Article conveying facility

Abstract

A transfer device (30) equipped on an article transport facility (10) having a main power source (51) and an auxiliary power source (52) is provided with a control device (60) for controlling a drive device (35) for driving an advancing and retreating member (31) to advance and retreat. When the power supply from the main power source (51) to the transfer device (30) is interrupted, the control device (60) executes a copy-out operation (M1c) during power failure. In order to move an article (W) at a transfer target portion (22) toward a support portion (11), the raising / lowering member (31) projects from a reference position (P1) corresponding to the support portion (11) to a projecting target position (P2) corresponding to the transfer target portion (22), and the raising / lowering member (31) projects from the reference position (P1) to a projecting target position (P2) corresponding to the transfer target portion (22) to the support portion (11). And a power-off copying interruption operation (M1c) in which the advancing and retreating member (31) is retreated to the reference position (P1) without holding the article (W) by the advancing and retreating member (31) after the advancing and retreating member (31) is made to protrude to the protruding target position (P2).

Description

Technical Field

[0001] The present invention relates to an article transport facility equipped with a transfer device. Background Art

[0002] There is known an article transport facility equipped with a transfer device, and the transfer device includes a pair of advancing / retreating members that advance and retreat in the transfer direction. Hereinafter, the reference numerals shown in parentheses in the description of the background art are the reference numerals in Japanese Unexamined Patent Application Publication No. 2022-079780 (Patent Document 1). In Patent Document 1, there is disclosed an article transport facility (1) equipped with a transfer device (7), and the transfer device (7) includes a pair of advancing / retreating members (21, 22) that advance and retreat in the transfer direction on a support portion (23).

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-079780 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] In Patent Document 1, for example, if the power supply from the main power supply to the transfer device is interrupted due to a commercial power outage, a main power failure, etc., there is a case where a pair of advancing / retreating members stop during the transfer operation of moving an article in the transfer direction. In this case, since there is a concern that the protruding pair of advancing / retreating members may interfere with other devices such as a shelf during the restoration operation after the power supply is restored, it is not preferable for the pair of advancing / retreating members to stop in the state of protruding toward the transfer target portion side.

[0008] Therefore, it is desired to realize an article transport facility that can reduce the possibility of a situation where a pair of advancing / retreating members stop in the state of protruding toward the transfer target portion side even when the power supply from the main power supply to the transfer device is interrupted.

[0009] Means for Solving the Problems

[0010] The article conveying device according to the present disclosure includes: a support portion that supports an article; a transfer device that performs a transfer operation of moving the article between the support portion and a transfer target portion along a transfer direction; and a power supply device that supplies power to the transfer device; a direction orthogonal to the transfer direction in a top-down view is defined as a width direction; the transfer device includes a pair of advancing and retreating members disposed on both sides in the width direction with respect to the article and advancing and retreating in the transfer direction, a driving device that drives the pair of advancing and retreating members to advance and retreat, and a control device that controls the driving device; the power supply device includes a main power supply that receives power from a commercial power supply and supplies power to the transfer device, and an auxiliary power supply that temporarily supplies power to the transfer device when the power supply from the main power supply to the transfer device is interrupted; when the power supply from the main power supply to the transfer device is interrupted during the pick-up protrusion operation, the control device executes a power failure pick-up interruption operation, the pick-up protrusion operation is an operation of protruding a pair of the advancing and retreating members from a reference position corresponding to the support portion to a protrusion target position corresponding to the transfer target portion in order to move the article at the transfer target portion to the support portion, and the power failure pick-up interruption operation is an operation of retreating the pair of the advancing and retreating members to the reference position without holding the article by the pair of the advancing and retreating members after the pair of the advancing and retreating members protrude to the protrusion target position.

[0011] According to this structure, even when the power supply from the main power supply to the transfer device is interrupted, for example, due to a power failure of the commercial power supply or a failure of the main power supply during the pick-up protrusion operation, the possibility of a situation where a pair of advancing and retreating members stop in the state of protruding toward the transfer target portion side can be reduced. Therefore, the possibility of a situation where, for example, the transfer device moves in the state where the pair of advancing and retreating members protrude and interferes with other devices when the main power supply is restored can be reduced. In addition, even when the power failure pick-up interruption operation is executed, the movement of the pair of advancing and retreating members in the transfer direction can be made the same as in normal times, so it is easy to simplify the control process performed by the control device. Furthermore, since the pair of advancing and retreating members do not hold the article and retreat to the reference position during the power failure pick-up interruption operation, the power consumption of the auxiliary power supply can be suppressed to a small amount.

[0012] Further features and advantages of the technology according to the present disclosure will become clearer from the following illustrative and non-limiting description of embodiments described with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a perspective view of the article conveying device.

[0014] Figure 2 isFigure 1 Stereogram of the transfer device

[0015] Figure 3 is Figure 2 Control block diagram of the transfer device

[0016] Figure 4 is a diagram showing Figure 2 the state of the transfer device before starting the pick-up protrusion operation

[0017] Figure 5 is a diagram showing Figure 2 the state of the transfer device during the pick-up protrusion operation

[0018] Figure 6 is a diagram showing Figure 2 the state of the transfer device before completing the pick-up protrusion operation

[0019] Figure 7 is a diagram showing Figure 2 the state of the transfer device after completing the pick-up protrusion operation

[0020] Figure 8 is a diagram showing Figure 2 a schematic diagram of the state of the transfer device during the pick-up retraction operation

[0021] Figure 9 is a diagram showing Figure 2 the state of the transfer device after completing the pick-up retraction operation

[0022] Figure 10 is an illustration of Figure 2 the power-off pick-up interruption operation performed by the transfer device

[0023] Figure 11 is an illustration of Figure 2 the power-off pick-up continuation operation performed by the transfer device

[0024] Figure 12 is a diagram showing Figure 2 the state of the transfer device before starting the unloading protrusion operation

[0025] Figure 13 is a diagram showing Figure 2 the state of the transfer device during the unloading protrusion operation

[0026] Figure 14 is a diagram showing Figure 2 the state of the transfer device before starting the unloading retraction operation

[0027] Figure 15 is a diagram showing Figure 2 the state of the transfer device during the unloading retraction operation

[0028] Figure 16 It represents Figure 2 a schematic diagram of the state where the transfer device has completed the unloading and retracting operation.

