second floor. Hereinafter, when the first straight path R1 and the second straight path R2 are not particularly distinguished, the two are sometimes collectively referred to as the "straight path R".
[0024] The straight path R is configured as a part of the traveling floor F. The traveling floor F of each floor has a straight path R and a traveling area Ff. In the illustrated example, the first straight path R1 is a passage that straddles the work area WA and the sorting area SA described later. When the transporter V conveys the article G from the work area WA to the sorting area SA, it travels in the first straight path R1. The traveling area Ff is a flatly expanded portion of the traveling floor F. The transporter V can travel freely in the traveling area Ff. In the present embodiment, the straight path R and the traveling area Ff overlap in part. In the illustrated example, in the traveling floor F of the first floor, a traveling area Ff is provided between the work area WA and the sorting area SA. The first straight path R1 is provided so as to cross the traveling area Ff between the work area WA and the sorting area SA.
[0025] Hereinafter, the direction in which the first straight path R1 extends is set as the "straight path direction X", and the direction orthogonal to the straight path direction X in the vertical direction view is set as the "path width direction Y". In addition, in the present embodiment, the second straight path R2 extends in the same direction as the first straight path R1 in a layer different from the layer in which the first straight path R1 is provided. That is, the second straight path R2 extends along the straight path direction X.
[0026] As Figure 2 shown, the transporter V is configured to travel straight and perform a turning operation of rotating around the vertical axis on the spot to change the direction. By traveling straight and performing the turning operation, the transporter V can travel freely in the traveling area Ff of the traveling floor F of the first floor and the traveling floor F of the second floor, respectively.
[0027] On the traveling surface Fa, a traveling path of the transporter V is set so as to extend along the straight path direction X and the path width direction Y, respectively. At the intersection of the traveling path extending along the straight path direction X and the traveling path extending along the path width direction Y, a turning position that allows the turning operation of the transporter V is set.
[0028] In the present embodiment, position information holding portions In that hold position information are provided at a plurality of positions on the traveling floor F. A traveling path of the transporter V is set so as to connect the plurality of position information holding portions In. A turning position that allows the turning operation of the transporter V is set based on the positions of the position information holding portions In. Moreover, in the present embodiment, the transporter V is configured to travel on the traveling floor F while reading the position information held by the plurality of position information holding portions In provided on the traveling floor F, and perform a turning operation at a position corresponding to the position information holding portion In.
[0029] In this embodiment, inherent identification information is set in the position information holding unit In. In this example, the identification information includes address information indicating the position where the position information holding unit In is installed. The transporter V is provided with a detection unit (not shown) for detecting the position information holding unit In. Further, the transporter V can grasp the position where the position information holding unit In is installed, that is, the current position of the vehicle itself at the time of detection, by detecting the position information holding unit In with this detection unit. For example, as the position information holding unit In, a one-dimensional code or a two-dimensional code holding the identification information can be used. Alternatively, as the position information holding unit In, an RFID tag (Radio Frequency Identification Tag) holding the identification information can be used.
[0030] As Figure 1 shown, the article conveying device 100 includes a pair of cranes L, i.e., a first crane L1 and a second crane L2, for lifting and lowering the transporter V across a plurality of travel floors F. Hereinafter, when the first crane L1 and the second crane L2 are not particularly distinguished, they may be collectively referred to as the "crane L".
[0031] The article conveying device 100 includes: an article supply unit Pg to which an article G is supplied; a work area WA for performing an operation of transferring the article G supplied from the article supply unit Pg to the transporter V; a sorting area SA for performing a sorting operation of the article G conveyed by the transporter V; and an empty container recovery device B for recovering the empty container C generated by the sorting operation in the sorting area SA. In this embodiment, the work area WA corresponds to the "article receiving area where the transporter receives the article". The sorting area SA corresponds to the "article discharging area where the transporter discharges the article".
[0032] In this embodiment, both the work area WA and the sorting area SA are provided at the same level as the first-floor travel floor F. Further, neither the work area WA nor the sorting area SA is provided on the second-floor travel floor F. That is, the article receiving area (work area WA) where the transporter V receives the article G and the article discharging area (sorting area SA) where the transporter V discharges the article G are provided on the travel floor F of the same floor.
[0033] The work area WA is arranged adjacent to both the first straight path R1 and the article supply unit Pg. In the present embodiment, the article supply unit Pg supplies the article G to the work area WA in a state of being housed in the supply container Cp. In the work area WA, an operation of taking out the article G housed in the supply container CP and handing over the article G to the transport vehicle V waiting in the first straight path R1 is performed. The handover of the article G to the transport vehicle V can be performed in a state where the article G is housed in a container C different from the supply container Cp, or can be performed in a manner of handing over the article G as it is without housing the article G in the container C. In the present embodiment, the above operation in the work area WA is performed by the worker W. However, the above operation may be performed not by the worker W but by a robot, or may be performed by both the worker W and the robot.
