Conveying installation

Abstract

To provide a conveying facility capable of effectively protecting a floor surface from abrasion caused by friction with wheels of a conveying vehicle.SOLUTION: The transport facility 1 includes a transport vehicle 2 and a floor surface 31 on which the transport vehicle 2 travels. The transport vehicle 2 transports the transport-object 10. The transport vehicle 2 includes wheels 222 that roll on the floor surface 31, and an own vehicle position recognition device 23 for recognizing the own vehicle position on the floor surface 31. The transport vehicle 2 is configured to travel along a path that is selected from among predetermined travelable paths 23R based on the result of recognition of the position of the transport vehicle 2 by the vehicle position recognition device 23. The reinforcing member 4 is disposed at a specific position P where wear due to friction with the wheel 222 is larger than other positions in the wheel track WT. The reinforcing member 4 has a surface having higher wear resistance than the floor surface 31.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a transport facility equipped with a transport vehicle that travels on a floor surface. [Background technology]

[0002] A transport facility equipped with a transport vehicle that travels on a floor surface is in use. The transport vehicle travels along a set travel path to transport an object to be transported. An example of such a transport facility is disclosed in Patent Document 1 listed below. In the following description of this background art, the reference numerals and names in Patent Document 1 will be cited in parentheses.

[0003] In the conveyance facility of Patent Document 1, a transport vehicle (plate-like article transport vehicle 1) is configured to travel along a travelable path (traveling path 2) within a transport area (clean room) to transport objects to be transported (plate-like articles) to each of a plurality of stations (3). As the transport vehicle (plate-like article transport vehicle 1) repeatedly travels on the travelable path (traveling path 2) on the floor surface (floor portion), wear may occur due to friction with the wheels (traveling wheels 5) of the transport vehicle (plate-like article transport vehicle 1). Therefore, in the conveyance facility of Patent Document 1, the strength of the floor surface (floor portion) is increased to protect the floor surface (floor portion) from wear due to friction with the wheels (traveling wheels 5) of the transport vehicle (plate-like article transport vehicle 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-168982 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in order to increase the strength of the floor surface (floor portion), the cost of the materials that make up the floor surface (floor portion) tends to increase accordingly, which tends to increase the cost of the transport equipment as well.

[0006] Therefore, it is desirable to realize a transport facility that can effectively protect the floor surface from wear caused by friction with the wheels of the transport vehicle. [Means for solving the problem]

[0007] In view of the above, the conveying equipment: The transport facility includes a transport vehicle that transports an object to be transported and a floor surface on which the transport vehicle travels, the transport vehicle includes wheels that roll on the floor surface and a vehicle position recognition device that recognizes the position of the transport vehicle on the floor surface; the transport vehicle is configured to travel along a route selected from preset travelable routes based on a result of the recognition of the vehicle's position by the vehicle position recognition device, A trajectory of the wheels of the transport vehicle traveling along the drivable path on the floor surface is defined as a wheel trajectory, A reinforcing member having a surface that is more wear-resistant than the floor surface is disposed at a specific location of the wheel path where wear due to friction with the wheels is greater than other locations.

[0008] This characteristic configuration makes it possible to prevent specific areas of the floor from being worn more than other areas due to friction with the wheels, even when the transport vehicle repeatedly travels along a route selected from a preset list of possible routes. Therefore, this configuration makes it possible to effectively protect the floor from wear due to friction with the wheels while keeping the cost of the transport equipment lower than when the entire floor is reinforced.

[0009] Further features and advantages of the techniques according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief explanation of the drawings]

[0010] [Figure 1] Schematic diagram of the transport equipment [Figure 2] Side view of the transport vehicle [Figure 3] Front view of the transport vehicle [Figure 4] 2 is an enlarged view of a corner at a second specific location shown in FIG. 1; [Figure 5] FIG. 2 is an enlarged view of a turning position at a second specific location shown in FIG. 1; [Figure 6] An enlarged view of the third specific location shown in Figure 1 [Figure 7] Cross-sectional view of the reinforcing member shown in Figure 1 DETAILED DESCRIPTION OF THE INVENTION

[0011] 1. Overview of the transport equipment A conveying facility 1 according to this embodiment will be described with reference to the drawings. As shown in FIG. 1, the conveying facility 1 is a facility for conveying an object 10 to be conveyed from a source to a destination. The source and destination include, for example, a station for storing the object 10 to an automated warehouse (not shown) or for retrieving the object 10 from the automated warehouse, a manufacturing facility, and a work area. The manufacturing facility is a facility for manufacturing goods or the like using the object 10 to be conveyed. The work area includes, for example, a shipping work area and a sorting work area. The shipping work area is an area where work for shipping the object 10 to be conveyed is performed. The sorting work area is a sorting area where sorting work of the object 10 to be conveyed is performed.