[0029] Figure 17 It illustrates Figure 2 the first unloading operation during a power outage performed by the transfer device.

[0030] Figure 18 It illustrates Figure 2 the second unloading operation during a power outage performed by the transfer device. Detailed implementation mode

[0031] Hereinafter, the implementation mode of the article conveying device will be described with reference to the accompanying drawings.

[0032] Figure 1 It is a perspective view showing an example of the article conveying device 10 of the present implementation mode. Figure 2 It is a perspective view showing an example of the transfer device 30. The article conveying device 10 includes a support portion 11 for supporting the article W, and a transfer device 30 that performs a transfer operation for moving the article W between the support portion 11 and the transfer target portion 22 along the transfer direction Y. In Figure 1 the example shown, the article conveying device 10 is an automated warehouse including an article conveying vehicle 12, and the article conveying vehicle 12 travels along each layer of the storage shelves having multiple storage portions arranged in the vertical direction Z. Moreover, as Figure 2 shown, the support portion 11 and the transfer device 30 are equipped on the article conveying vehicle 12. The article conveying vehicle 12 further includes a vehicle body 14 and a traveling device 15 for moving the vehicle body 14 along the conveying path. The support portion 11 is a portion provided on the vehicle body 14 for supporting the article W.

[0033] As Figure 1 shown, in the present implementation mode, the article conveying device 10 includes an article storage shelf 20 having a plurality of transfer target portions 22. Here, the direction orthogonal to the transfer direction Y in the up-down direction Z is defined as the width direction X. In addition, one side of the transfer direction Y is defined as the first transfer direction side Y1, and the opposite side thereof is defined as the second transfer direction side Y2.

[0034] In the present embodiment, a pair of article storage shelves 20 are provided in a state of being opposed to each other across the travel path along which the article conveyance vehicle 12 travels. Each of the pair of article storage shelves 20 is provided with shelf boards 21 arranged in the vertical direction Z, and a transfer target portion 22 for storing the article W is formed on the shelf board 21. In the present embodiment, the storage portion of the article storage shelf 20 and the transfer conveyors (the in-stock relay conveyor 25 and the out-stock relay conveyor 27) at each layer of the article storage shelf 20 are the transfer target portions 22. Further, in the present embodiment, the article storage shelf 20 is a so-called single-depth structure shelf in which one storage portion is arranged in the shelf depth direction, but it may also be a so-called double-depth structure shelf in which two storage portions are arranged in the shelf depth direction. Further, three or more storage portions may be arranged in the shelf depth direction.

[0035] In the present embodiment, the article conveyance vehicle 12 is arranged corresponding to each of the plurality of shelf boards 21 arranged in the vertical direction Z. In Figure 1 the example shown, the article conveyance device 10 includes, in addition to the pair of article storage shelves 20 and the plurality of article conveyance vehicles 12, an in-stock conveyor 23 and an out-stock conveyor 29, an in-stock lifting device 24 and an out-stock lifting device 28 that are vertically movable along the vertical direction Z, and the in-stock relay conveyor 25 and the out-stock relay conveyor 27 as transfer conveyors provided corresponding to each of the plurality of shelf boards 21 arranged in the vertical direction Z.

[0036] In the article conveyance device 10 of the present embodiment, the article W conveyed by the in-stock conveyor 23 is conveyed to one of the plurality of in-stock relay conveyors 25 by means of the in-stock lifting device 24. Then, the article W on the in-stock relay conveyor 25 is conveyed to the shelf board 21 of that layer by means of the article conveyance vehicle 12 arranged on the layer corresponding to the in-stock relay conveyor 25. Further, in the article conveyance device 10, the article W on the shelf board 21 is conveyed to the out-stock relay conveyor 27 of that layer by means of the article conveyance vehicle 12 arranged on the layer corresponding to the shelf board 21. Then, the article W supported by one of the plurality of out-stock relay conveyors 27 is conveyed to the out-stock conveyor 29 by means of the out-stock lifting device 28.

[0037] As Figure 2 shown, the transfer device 30 includes a pair of advancing / retreating members 31 that are arranged on both sides in the width direction X with respect to the article W and advance and retreat in the transfer direction Y. Further, the transfer device 30 includes a drive device 35 that drives the pair of advancing / retreating members 31 to advance and retreat. In the present embodiment, the pair of advancing / retreating members 31 are at a reference position P1 corresponding to the support portion 11 (refer to Figure 4 ) and a protruding target position P2 corresponding to the transfer target portion 22 (refer to Figure 6) move forward and backward in the transfer direction Y. In the illustrated example, a pair of forward and backward moving members 31 are respectively supported by a pair of relay members 32 so as to be movable along the transfer direction Y. Further, the pair of relay members 32 are respectively supported by a pair of base members 33 so as to be movable along the transfer direction Y. In the present embodiment, the reference position P1 corresponding to the support portion 11 is a position where the forward and backward moving member 31 can hold the article W placed on the support portion 11. Further, the protruding target position P2 corresponding to the transfer target portion 22 is a position where the forward and backward moving member 31 can hold the article W placed on the transfer target portion 22.

[0038] Further, in the present embodiment, the transfer device 30 includes a gap changing device 36 that changes the gap between the pair of forward and backward moving members 31 in the width direction X. Thereby, the transfer device 30 can transfer a variety of articles W having different sizes in the width direction X.