[0034] The transport vehicle V is configured to transport the article G or the container C housing the article G. In the present embodiment, the transport vehicle V transports the article G or the container C housing the article G received from the work area WA to the sorting area SA.
[0035] The sorting area SA is provided adjacent to the first straight path R1 in the path width direction Y at a location away from the work area WA. In the sorting area SA, a sorting operation of the article G transported by the transport vehicle V is performed. The sorting operation is performed based on preset order information. For example, in the order information, various information such as customer information, shipping destination information, and article type information is included.
[0036] In the present embodiment, when the transport vehicle V transports the article G housed in the container C to the sorting area SA, in the sorting area SA, a taking-out operation of taking out the article G from the container C transported by the transport vehicle V is performed. That is, in the sorting operation, a taking-out operation of taking out the article G from the container C transported by the transport vehicle V is included. By means of this taking-out operation, the container C and the article G are separated, and an empty container C is generated. When the transport vehicle V transports the article G (article G not housed in the container C) to the sorting area SA, in the sorting area SA, a receiving operation of receiving the article G transported by the transport vehicle V is performed. The article G taken out from the container C by the taking-out operation and the article G received by the receiving operation are housed in an unillustrated container corresponding to the shipping destination, for example.
[0037] The empty container recovery device B is configured to recover the empty container C generated by the above-described removal operation. Moreover, the recovery path Rb for conveying the empty container C by the empty container recovery device B extends to a position adjacent to the work area WA. In this example, the recovery path Rb extends into the work area WA. The empty container C recovered by the empty container recovery device B is conveyed along the recovery path Rb to the work area WA and is used for the operations in the work area WA. The empty container recovery device B is constituted by, for example, a conveying mechanism. The empty container recovery device B constituted by the conveying mechanism extends along the recovery path Rb. In the present embodiment, the sorting operation (including the above-described removal operation) in the sorting area SA is performed by the worker W. However, the sorting operation may be performed not by the worker W but by a robot, or may be performed by both the worker W and the robot.
[0038] After the transporter V hands over the article G to the sorting area SA, it gets on the crane L and travels toward the traveling floor F on another floor (the traveling floor F on the second floor in this example). Next, the transporter V travels on the traveling floor F on the second floor and gets on another crane L, and returns to the traveling floor F on the floor where the above-described work area WA and sorting area SA are provided (the traveling floor F on the first floor in this example). The returned transporter V receives the article G in the work area WA in the same manner as above and conveys the article G to the sorting area SA.
[0039] Figure 3 Shows the state of the transporter V traveling between the respective levels. As Figure 3 shown, the first straight path R1 and the second straight path R2 are parallel to each other, and the traveling direction of the transporter V in the first straight path R1 and the traveling direction of the transporter V in the second straight path R2 are set to be opposite to each other. Hereinafter, the side toward which the transporter V travels in the first straight path R1 is set as "straight path first side X1", and the side toward which the transporter V travels in the second straight path R2 is set as "straight path second side X2".
[0040] The first crane L1 is configured to connect the end of the first straight path R1 on the straight path first side X1 to the end of the second straight path R2 on the straight path first side X1. The first crane L1 is configured to lift and lower the transporter V between the end of the first straight path R1 on the straight path first side X1 and the end of the second straight path R2 on the straight path first side X1.
[0041] The second crane L2 is configured to connect the end of the first straight path R1 on the straight path second side X2 to the end of the second straight path R2 on the straight path second side X2. The second crane L2 is configured to lift and lower the transporter V between the end of the first straight path R1 on the straight path second side X2 and the end of the second straight path R2 on the straight path second side X2.
[0042] The first crane L1 is arranged on the first side X1 of the straight path with respect to the second crane L2. The second crane L2 is arranged on the second side X2 of the straight path with respect to the first crane L1. Between the first crane L1 and the second crane L2 in the straight path direction X, a first straight path R1 and a second straight path R2 are arranged. In addition, at least one of the first straight path R1 and the second straight path R2 may be connected to an extended path (not shown), and the extended path extends along the horizontal plane from a portion connecting the first crane L1 or the second crane L2.
[0043] The first crane L1 and the second crane L2 each include a lifting platform La capable of placing the transport vehicle V. The first crane L1 and the second crane L2 each lift the transport vehicle V across multiple levels in a state where the transport vehicle V is placed on the lifting platform La provided by itself. The first crane L1 and the second crane L2 are configured to lift the lifting platform La while maintaining the posture of the lifting platform La along the horizontal plane (for example, a posture parallel to the horizontal plane). In this example, in all of the ascending path RLu, the descending path RLd, and the pair of connecting paths RLc described later, the posture of the lifting platform La is maintained along the horizontal plane.