[0039] Further, in the present embodiment, the transfer device 30 includes hooks 40, which are respectively supported by the pair of forward and backward moving members 31 and move forward and backward in the width direction X with respect to the forward and backward moving members 31, and the posture changes to a retracted posture S1 (refer to Figure 6 ) and a protruding posture S2 (refer to Figure 7 ). Each of the pair of hooks 40 is arranged at a position that does not overlap with the article W in the view in the transfer direction in the retracted posture S1, and is arranged at a position that overlaps with the article W in the view in the transfer direction along the transfer direction Y in the protruding posture S2. Further, the transfer device 30 includes a hook posture changing device 45 that changes the posture of each hook 40 to the retracted posture S1 and the protruding posture S2. In Figure 2 the illustrated example, the hook posture changing device 45 is a motor that swings the pair of hooks 40 respectively around the axes R1 and R2 along the transfer direction Y.

[0040] In the present embodiment, by setting the hook 40 to the protruding posture S2 and locking the article W, the pair of forward and backward moving members 31 hold the article W. In the illustrated example, the hook 40 is provided at both end portions in the transfer direction Y of the forward and backward moving member 31. Hereinafter, the hook 40 on the first side Y1 in the transfer direction Y is referred to as the first hook 41, and the hook 40 on the second side Y2 in the transfer direction Y is referred to as the second hook 42.

[0041] Figure 3is a block diagram showing a structure related to the control and power supply of the transfer device 30. In the present embodiment, the article conveying device 10 includes a power supply device 50 that supplies power to the transfer device 30. The power supply device 50 includes a main power supply 51 that receives power from a commercial power supply and supplies power to the transfer device 30, and an auxiliary power supply 52 that temporarily supplies power to the transfer device 30 when the power supply from the main power supply 51 to the transfer device 30 is interrupted. In the present embodiment, the main power supply 51 and the auxiliary power supply 52 are configured to supply power to each part of the article conveyance vehicle 12 including the transfer device 30. In Figure 3 In the example shown, the main power supply 51 and the auxiliary power supply 52 supply power to the traveling device 15 and the traveling control device 62 that controls the traveling device 15 in addition to the transfer device 30. In this example, these main power supply 51 and auxiliary power supply 52 are mounted on the article conveyance vehicle 12. For example, the main power supply 51 can be a power supply unit (PSU) mounted on the article conveyance vehicle 12, a power receiving device that is mounted on the article conveyance vehicle 12 so as to be able to receive power in contact or non-contact from a power supply line arranged along the movement path of the article conveyance vehicle 12, and the like.

[0042] In the present embodiment, the auxiliary power supply 52 includes a power storage unit 53 that stores power from a commercial power supply. The amount of power stored in the power storage unit 53 is greater than the amount of power required to move the heaviest article W among the various articles W from the transfer target part 22 to the support part 11 by means of the transfer device 30. By doing so, even when the power supply from the main power supply 51 to the transfer device 30 is interrupted, the amount of power required to cause the transfer device 30 to perform the required operations can be ensured. In the present embodiment, the power storage unit 53 is mounted on each of the plurality of article conveyance vehicles 12. As the power storage unit 53, a battery, a capacitor, or the like can be used.

[0043] In the present embodiment, since the power storage unit 53 is provided on each of the article conveyance vehicles 12, one power storage unit 53 supplies power to one transfer device 30. In this case, the amount of power stored in the power storage unit 53 is preferably greater than the amount of power consumed by the transfer device 30 in performing either the pick-up and retraction operation M2 or the unloading and protruding operation M3 described later for one article W. In addition, when the auxiliary power supply 52 is provided on the fixed equipment side or the like and one auxiliary power supply 52 supplies power to a plurality of transfer devices 30, the amount of power stored in the power storage unit 53 is preferably greater than the amount of power consumed by each of these plurality of transfer devices 30 in performing either the pick-up and retraction operation M2 or the unloading and protruding operation M3. In addition, the amount of power stored in the power storage unit 53 can also be set to be greater than the amount of power required to perform the first unloading operation M3a during a power outage described later.

[0044] In the present embodiment, the article conveying device 10 includes a control device 61 that controls the drive device 35 of the transfer device 30. In the present embodiment, the control device 61 includes an arithmetic processing device such as a CPU (Central Processing Unit), and a main storage device that can be referred to by the arithmetic processing device, such as a RAM (Random Access Memory) and a ROM (Read Only Memory). Each function of the control device 61 is realized by the cooperation of the hardware included in the control device 61 and a program executed on the hardware such as the arithmetic processing device. Specifically, each function of the control device 61 is realized by the control device 61 executing a program stored in a storage device (main storage device, separately provided storage unit, etc.). In other words, a program (for example, a conveyance control program) for causing a computer to realize each function of the control device 61 is stored in a storage device that can be referred to by the computer. This program is provided by a storage medium, for example, or via a communication network. Then, the provided program is stored in a storage device that can be referred to by the computer. In the present embodiment, the control device 61 (specifically, the arithmetic processing device included in the control device 61) functions as a "computer". The control device 61 may also be an upper control device provided in a control facility (not shown). In addition, when the control device 61 includes a plurality of hardware that can communicate with each other separately, a part of the hardware may be installed in the transfer device 30, and the remaining hardware may be provided in a control facility (not shown). In Figure 3 the example shown, the control device 61 is configured to be able to control the interval changing device 36. In addition, the control device 61 is configured to be able to control the hook posture changing device 45. In addition, the travel control device 62 causes the article conveyance vehicle 12 to travel by controlling the travel device 15.

[0045] In the present embodiment, when moving the article W at the transfer target portion 22 to the support portion 11, the control device 61 executes a pick-up protrusion operation M1 of protruding a pair of advance / retreat members 31 from the reference position P1 to the protrusion target position P2. Next, the control device 61 executes a pick-up retreat operation M2 of retreating the pair of advance / retreat members 31 holding the article W from the protrusion target position P2 to the reference position P1. Hereinafter, an example of the control of the pick-up protrusion operation M1 and the pick-up retreat operation M2 performed by the control device 61 will be described using Figures 4 to 9 FIG.