[0044] In the present embodiment, the first crane L1 and the second crane L2 each include a plurality of lifting platforms La. The first crane L1 and the second crane L2 are each configured to circulate the plurality of lifting platforms La along a preset circular path RL.
[0045] The circular path RL includes an ascending path RLu for lifting the lifting platform La, a descending path RLd for lowering the lifting platform La, and a pair of connecting paths RLc connecting the ascending path RLu and the descending path RLd on both sides in the vertical direction. In the present embodiment, the ascending path RLu and the descending path RLd extend along the vertical direction and are arranged in a manner of being arranged in the straight path direction X. In addition, in this example, the pair of connecting paths RLc are formed in an arc shape. Therefore, the circular path RL is a path having a substantially elliptical shape extending along the vertical direction when viewed in the path width direction Y.
[0046] In the present embodiment, the first crane L1 and the second crane L2 are each configured to move the plurality of lifting platforms La only toward one side in the direction along the circular path RL. In other words, the direction in which the first crane L1 and the second crane L2 each circulate the plurality of lifting platforms La is preset to one direction.
[0047] In this embodiment, the first crane L1 is set for the ascent of the transporter V, and is configured such that the transporter V is placed only on the lift table La on the ascent path RLu. When the transporter V is temporarily stored on a certain lift table La of the first crane L1 as described later, for example, the transporter V that is not the object of non-temporary storage (in other words, the working transporter V) is placed only on the lift table La on the ascent path RLu. In this example, the first crane L1 is configured such that the transporter V is not placed on the lift tables La on the paths other than the ascent path RLu in the circular path RL (descent path RLd and a pair of connection paths RLc). In other words, the first crane L1 receives the transporter V from the first straight path R1 in the ascent path RLu, and transfers the transporter V to the second straight path R2 in the ascent path RLu. That is, the first crane L1 transfers the transporter V received from the first straight path R1 in the ascent path RLu to the second straight path R2 before the transporter V passes through the connection path RLc and the descent path RLd.
[0048] As a storage unit for storing the transporter V, the lift table La can also be used. For example, when the equipment is in a standby state, or when the battery of the transporter V runs out or a failure occurs, etc., and the transporter V cannot work as intended in the equipment, the lift table La is sometimes used as a storage unit for the transporter V. In such a case, the first crane L1 can also place the transporter V on the lift tables La on the descent path RLd and the connection path RLc outside the ascent path RLu. That is, in this example, a part of the plurality of lift tables La of the first crane L1 functions as a storage unit for temporarily storing the transporter V. In this case, for example, the control device M (refer to Figure 1 ) designates a certain one of the plurality of lift tables La of the first crane L1 for a specific transporter V to be stored, and issues a standby command to standby on the designated lift table La.
[0049] In this embodiment, the second crane L2 is set for lowering the transporter V, and is configured to place the transporter V only on the lift table La in the lowering path RLd. When the transporter V is temporarily stored on a certain lift table La of the second crane L2 as described later, for example, only the transporter V that is not the object of temporary storage (in other words, the working transporter V) is placed on the lift table La in the lowering path RLd. In this example, the second crane L2 is configured not to place the transporter V on the lift tables La in the paths other than the lowering path RLd (the ascending path RLu and the pair of connecting paths RLc) in the circular path RL. In other words, the second crane L2 receives the transporter V from the second straight path R2 in the lowering path RLd, and transfers the transporter V to the first straight path R1 in the lowering path RLd. That is, the second crane L2 transfers the transporter V received from the second straight path R2 in the lowering path RLd to the first straight path R1 before the transporter V passes through the connecting path RLc and the ascending path RLu. In addition, the second crane L2 can also place the transporter V on the lift tables La in the ascending path RLu and the connecting path RLc outside the lowering path RLd. That is, in this example, a part of the plurality of lift tables La of the second crane L2 functions as a storage unit for temporarily storing the transporter V. In this case, for example, the control device M (refer to Figure 1 ) designates one of the plurality of lift tables La of the second crane L2 for a specific transporter V to be stored, and issues a standby instruction to standby on the designated lift table La.
[0050] As described above, in this embodiment, the work area WA (article receiving area) where the transporter V receives the article G and the sorting area SA (article discharging area) where the transporter V discharges the article G are provided on the traveling floor F of the same floor. Specifically, the work area WA and the sorting area SA are provided on the traveling floor F of the first floor. In this example, the transporter V exits from the exit of the second crane L2 for lowering to the traveling floor F of the first floor, and receives the article G in the work area WA. Then, the transporter V travels in the first straight path R1 toward the first side X1 of the straight path while holding the article G, and discharges the article G in the sorting area SA. Then, the transporter V enters the first crane L1 for ascending from the traveling floor F of the first floor, and heads toward the traveling floor F of the second floor. The transporter V exits from the exit of the first crane L1 for ascending to the traveling floor F of the second floor, and travels in the second straight path R2 toward the second side X2 of the straight path. Moreover, the transporter V enters the second crane L2 for lowering, and heads toward the traveling floor F of the first floor. In this way, the transporter V circulates between the traveling floor F of the first floor and the traveling floor F of the second floor.