[0046] Figure 4 is a schematic plan view of the transfer device 30 showing the state before the transfer device 30 starts the pick-up protrusion operation M1. In Figure 4In this case, the article W is placed on the transfer target part 22. In addition, a pair of advancing / retreating members 31 are in the reference position P1, and the first hook 41 and the second hook 42 are in the retracted posture S1.

[0047] Figure 5 This is a diagram showing the state of the transfer device 30 in the pick-up protruding operation M1. In Figure 5 this case, it is the state during the process in which a pair of advancing / retreating members 31 protrude from the reference position P1 to the protruding target position P2, and the first hook 41 and the second hook 42 are in the retracted posture S1.

[0048] Figure 6 This is a diagram showing the state of a pair of advancing / retreating members 31 in the protruding target position P2. In Figure 6 this case, the first hook 41 and the second hook 42 are in the retracted posture S1.

[0049] Figure 7 This is a diagram showing the state of the transfer device 30 that has completed the pick-up protruding operation M1. In Figure 7 this case, a pair of advancing / retreating members 31 are in the protruding target position P2, and the first hook 41 and the second hook 42 are in the protruding posture S2. In the present embodiment, if the first hook 41 and the second hook 42 are changed from the retracted posture S1 to the protruding posture S2, the pick-up protruding operation M1 is completed and the pick-up retreating operation M2 starts.

[0050] Figure 8 This is a diagram showing the state of the transfer device 30 in the pick-up retreating operation M2. In Figure 8 this case, it is the state during the process in which a pair of advancing / retreating members 31 holding the article W retreat from the protruding target position P2 to the reference position P1, and the first hook 41 and the second hook 42 are in the protruding posture S2.

[0051] Figure 9 This is a diagram showing the state of the transfer device 30 that has completed the pick-up retreating operation M2. In Figure 9 this case, the article W is placed on the support part 11. In addition, the first hook 41 and the second hook 42 are in the retracted posture S1.

[0052] Figure 10 This is a diagram for explaining the power-off pick-up interruption operation M1c performed by the transfer device 30. When the power supply from the main power supply 51 to the transfer device 30 is interrupted, the control device 61 is used to move the article W located at the transfer target part 22 to the support part 11 during the pick-up protruding operation M1 (for example, Figure 5 the state shown), as Figure 10 shown, the power-off pick-up interruption operation M1c is executed. The power-off pick-up interruption operation M1c is an operation in which after a pair of advancing / retreating members 31 protrude to the protruding target position P2, the pair of advancing / retreating members 31 are retracted to the reference position P1 without holding the article W.

[0053] If this is done, even when the power supply from the main power supply 51 to the transfer device 30 is interrupted due to a power outage of the commercial power supply, a failure of the main power supply 51, etc. during the extraction protrusion operation M1, the possibility of a situation where a pair of advancing / retreating members 31 stop in the state of protruding toward the transfer target portion 22 can be reduced. Therefore, the possibility of a situation where, when the main power supply 51 is restored, for example, the article transport vehicle 12 travels in the state where the pair of advancing / retreating members 31 are protruding, and the transfer device 30 moves and interferes with other devices can be reduced. In addition, even when the extraction interruption operation M1c during a power outage is executed, the movement of the pair of advancing / retreating members 31 in the transfer direction Y can be made the same as the normal movement, so it is easy to simplify the control process performed by the control device 61. Furthermore, since the pair of advancing / retreating members 31 do not hold the article W and retreat to the reference position P1 during the extraction interruption operation M1c during a power outage, the power consumption of the auxiliary power supply 52 can be suppressed to a small amount.

[0054] In addition, in the present embodiment, when the power supply from the main power supply 51 to the transfer device 30 is interrupted after the pair of advancing / retreating members 31 protrude to the protrusion target position P2 by means of the extraction protrusion operation M1 in the state where the hook 40 is set to the retracted posture S1 and before the start of the posture change of the hook 40 from the retracted posture S1 to the protruding posture S2, the control device 61 executes the extraction interruption operation M1c during a power outage. If this is done, even after the pair of advancing / retreating members 31 protrude to the protrusion target position P2, as long as it is before the start of the posture change of the hook 40 to the protruding posture S2, the extraction interruption operation M1c during a power outage is executed. Therefore, useless movement of the hook 40 can be avoided and the power consumption of the auxiliary power supply 52 can be suppressed to a small amount. In the illustrated example, in the state shown in Figure 5 、 Figure 6 when the power supply from the main power supply 51 to the transfer device 30 is interrupted, the control device 61 executes the extraction interruption operation M1c during a power outage.

[0055] In addition, in the present embodiment, the control device 61 makes the moving speed V1c of the pair of advancing / retreating members 31 during the process of retreating from the protrusion target position P2 to the reference position P1 in the extraction interruption operation M1c lower than the reference moving speed V1, which is the moving speed of the pair of advancing / retreating members 31 during the process of protruding from the reference position P1 to the protrusion target position P2. The moving speed V1c is set to a speed that is, for example, 30% or more and 60% or less of the reference moving speed V1.

[0056] Figure 11This is a diagram illustrating the continuation operation M2a of the picking-up during power outage performed by the transfer device 30. In the present embodiment, when the power supply from the main power supply 51 to the transfer device 30 is interrupted, the control device 61 performs a picking-up retraction operation M2 for moving the article W at the transfer target portion 22 to the support portion 11 (for example, in the state shown in Figure 8 ), as shown in Figure 11 , the control device 61 performs a picking-up continuation operation M2a during power outage, which is an operation of retracting the pair of advancing / retreating members 31 to the reference position P1 while keeping the article W in its original state. Thus, when the power supply from the main power supply 51 to the transfer device 30 is interrupted during the picking-up retraction operation M2, the picking-up retraction operation M2 of the pair of advancing / retreating members 31 that already hold the article W is continued. Therefore, the picking-up retraction operation M2 for moving the article W to the support portion 11 can be completed, and the pair of advancing / retreating members 31 can be prevented from stopping in the state of protruding toward the transfer target portion 22 side in its original state.