[0051] As described above, in the structure where the work area WA (article receiving area) of the transporter V for receiving the article G and the sorting area SA (article discharging area) where the transporter V discharges the article G are provided on the driving floor F of the same floor, since the transporter V completes the transportation of the article G on the same floor, it does not board both the first crane L1 and the second crane L2 while holding the article G. That is, the transporter V boards either the first crane L1 or the second crane L2 without holding the article G.
[0052] In the present embodiment, the work area WA (article receiving area) of the transporter V for receiving the article G is provided adjacent to the exit of one of the first crane L1 and the second crane L2, which is the target crane. In this example, the second crane L2 is set as the target crane. In addition, the one of the first crane L1 and the second crane L2 that is not the target crane is set as the non-target crane. In this example, the first crane L1 is set as the non-target crane. Moreover, the control device M (refer to Figure 1 ) controls the transporter V on the driving floor F (the driving floors F of the first and second floors) so that the number of transporter Vs in the target crane (the second crane L2) becomes equal to or more than the number of transporter Vs in the non-target crane (the first crane L1).
[0053] According to such a structure, since the number of transporter Vs in the target crane (the second crane L2) can be relatively increased, it is easy to increase the number of transporter Vs that can reach the work area WA (article receiving area) provided at the exit of the target crane (the second crane L2) in a short time. Therefore, the possibility of the transporter V waiting in the work area WA (article receiving area) can be reduced, and the proportion of the transporter Vs that are transporting the article G among the multiple transporter Vs in the equipment can be increased. Thus, it can contribute to the improvement of the transportation capacity of the entire equipment.
[0054] Figure 4 It is an explanatory diagram when the transporter V moves on the driving floors F of different floors. Specifically, Figure 4 It shows the situation where the transporter V moves from the driving floor F of the first floor to the driving floor F of the second floor through the first crane L1. In addition, Figure 4 shows the structure around the first crane L1, but the structure around the second crane L2 is the same. Therefore, the illustration of the structure around the second crane L2 is omitted.
[0055] As Figure 4As shown, in the first straight path R1 and the second straight path R2, a plurality of position information holding units In are arranged along the straight path direction X. A position information holding unit In is also provided on the placement surface Lf of the placement conveyance vehicle V of the lifting tables La of the first crane L1 and the second crane L2. The conveyance vehicle V travels while sequentially reading the position information holding units In on the first straight path R1 or the second straight path R2. Moreover, the conveyance vehicle V enters the first crane L1 or the second crane L2 along the plurality of position information holding units In, or exits from the first crane L1 or the second crane L2.
[0056] In the first straight path R1 and the second straight path R2, there is at least no space for two or more conveyance vehicles V to travel side by side in the path width direction Y near the crane L. That is, in the first straight path R1 and the second straight path R2 near the crane L, there is only space for one conveyance vehicle V to travel. Therefore, the conveyance vehicle V that enters the crane L to move to a different floor traveling floor F needs to exit from the crane L in the opposite direction to the entering direction on the arrival floor. However, as described above, in the first straight path R1 and the second straight path R2 near the crane L, there is no space for pre-converting the direction before entering the crane L.
[0057] Therefore, in the article conveyance device 100 related to the present disclosure, the conveyance vehicle V is configured to perform a turning operation inside the crane L to convert the direction. Specifically, when the conveyance vehicle V travels toward the first side X1 of the straight path and enters the crane L (here, the first crane L1), it turns 180° inside the crane L and faces the second side X2 of the straight path. Moreover, on the arrival floor, it exits from the crane L (the first crane L1) and travels toward the second side X2 of the straight path. In addition, when the conveyance vehicle V travels toward the second side X2 of the straight path and enters the crane L (here, the second crane L2), it turns 180° inside the crane L (the second crane L2) and faces the first side X1 of the straight path. Moreover, on the arrival floor, it exits from the crane L (the second crane L2) and travels toward the first side X1 of the straight path. With such a structure, the conveyance vehicle V can smoothly exit from the crane L on the arrival floor. In addition, even if there is a space for direction conversion near the crane L, such a space is not utilized. If the conveyance vehicle V is made to perform direction conversion inside the crane L as in the above structure, the period during which the conveyance vehicle V is lifted by the crane L can also be used for direction conversion. Thus, the conveyance vehicle V can be moved efficiently.
[0058] As Figure 4As shown, the lifting platform La is larger than the trajectory of the transporter V that performs the turning operation, i.e., the turning trajectory Vt, when observed in the vertical direction. Thus, the transporter V can also appropriately perform the turning operation during the lifting by the crane L.