[0057] In addition, in the present embodiment, when the power supply from the main power supply 51 to the transfer device 30 is interrupted after the control device 61 starts the posture change of the hook 40 from the retracted posture S1 to the protruding posture S2, the control device 61 performs the picking-up continuation operation M2a during power outage. That is, after starting the posture change of the hook 40 to the protruding posture S2, the control device 61 performs the picking-up continuation operation M2a during power outage. Therefore, it is not necessary to perform control such as returning the hook 40 that has started to change to the protruding posture S2 back to the retracted posture S1 again, and it is easy to simplify the control process performed by the control device 61. In the illustrated example, in the state shown in Figure 7 , Figure 8 , when the power supply from the main power supply 51 to the transfer device 30 is interrupted, the control device 61 performs the picking-up continuation operation M2a during power outage.

[0058] In addition, in the present embodiment, the control device 61 performs a discharging protrusion operation M3 of protruding the pair of advancing / retreating members 31 that hold the article W from the reference position P1 to the protruding target position P2 in order to move the article W at the support portion 11 to the transfer target portion 22. Then, after the control device 61 protrudes the pair of advancing / retreating members 31 that hold the article W to the protruding target position P2, the control device 61 performs a discharging retraction operation M4 of retracting the pair of advancing / retreating members 31 that do not hold the article W from the protruding target position P2 to the reference position P1. Hereinafter, an example of the control of the discharging protrusion operation M3 and the discharging retraction operation M4 performed by the control device 61 will be described using Figures 12 to 16 .

[0059] Figure 12 This is a schematic top view of the transfer device 30 showing the state before the transfer device 30 starts the discharging protrusion operation M3. InFigure 12 In this case, the article W is placed on the support portion 11. In addition, a pair of advancing / retreating members 31 are in the reference position P1, and the first hook 41 and the second hook 42 are in the protruding posture S2.

[0060] Figure 13 This is a view showing the state of the transfer device 30 in the unloading protruding operation M3. In Figure 13 this case, it is the state during the process in which a pair of advancing / retreating members 31 protrude from the reference position P1 to the protruding target position P2, and the first hook 41 and the second hook 42 are in the protruding posture S2.

[0061] Figure 14 This is a view of the transfer device 30 showing the state in which a pair of advancing / retreating members 31 are in the protruding target position P2. In Figure 14 this case, the article W is placed on the support portion 11. In addition, the first hook 41 and the second hook 42 are in the protruding posture S2. In the present embodiment, if the first hook 41 and the second hook 42 are changed from the protruding posture S2 to the retracted posture S1, the unloading protruding operation M3 is completed and the unloading retracting operation M4 starts.

[0062] Figure 15 This is a view showing the state of the transfer device 30 in the unloading retracting operation M4. In Figure 15 this case, it is the state during the process in which a pair of advancing / retreating members 31 holding the article W retract from the protruding target position P2 to the reference position P1, and the first hook 41 and the second hook 42 are in the retracted posture S1. In the present embodiment, the moving speed V4 is the same as the above-mentioned reference moving speed V1, and the moving speed V4 is the moving speed in the unloading retracting operation M4, that is, the moving speed of a pair of advancing / retreating members 31 during the process of retracting from the protruding target position P2 to the reference position P1 without holding the article W.

[0063] Figure 16 This is a view showing the state in which the transfer device 30 has completed the unloading retracting operation M4. In Figure 16 this case, a pair of advancing / retreating members 31 are in the reference position P1. In addition, the first hook 41 and the second hook 42 are in the retracted posture S1.

[0064] Figure 17 This is a view for explaining the first unloading operation M3a at the time of power failure performed by the transfer device 30. In the present embodiment, when the power supply from the main power supply 51 to the transfer device 30 is interrupted and the transfer device 30 is in the unloading protruding operation M3 (for example, Figure 13 the state shown), as Figure 17As shown, when a power outage is executed, the first unloading operation M3a during power outage is an operation in which, while keeping the pair of advancing / retreating members 31 holding the article W in its original state, the pair of advancing / retreating members 31 are projected to the projection target position P2, then the holding of the article W by the pair of advancing / retreating members 31 is released, and the pair of advancing / retreating members 31 are retracted to the reference position P1.

[0065] Moreover, in the present embodiment, the control device 61 makes the moving speed V3a of the pair of advancing / retreating members 31 during the process of retracting from the projection target position P2 to the reference position P1 in the first unloading operation M3a during power outage lower than the reference moving speed V1, which is the moving speed of the pair of advancing / retreating members 31 during the process of projecting from the reference position P1 to the projection target position P2. The moving speed V3a is, for example, set to a speed that is 30% or more and 60% or less of the reference moving speed V1.

[0066] Figure 18 It is a diagram for explaining the second unloading operation M4a during power outage performed by the transfer device 30. In the present embodiment, when the power supply from the main power supply 51 to the transfer device 30 is interrupted and in the case of the unloading retraction operation M4 (for example Figure 15 the state shown), as Figure 18 shown, the second unloading operation M4a during power outage is executed, and the second unloading operation M4a during power outage is an operation in which the pair of advancing / retreating members 31 are retracted to the reference position P1 in their original state.

[0067] Moreover, in the present embodiment, the control device 61 makes the moving speed V4a of the pair of advancing / retreating members 31 during the process of retracting from the projection target position P2 to the reference position P1 in the second unloading operation M4a during power outage lower than the reference moving speed V1, which is the moving speed of the pair of advancing / retreating members 31 during the process of projecting from the reference position P1 to the projection target position P2. The moving speed V4a is, for example, set to a speed that is 30% or more and 60% or less of the reference moving speed V1.

[0068] In the present embodiment, in the pick-up interruption operation M1c during power outage, the hook 40 is set to the retracted posture S1. In addition, in Figures 4 to 18 the first hook 41 and the second hook 42 are interlocked with each other, but they may not be interlocked.

[0069] For example, when the transfer target part 22 is on the first side Y1 in the transfer direction Y, in the pick-up protrusion operation M1, the pick-up interruption operation M1c during power failure, the pick-up retraction operation M2, and the pick-up continuation operation M2a during power failure, the first hook 41 can also be appropriately positioned, and the second hook 42 remains in the retracted posture S1. In addition, in the unloading protrusion operation M3, the first unloading operation M3a during power failure, the unloading retraction operation M4, and the second unloading operation M4a during power failure, the second hook 42 can also be appropriately positioned, and the first hook 41 remains in the retracted posture S1.

[0070] In addition, for example, when the transfer target part 22 is on the second side Y2 in the transfer direction Y, in the pick-up protrusion operation M1, the pick-up interruption operation M1c during power failure, the pick-up retraction operation M2, and the pick-up continuation operation M2a during power failure, the second hook 42 can also be appropriately positioned, and the first hook 41 remains in the retracted posture S1. In addition, in the unloading protrusion operation M3, the first unloading operation M3a during power failure, the unloading retraction operation M4, and the second unloading operation M4a during power failure, the first hook 41 can also be appropriately positioned, and the second hook 42 remains in the retracted posture S1.

[0071] 〔Other Embodiments〕

[0072] Next, other embodiments of the article conveying device 10 will be described.

[0073] (1) In the above embodiment, the article conveying device 10 is a shuttle rack, and the transfer device 30 is equipped on the article conveying vehicle 12 having the vehicle body 14 and the support part 11 as an example for description. However, it is not limited to such an example. For example, the article conveying device 10 can also be an automated warehouse equipped with a stacker crane, and the transfer device 30 is configured as a stacker crane. In addition, the transfer device 30 can also be a fixed transfer device that is fixed to the floor, shelf, etc. so as not to move. In addition, both the support part 11 and the transfer target part 22 can be devices such as shelves and conveyors provided outside the transfer device 30.

[0074] (2) In the above embodiment, the control device 61 equipped on the transfer device 30 controls the drive device 35, the interval change device 36, and the hook posture change device 45 as an example for description. However, it is not limited to such an example. For example, the transfer device 30 can also have a structure without the interval change device 36 and the hook posture change device 45. In addition, for example, it can also be a structure in which the control device 61 equipped on the transfer device 30 controls the drive device 35, and other control devices equipped outside the transfer device 30 control the interval change device 36 and the hook posture change device 45.

[0075] (3) In the above-described embodiment, a structure has been described in which a pair of hooks 40 swing around the axes R1 and R2 respectively, the hooks 40 are brought into the protruding posture S2 to hold the article W, and thus a pair of advancing and retreating members 31 hold the article W. However, it is not limited to such an example. For example, a structure may be adopted in which the hooks 40 are not provided and the article W is held by clamping the article W in the width direction X with a pair of advancing and retreating members 31, or a structure may be adopted in which the article W is held by another holding mechanism provided on the pair of advancing and retreating members 31. In addition, a structure may be adopted in which the pair of hooks 40 do not swing but move linearly in the width direction X.

[0076] (4) In the above-described embodiment, a structure has been described in which the main power source 51 and the auxiliary power source 52 are mounted on the article transport vehicle 12. However, it is not limited to such an example, and the main power source 51 and the auxiliary power source 52 may also be provided outside the article transport vehicle 12. For example, the main power source 51 and the auxiliary power source 52 may be provided on the fixed equipment side of the article transport equipment 10 such as the article storage shelf 20. In this case, for example, a structure may be adopted in which the article transport vehicle 12 receives power by contact or non-contact from a power supply line arranged along the movement path of the article transport vehicle 12. In such a case, a structure may also be adopted in which an emergency generator is provided as the auxiliary power source 52 in the entire article transport equipment 10.

[0077] (5) In the above-described embodiment, a structure has been described in which the moving speeds V1c, V3a, and V4a are set to speeds lower than the reference moving speed V1. However, it is not limited to such an example. For example, the reference moving speed V1, the moving speeds V1c, V3a, and V4a may all be the same speed. In addition, the moving speeds V1c, V3a, and V4a may be the same speed as each other, or may be different speeds respectively.

[0078] (6) In the above-described embodiment, a structure has been described in which the moving speed V4 is set to the same speed as the reference moving speed V1. However, it is not limited to such an example. For example, the moving speed V4 and the reference moving speed V1 may also be different speeds. In this case, a structure may be adopted in which the moving speeds V1c, V3a, and V4a are respectively set to speeds of 30% or more and 60% or less of the moving speed V4.

[0079] (7) In the above-described embodiment, the control device 61 is taken as an example of the operation during a power outage, and the structure that executes the power outage copy interruption operation M1c, the power outage copy continuation operation M2a, the first unloading operation M3a during a power outage, and the second unloading operation M4a during a power outage has been described. However, it is not limited to such an example. For example, the control device 61 may be configured not to execute the power outage copy continuation operation M2a. In addition, the control device 61 may be configured not to execute at least one of the first unloading operation M3a during a power outage and the second unloading operation M4a during a power outage.

[0080] (8) In addition, the structures disclosed in the above-described embodiments can also be combined with the structures disclosed in other embodiments and applied as long as there is no contradiction. Regarding other structures, the embodiments disclosed in this specification are merely examples in all aspects. Therefore, various changes can be appropriately made without departing from the gist of the present disclosure.

[0081] 〔Summary of the above embodiment〕

[0082] Hereinafter, the article conveying device described above will be described.