[0059] In the present embodiment, the lifting platform La includes a pair of transverse walls w1 arranged apart in the path width direction Y, a rear wall w2 arranged on the inner side in the straight path direction X (in the illustrated example, the first straight path side X1) with respect to the entrance and exit of the crane L, and a bottom w3 having a placement surface Lf for placing the transporter V. In this example, a position information holding portion In is provided on the placement surface Lf of the bottom w3, and the pair of transverse walls w1 and the rear wall w2 are arranged at positions that do not interfere with the turning trajectory Vt when the transporter V turns at the position of the position information holding portion In. Thus, the transporter V can appropriately perform the turning operation within the crane L without interfering with the pair of transverse walls w1 and the rear wall w2.
[0060] Taking the case where the transporter V moves from the first straight path R1 (the traveling floor F on the first floor) to the second straight path R2 (the traveling floor F on the second floor) as an example for explanation. The transporter V travels along the plurality of position information holding portions In in the first straight path R1 toward the first straight path side X1, and enters the first crane L1 for ascending (refer to Figure 4 (a)). The transporter V turns within the first crane L1 during the ascent from the first floor to the second floor, and changes direction by 180° (refer to Figure 4 (b)). Thus, the transporter V that faced the first straight path side X1 when entering the first crane L1 faces the opposite side, i.e., the second straight path side X2. If the transporter V reaches the second floor at the second straight path R2, it starts moving toward the second straight path side X2 and exits from the first crane L1 (refer to Figure 4 (c)).
[0061] Here, as described above, in the present embodiment, the article receiving area (working area WA) of the transporter V for receiving the article G and the article discharging area (sorting area SA) where the transporter V discharges the article G are provided on the same floor. Therefore, the transporter V basically does not board the crane L while holding the article G. However, in the case where the transporter V discharges only a part of the article G in the article discharging area, or in the case where the article receiving area (working area WA) and the article discharging area (sorting area SA) are provided on different floors instead of the same floor, etc., it is necessary for the transporter V to board the crane L while holding the article G. The article conveying device 100 related to the present disclosure can also correspond to such cases, and can appropriately move the transporter V holding the article G to the traveling floor F on other floors. Hereinafter, refer to Figure 5 for the explanation.
[0062] Figure 5 It shows the intervals between the multiple lifting platforms La of the crane L and the positional relationship between the multiple lifting platforms La and the traveling floors F of each floor. Additionally, Figure 5 It shows the structure of the second crane L2, but the structure of the first crane L1 is the same. Therefore, the illustration of the structure of the first crane L1 is omitted.
[0063] In the present embodiment, the vertical interval Hd between the multiple lifting platforms La of each of the first crane L1 and the second crane L2 is set to be equal to or greater than the length obtained by adding a certain margin Ha to the height (Hv + Hc) of the transport vehicle V holding the article G, which is the height of the transport vehicle V plus the height of the article G. It is set such that in a state where one of the multiple lifting platforms La is connected to the traveling floor F provided with the first straight path R1, the other of the multiple lifting platforms La becomes in a state of being connected to the traveling floor F provided with the second straight path R2. Thus, even when the transport vehicle V rides on the crane L while holding the article G as it is, interference of the article G with respect to the other lifting platforms La adjacent to the upper side of the lifting platform La on which the transport vehicle V rides can be avoided. In addition, since in a state where one of the multiple lifting platforms La is connected to the traveling floor F, the other of the multiple lifting platforms La is connected to another traveling floor F, entry of the transport vehicle V and exit of other transport vehicles V with respect to the same crane L can be performed simultaneously at different levels.
[0064] As described above, the transport vehicle V can also transport the article G as it is, but there are cases where the article G housed in the container C is transported together with the container C. In the present embodiment, the vertical interval Hd between the multiple lifting platforms La of each of the first crane L1 and the second crane L2 is set to be equal to or greater than the length obtained by adding the height Hv of the transport vehicle V, the height Hc of the container C, and a certain margin Ha. Thus, even when the transport vehicle V rides on the crane L while holding the container C as it is, interference of the container C with respect to the other lifting platforms La adjacent to the upper side of the lifting platform La on which the transport vehicle V rides can be avoided.
[0065] 〔Other Embodiments〕
[0066] Next, other embodiments of the article conveying device will be described.
[0067] (1) In the above-described embodiment, an example in which the first crane L1 and the second crane L2 are configured to circulate the multiple lifting platforms La along a preset circular path RL has been described. However, the present disclosure is not limited to such an example, and it may be configured such that at least one of the first crane L1 and the second crane L2 reciprocates a single or multiple lifting platforms La along one lifting path.