[0083] The article conveying device according to the present disclosure includes: a support part that supports an article; a transfer device that performs a transfer operation of moving the article between the support part and a transfer target part along a transfer direction; and a power supply device that supplies power to the transfer device; a direction orthogonal to the transfer direction in a top view is defined as the width direction; the transfer device includes a pair of advancing / retreating members that are arranged on both sides in the width direction with respect to the article and advance and retreat in the transfer direction, a driving device that drives the pair of advancing / retreating members to advance and retreat, and a control device that controls the driving device; the power supply device includes a main power supply that receives power from a commercial power supply and supplies power to the transfer device, and an auxiliary power supply that temporarily supplies power to the transfer device when the power supply from the main power supply to the transfer device is interrupted; when the power supply from the main power supply to the transfer device is interrupted and the copy protruding operation is in progress, the control device executes a power outage copy interruption operation, the copy protruding operation is an operation of protruding a pair of the advancing / retreating members from a reference position corresponding to the support part to a protruding target position corresponding to the transfer target part in order to move the article at the transfer target part to the support part, and the power outage copy interruption operation is an operation of retreating the pair of the advancing / retreating members to the reference position without holding the article by the pair of the advancing / retreating members after the pair of the advancing / retreating members protrude to the protruding target position.

[0084] According to this structure, even in the case where the power supply to the transfer device from the main power supply is interrupted, such as due to a power outage of the commercial power supply or a failure of the main power supply, during the extraction protrusion operation, the possibility of a situation where a pair of advancing / retreating members stop in the state of protruding toward the transfer target portion can be reduced. Therefore, the possibility of a situation where, for example, when the main power supply is restored, the transfer device moves in the state where the pair of advancing / retreating members are protruding and interferes with other equipment can be reduced. In addition, even when performing the extraction interruption operation during a power outage, the movement of the pair of advancing / retreating members in the transfer direction can be made the same as in normal times, so it is easy to simplify the control process performed by the control device. Furthermore, since the pair of advancing / retreating members do not hold the article and retreat to the reference position during the extraction interruption operation during a power outage, the power consumption of the auxiliary power supply can be suppressed to a small amount.

[0085] As one mode, it is preferable that the control device makes the moving speed of the pair of advancing / retreating members during the process of retreating from the protrusion target position to the reference position during the extraction interruption operation during a power outage lower than the moving speed of the pair of advancing / retreating members during the process of protruding from the reference position to the protrusion target position.

[0086] According to this structure, since the driving force of the driving device during the extraction interruption operation during a power outage can be suppressed to a low level, it is easy to suppress the power consumption of the auxiliary power supply during a power outage to a small amount.

[0087] As one mode, it is preferable that the control device performs an extraction continuation operation during a power outage when the power supply from the main power supply to the transfer device is interrupted during the extraction retreat operation. The extraction retreat operation is an operation to move the article at the transfer target portion to the support portion by making the pair of advancing / retreating members holding the article retreat from the protrusion target position to the reference position. The extraction continuation operation during a power outage is an operation to make the pair of advancing / retreating members retreat to the reference position while keeping the pair of advancing / retreating members holding the article in the original state.

[0088] According to this structure, in the case where the power supply from the main power supply to the transfer device is interrupted during the extraction retreat operation, the extraction retreat operation of the pair of advancing / retreating members that already hold the article is continued. Thus, the extraction retreat operation of moving the article to the support portion can be completed, and a situation where the pair of advancing / retreating members stop in the state of protruding toward the transfer target portion in the original state can be avoided.

[0089] As one mode, preferably, the transfer device includes hooks, and the hooks are supported by respective ones of the pair of advancing and retreating members and advance and retreat in the width direction with respect to the advancing and retreating members, and the posture changes to a protruding posture and a retracted posture; each of the pair of hooks is arranged at a position overlapping the article when viewed in the transfer direction along the transfer direction in the protruding posture, and is arranged at a position not overlapping the article when viewed in the transfer direction in the retracted posture; when the power supply from the main power source to the transfer device is interrupted after the pair of advancing and retreating members protrude to the protruding target position in a state where the hooks are set to the retracted posture and before the posture change of the hooks from the retracted posture to the protruding posture is started, the control device executes the copying interruption operation during power failure; when the power supply from the main power source to the transfer device is interrupted after the posture change of the hooks from the retracted posture to the protruding posture is started, the control device executes the copying continuation operation during power failure.

[0090] According to this structure, even after the pair of advancing and retreating members protrude to the protruding target position, as long as it is before the start of the posture change of the hooks to the protruding posture, the copying interruption operation during power failure is executed. Therefore, it is possible to avoid performing useless actions of the hooks and suppress the power consumption of the auxiliary power source to a small amount. In addition, according to this structure, after the start of the posture change of the hooks to the protruding posture, the copying continuation operation during power failure is executed. Therefore, there is no need to perform control such as returning the hooks after the start of the posture change to the protruding posture to the retracted posture again, and it is easy to simplify the control process performed by the control device.

[0091] As a mode, preferably, when the power supply from the main power source to the transfer device is interrupted and the unloading protrusion operation is in progress, the control device performs the first unloading operation during power outage. The unloading protrusion operation is an operation to move the article at the support portion to the transfer target portion, and to protrude a pair of the advancing / retreating members holding the article from the reference position to the protrusion target position. The first unloading operation during power outage is an operation to protrude a pair of the advancing / retreating members to the protrusion target position while keeping the article in its original state, then release the holding of the article by the pair of the advancing / retreating members, and then retreat the pair of the advancing / retreating members to the reference position; when the power supply from the main power source to the transfer device is interrupted and the unloading retreat operation is in progress, the control device performs the second unloading operation during power outage. The unloading retreat operation is an operation to protrude a pair of the advancing / retreating members holding the article to the protrusion target position to move the article at the support portion to the transfer target portion, and then retreat a pair of the advancing / retreating members that do not hold the article from the protrusion target position to the reference position. The second unloading operation during power outage is an operation to retreat a pair of the advancing / retreating members to the reference position in their original state.

[0092] According to this structure, when the power supply from the main power source to the transfer device is interrupted during the unloading operation, the unloading operation of the pair of the advancing / retreating members continues. Therefore, the unloading operation to move the article to the transfer target portion can be completed, and it is possible to prevent the pair of the advancing / retreating members from stopping in the state of protruding toward the transfer target portion side in their original state.

[0093] As a mode, preferably, the control device makes the moving speed of the pair of the advancing / retreating members during the process of retreating from the protrusion target position to the reference position in the first unloading operation during power outage lower than the moving speed of the pair of the advancing / retreating members during the process of protruding from the reference position to the protrusion target position.