[0068] (2) In the above-described embodiment, an example has been described in which the plurality of lifting platforms La of the first crane L1 and the second crane L2 are each moved only to one side in the direction along the circular path RL. However, the present disclosure is not limited to such an example, and it may be configured such that at least one of the first crane L1 and the second crane L2 moves the plurality of lifting platforms La to both one side and the other side in the direction along the circular path RL.
[0069] (3) In the above-described embodiment, an example has been described in which the first crane L1 is set for raising the transporter V and the second crane L2 is set for lowering the transporter V. However, the present disclosure is not limited to such an example, and the first crane L1 may be used for both raising and lowering the transporter V. Further, the second crane L2 may be used for both raising and lowering the transporter V.
[0070] (4) In the above-described embodiment, an example has been described in which a part of the plurality of lifting platforms La of each of the first crane L1 and the second crane L2 functions as a storage unit for temporarily storing the transporter V. However, the present disclosure is not limited to such an example, and as long as the first crane L1 and the second crane L2 each function as a lifting unit for the transporter V, they may not have a function for storing the transporter V.
[0071] (5) In the above-described embodiment, an example has been described in which, in a state where one of the plurality of lifting platforms La is connected to the traveling floor F, another one of the plurality of lifting platforms La is connected to another traveling floor F. However, the present disclosure is not limited to such an example, and in a state where one of the plurality of lifting platforms La is connected to the traveling floor F, the lifting platform La may not be connected to the other traveling floor F.
[0072] (6) Further, as long as there is no contradiction, the structures disclosed in the above-described embodiments can be combined with the structures disclosed in other embodiments and applied. Regarding other structures, the embodiments disclosed in this specification are merely simple examples in all aspects. Therefore, various changes can be appropriately made without departing from the gist of the present disclosure.
[0073] 〔Summary of the above-described embodiment〕
[0074] Hereinafter, the article conveying device described above will be described.
[0075] An article conveying device including a traveling floor having a plurality of levels arranged in the vertical direction and a conveyance vehicle that travels on the traveling floor to convey articles, comprising: a straight path provided on each of the plurality of traveling floors, which is a traveling path for the conveyance vehicle to travel straight; and a first crane and a second crane, which are a pair of cranes for lifting and lowering the conveyance vehicle across the plurality of traveling floors; the conveyance vehicle is configured to travel straight and perform a turning operation of turning around a vertical axis on the spot for direction conversion; the straight paths of a pair of the traveling floors adjacent to each other in the vertical direction are respectively set as a first straight path and a second straight path; the first straight path and the second straight path are parallel to each other, and the traveling directions of the conveyance vehicle traveling in the first straight path and the conveyance vehicle traveling in the second straight path are set to be opposite to each other; the side where the conveyance vehicle traveling in the first straight path faces is set as the first side of the straight path, and the side where the conveyance vehicle traveling in the second straight path faces is set as the second side of the straight path; the first crane is configured to connect the end of the first side of the first straight path to the end of the first side of the second straight path; the second crane is configured to connect the end of the second side of the first straight path to the end of the second side of the second straight path; the first crane and the second crane respectively include a lifting platform capable of placing the conveyance vehicle; the lifting platform is larger than the turning trajectory of the conveyance vehicle performing the turning operation in the vertical direction view.
[0076] According to this structure, the conveyance vehicle can be pre-positioned in a posture suitable for starting on the arrival floor by performing a turning operation during the lifting and lowering by the crane. Therefore, the conveyance vehicle can smoothly start on the arrival floor. In addition, according to this structure, the lifting platform of the crane is larger than the turning trajectory of the conveyance vehicle in the vertical direction view. Therefore, the conveyance vehicle can appropriately perform a turning operation even during the lifting and lowering by the crane.
[0077] Preferably, the first crane and the second crane respectively include a plurality of the lifting platforms and are configured to circulate the plurality of lifting platforms along a preset circular path.
[0078] According to this structure, the first crane and the second crane can respectively lift and lower a plurality of conveyance vehicles in parallel. Therefore, the circulation efficiency of the conveyance vehicles between different levels can be improved.
[0079] Preferably, the first crane and the second crane are respectively configured to move the plurality of lifting platforms only to one side in the direction along the circular path; the circular path includes an ascending path for raising the lifting platform, a descending path for lowering the lifting platform, and a pair of arc-shaped connecting paths connecting the ascending path and the descending path on the upper and lower sides; the first crane is set for raising the transporter, and the transporter is placed only on the lifting platform in the ascending path; the second crane is set for lowering the transporter, and the transporter is placed only on the lifting platform in the descending path.
[0080] According to this structure, since the functions of the first crane and the second crane are divided into ascending and descending functions respectively, and each lifting platform moves only to the ascending or descending side with the transporter placed thereon, the lifting and lowering movement directions of the transporters of the respective cranes can be set in one direction. Therefore, compared with the case where the lifting platform reciprocates, it is easier to improve the movement efficiency of the transporters of the respective cranes. Here, in the case of a crane that moves the lifting platform along a circular path, according to the structure of the circular path, when passing through the uppermost position or the lowermost position (the point where ascending and descending are switched) of the circular path, the lifting platform may vibrate greatly, and it is easy to cause a position deviation of the transporter on the lifting platform. However, according to this structure, the transporter placed on the lifting platform only passes through the ascending path in the first crane and only passes through the descending path in the second crane. Thus, it is possible to prevent the transporter from passing through the uppermost position or the lowermost position of the circular path, so the above problems are not likely to occur.
[0081] Preferably, a control device for controlling the plurality of transporters is further provided; the article receiving area of the transporter for receiving the article is adjacently provided to the outlet of the target crane which is one of the first crane and the second crane; let the non-target crane be the one of the first crane and the second crane that is not the target crane; the control device controls the transporters on the traveling floor so that the number of transporters in the target crane is equal to or more than the number of transporters in the non-target crane.
[0082] According to this structure, since the number of transporters in the target crane can be relatively increased, it is easy to increase the number of transporters that can reach the article receiving area provided at the outlet of the target crane in a short time. Therefore, the possibility of a state where the transporters wait at the article receiving area can be reduced, and the proportion of the transporters that are transporting articles among the multiple transporters in the equipment can be increased. Thus, it can contribute to the improvement of the overall transportation capacity of the equipment.
[0083] Preferably, the first crane and the second crane each include a plurality of the lifting platforms; a part of the plurality of the lifting platforms of each of the first crane and the second crane functions as a storage unit for temporarily storing the transporter.
[0084] According to this structure, in a case where a place for storing the inoperative transporter cannot be secured, etc., a part of the lifting platforms included in each crane can be used as a storage unit for storing the transporter. For example, in a state where the equipment is not officially operating (including a stopped state) such as at night, etc., it is beneficial to use a part of the plurality of lifting platforms as a storage unit for the transporter.
[0085] Preferably, an article receiving area of the transporter for receiving the article and an article discharging area of the transporter for discharging the article are provided on the traveling floor of the same layer.
[0086] According to this structure, since the transporter can complete the receiving and discharging of the article on the same layer, it can be prevented from boarding the crane while holding the article. Thus, the article can be protected from the vibration during the lifting by the crane. In addition, since the crane can be designed without considering the size of the article transported by the transporter, it is easy to miniaturize the crane.
[0087] Preferably, the first crane and the second crane each include a plurality of the lifting platforms; the vertical interval between the plurality of the lifting platforms of each of the first crane and the second crane is set to be equal to or greater than the length obtained by adding a certain margin to the height of the transporter holding the article together with the article, such that in a state where one of the plurality of lifting platforms is connected to the traveling floor provided with the first straight path, the other one of the plurality of lifting platforms becomes a state of being connected to the traveling floor provided with the second straight path.
[0088] According to this structure, even in a case where the transporter sometimes boards the crane while holding the article as it is, interference of the article with other lifting platforms adjacent to the upper side of the lifting platform on which the transporter is riding can be avoided. In addition, according to this structure, entry of the transporter for the same crane and exit of other transporters can be performed simultaneously at different levels.
[0089] Preferably, the transporter is configured to travel on the traveling floor while reading the position information held by a plurality of position information holding parts provided on the traveling floor, and perform the turning operation at a position corresponding to the position information holding part; the position information holding parts are also provided on the placement surface of the lifting platforms of the first crane and the second crane for placing the transporter.
[0090] According to this structure, the transporter can perform a turning operation on the lifting table based on the position of the position information holding part provided on the mounting surface of the lifting table. Therefore, it is easy to achieve an appropriate turning operation of the transporter on the lifting table.
[0091] Industrial Applicability
[0092] The technology related to this disclosure can be used for an article conveying device including a plurality of levels of traveling floors arranged in the vertical direction and transporters that travel on the traveling floors to convey articles.