[0094] According to this structure, since the driving force of the driving device during the first unloading operation during power outage can be suppressed to be low, it is easy to suppress the power consumption of the auxiliary power source during power outage to be small.

[0095] As a mode, preferably, the auxiliary power source includes a power storage unit that stores power from the commercial power source; the amount of power stored in the power storage unit is not less than the amount of power required to move the heaviest one of the various articles from the transfer target portion to the support portion by the transfer device.

[0096] According to this structure, even when the power supply from the main power source to the transfer device is interrupted, the amount of power required to make the transfer device perform the necessary operations can be ensured.

[0097] Explanation of Reference Numerals

[0098] 10: Article Conveyor

[0099] 11: Support Portion

[0100] 22: Transfer Target Portion

[0101] 30: Transfer Device

[0102] 31: Forward and Backward Component

[0103] 35: Driving Device

[0104] 40: Hook

[0105] 50: Power Supply Device

[0106] 51: Main Power Supply

[0107] 52: Auxiliary Power Supply

[0108] 53: Power Storage Portion

[0109] 60: Control Device

[0110] P1: Reference Position

[0111] P2: Projection Target Position

[0112] S1: Retracted Posture

[0113] S2: Projected Posture

[0114] W: Article

Claims

1. An article conveying device, comprising: a supporting part for supporting an article; a transfer device for performing a transfer operation of moving the article between the supporting part and a transfer target part along a transfer direction; and a power supply device for supplying power to the transfer device; characterized in that a direction orthogonal to the transfer direction in a top - down view is defined as a width direction; the transfer device includes a pair of advancing / retreating members disposed on both sides in the width direction with respect to the article and advancing and retreating in the transfer direction, a driving device for driving the pair of advancing / retreating members to advance and retreat, and a control device for controlling the driving device; the power supply device includes a main power supply for receiving power from a commercial power supply and supplying power to the transfer device, and an auxiliary power supply for temporarily supplying power to the transfer device when the power supply from the main power supply to the transfer device is interrupted; when the power supply from the main power supply to the transfer device is interrupted and in the case of a pick - up protruding operation, the control device performs a power - off pick - up interruption operation. The pick - up protruding operation is an operation of causing the pair of advancing / retreating members to protrude from a reference position corresponding to the supporting part to a protruding target position corresponding to the transfer target part in order to move the article at the transfer target part to the supporting part. The power - off pick - up interruption operation is an operation of causing the pair of advancing / retreating members to retreat to the reference position without holding the article after the pair of advancing / retreating members protrude to the protruding target position.

2. The article conveying device according to claim 1, characterized in that the moving speed of the pair of advancing / retreating members during the process of retreating from the protruding target position to the reference position in the power - off pick - up interruption operation is lower than the moving speed of the pair of advancing / retreating members during the process of protruding from the reference position to the protruding target position.

3. The article conveying device according to claim 1, characterized in that when the power supply from the main power supply to the transfer device is interrupted and in the case of a pick - up retreating operation, the control device performs a power - off pick - up continuation operation. The pick - up retreating operation is an operation of causing the pair of advancing / retreating members holding the article to retreat from the protruding target position to the reference position in order to move the article at the transfer target part to the supporting part. The power - off pick - up continuation operation is an operation of causing the pair of advancing / retreating members to retreat to the reference position while maintaining the article in its original state.

4. The article conveying device according to claim 3, characterized in that the transfer device includes hooks, each of which is supported by one of the pair of advancing / retreating members and advances and retreats in the width direction with respect to the advancing / retreating member, and whose posture changes to a protruding posture and a retracted posture; each of the pair of hooks is disposed at a position overlapping the article in a transfer - direction view along the transfer direction in the protruding posture, and is disposed at a position not overlapping the article in a transfer - direction view in the retracted posture; When the power supply from the main power source to the transfer device is interrupted after the pair of the forward and backward members protrude to the protrusion target position by the picking protrusion operation in a state where the hook is set to the retracted posture, and before the start of the posture change of the hook from the retracted posture to the protruded posture, the power-off picking interruption operation is executed; When the power supply from the main power source to the transfer device is interrupted after the start of the posture change of the hook from the retracted posture to the protruded posture, the power-off picking continuation operation is executed.

5. The article conveying device according to any one of claims 1 to 4, characterized in that the control device When the power supply from the main power source to the transfer device is interrupted during the unloading protrusion operation, the power-off first unloading operation is executed. The unloading protrusion operation is an operation in which a pair of the forward and backward members holding the article protrude from the reference position to the protrusion target position in order to move the article at the support portion to the transfer target portion. The power-off first unloading operation is an operation in which, after a pair of the forward and backward members hold the article in its original state and protrude to the protrusion target position, the pair of the forward and backward members release the holding of the article and then the pair of the forward and backward members retreat to the reference position; When the power supply from the main power source to the transfer device is interrupted during the unloading retraction operation, the power-off second unloading operation is executed. The unloading retraction operation is an operation in which, after a pair of the forward and backward members holding the article protrude to the protrusion target position in order to move the article at the support portion to the transfer target portion, a pair of the forward and backward members that do not hold the article retreat from the protrusion target position to the reference position. The power-off second unloading operation is an operation in which a pair of the forward and backward members retreat to the reference position in their original state.

6. The article conveying device according to claim 5, characterized in that The control device makes the moving speed of the pair of the forward and backward members during the process of retreating from the protrusion target position to the reference position in the power-off first unloading operation lower than the moving speed of the pair of the forward and backward members during the process of protruding from the reference position to the protrusion target position.

7. The article conveying device according to any one of claims 1 to 4, characterized in that the auxiliary power supply includes a power storage unit that stores power from the commercial power supply; The amount of power stored in the power storage unit is more than the amount of power required to move the heaviest one of the various articles from the transfer target portion to the support portion by means of the transfer device.

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