[0093] Description of Reference Numerals
[0094] 100: Article conveying device
[0095] F: Traveling floor
[0096] In: Position information holding part
[0097] L: Crane
[0098] L1: First crane
[0099] L2: Second crane
[0100] La: Lifting table
[0101] Lf: Mounting surface
[0102] RL: Circular path
[0103] RLc: Connection path
[0104] RLd: Descent path
[0105] RLu: Ascent path
[0106] R: Straight path
[0107] R1: First straight path
[0108] R2: Second straight path
[0109] M: Control device
[0110] V: Transporter
[0111] Vt: Turning trajectory
[0112] G: Article
[0113] Hv: Height of the transporter
[0114] Hc: Height of the article
[0115] Ha: Margin
[0116] X1: First side of the straight path
[0117] X2: The second side of the straight path
Claims
1. An article conveying device, comprising a plurality of levels of traveling floors arranged in the vertical direction and a conveying vehicle that travels on the aforementioned traveling floors to convey articles, characterized in that, Comprising: Straight paths are respectively provided on a plurality of the aforementioned traveling floors and are traveling paths for the aforementioned transporter to travel straight; and A first crane and a second crane, which are a pair of cranes for lifting and lowering the aforementioned transporter across a plurality of the aforementioned traveling floors; The aforementioned transporter is configured to travel straight and perform a turning operation of rotating around a vertical axis on the spot for direction conversion; The straight paths of a pair of the aforementioned traveling floors adjacent to each other in the vertical direction are respectively set as a first straight path and a second straight path; The aforementioned first straight path and the aforementioned second straight path are parallel to each other, and the traveling directions of the aforementioned transporter on the aforementioned first straight path and the traveling directions of the aforementioned transporter on the aforementioned second straight path are set to face opposite sides; The side where the aforementioned transporter traveling on the aforementioned first straight path faces is set as the first side of the straight path, and the side where the aforementioned transporter traveling on the aforementioned second straight path faces is set as the second side of the straight path; The aforementioned first crane is configured to connect the end of the aforementioned first side of the straight path of the aforementioned first straight path to the end of the aforementioned first side of the straight path of the aforementioned second straight path; The aforementioned second crane is configured to connect the end of the aforementioned second side of the straight path of the aforementioned first straight path to the end of the aforementioned second side of the straight path of the aforementioned second straight path; The aforementioned first crane and the aforementioned second crane respectively include lifting platforms capable of placing the aforementioned transporter; The aforementioned lifting platform is larger than the trajectory of the aforementioned transporter performing the aforementioned turning operation, that is, the turning trajectory, in the vertical direction view.
2. The article conveying device according to claim 1, characterized in that, The aforementioned first crane and the aforementioned second crane respectively include a plurality of the aforementioned lifting platforms and are configured to circulate the plurality of the aforementioned lifting platforms along a preset circular path.
3. The article conveying device according to claim 2, characterized in that, The aforementioned first crane and the aforementioned second crane are respectively configured to move the plurality of the aforementioned lifting platforms only to one side along the direction of the aforementioned circular path; The aforementioned circular path includes a rising path for raising the aforementioned lifting platform, a descending path for lowering the aforementioned lifting platform, and a pair of arc-shaped connecting paths connecting the aforementioned rising path and the aforementioned descending path on the upper and lower sides; The aforementioned first crane is set for raising the aforementioned transporter, and the aforementioned transporter is placed only on the aforementioned lifting platform in the aforementioned rising path; The aforementioned second crane is set for lowering the aforementioned transporter, and the aforementioned transporter is placed only on the aforementioned lifting platform in the aforementioned descending path.
4. The article conveying device according to claim 3, characterized in that, It further includes a control device for controlling a plurality of the aforementioned transporters; The article receiving area of the aforementioned transporter for receiving the aforementioned article is adjacently provided to the outlet of a target crane which is one of the aforementioned first crane and the aforementioned second crane; Let the one of the aforementioned first crane and the aforementioned second crane that is not the aforementioned target crane be a non-target crane; The aforementioned control device controls the aforementioned transporters on the aforementioned traveling floors so that the number of the aforementioned transporters in the aforementioned target crane is equal to or more than the number of the aforementioned transporters in the aforementioned non-target crane.
5. The article conveying device according to claim 1, characterized in that, The aforementioned first crane and the aforementioned second crane respectively include a plurality of the aforementioned lifting platforms; A part of the plurality of the lifting platforms of the first crane and the second crane functions as a storage unit for temporarily storing the transport vehicle.
6. The article conveying device according to any one of claims 1 to 5, characterized in that, An article receiving area of the transport vehicle for receiving the article and an article discharging area of the transport vehicle for discharging the article are provided on the traveling floor of the same level.
7. The article conveying device according to any one of claims 1 to 5, characterized in that, The first crane and the second crane each include a plurality of the lifting platforms; The vertical interval between the plurality of the lifting platforms of the first crane and the second crane is set to be equal to or greater than the length obtained by adding a certain margin to the height of the transport vehicle holding the article together with the article, and is set such that, in a state where one of the plurality of the lifting platforms is connected to the traveling floor provided with the first straight path, the other of the plurality of the lifting platforms becomes a state of being connected to the traveling floor provided with the second straight path.
8. The article conveying device according to any one of claims 1 to 5, characterized in that, The transport vehicle is configured to travel on the traveling floor while reading the position information held by a plurality of position information holding portions provided on the traveling floor, and to perform the turning operation at a position corresponding to the position information holding portion. The position information holding portion is also provided on the mounting surface of the lifting platform of the first crane and the second crane for mounting the transport vehicle.