[0012] 1 illustrates, as an example of a transfer source, an outgoing station 32 for taking out the transfer object 10 from a warehouse (not shown) where the transfer object 10 is stored. And, as an example of a transfer destination, an incoming station 33 for putting the transfer object 10 into the warehouse where the transfer object 10 is stored.

[0013] The transport facility 1 includes a transport vehicle 2 that transports an object 10 to be transported, a control system (not shown) that controls the transport vehicle 2, and a transport area 3 in which the transport vehicle 2 travels. The transport vehicle 2 travels on a floor surface 31 that constitutes the transport area 3, transporting the object 10 from the source to the destination. One or more transport vehicles 2 travel within the transport area 3. Specifically, the floor surface 31 may be a floor surface 31 provided inside a building or a floor surface 31 provided in a certain area outdoors, and may be flat. A transport vehicle 2 that travels on such a floor surface 31 has a larger area in which the transport vehicle 2 can travel compared to an overhead transport vehicle that travels along rails suspended from the ceiling or a rail-guided vehicle that travels along a track arranged on the floor surface 31. This provides a significant effect by efficiently protecting the floor surface 31.

[0014] The following describes the transport vehicle 2, the control system, and the transport area 3. For ease of explanation, one of the two directions along the floor surface 31 will be referred to as the "first direction D1," and the other of the two directions along the floor surface 31 will be referred to as the "second direction D2." The direction intersecting the "first direction D1" and the "second direction D2" will be referred to as the "up-down direction D3."

[0015] 2.Transport vehicle The transport vehicle 2 carries out the object 10 to be transported from the source location and carries the object 10 to the destination location. To perform this function, the transport vehicle 2 is equipped with a transfer device 21, a traveling device 22, and a vehicle position recognition device 23, as shown in FIGS. 2 and 3.

[0016] The transfer device 21 is a device that supports the object 10 to be transferred and transfers the object 10 at the source and destination. In this embodiment, the transfer device 21 moves the object 10 to be transferred in the vertical direction D3. Specifically, when the transport vehicle 2 is positioned at an output station 32, which is an example of the source, the transfer device 21 receives the object 10 that is positioned at the warehouse or output station 32. On the other hand, when the transport vehicle 2 is positioned at an input station 33, which is an example of the destination, the transfer device 21 moves the object 10 that is positioned at the warehouse or input station 33 to a position in the warehouse or input station 33 where the object 10 will be handed over.

[0017] The transfer device 21 may include, for example, a lifting mechanism (lifter) that raises and lowers the target object in the vertical direction D3. The transfer device 21 may also include a fork-type or conveyor-type transfer mechanism, a pressing mechanism (pusher), or the like that moves the target object in the first direction D1 or the second direction D2. Alternatively, the transfer device 21 may also include a mechanism that moves the target object in both the vertical direction D3 and the first direction D1 or the second direction D2, such as a fork-type transfer machine.

[0018] The traveling device 22 is a device for causing the transport vehicle 2 to travel. The traveling device 22 includes a chassis 221 and wheels 222 that roll on the floor surface 31. Various devices for transporting the object to be transported are mounted on the chassis 221. The wheels 222 are supported rotatably relative to the chassis 221. The wheels 222 illustrated in FIGS. 1 to 3 are arranged below the chassis 221.

[0019] In this embodiment, the traveling device 22 includes a plurality of wheels 222. The plurality of wheels 222 includes a drive wheel W1 that is rotationally driven by a drive source such as a motor. The chassis 221 can move by the rotation of the drive wheel W1. In addition, in this embodiment, the plurality of wheels 222 includes a driven wheel W2. The driven wheel W2 is a wheel 222 that rotates to follow the movement of the chassis 221, which moves in conjunction with the rotation of the drive wheel W1.

[0020] In this embodiment, the plurality of wheels 222 includes a pair of drive wheels W1 and four driven wheels W2. The pair of drive wheels W1 are arranged at a distance from each other in the width direction (second direction D2 in FIG. 2 ) at the bottom of the chassis 221. The driven wheels W2 are also arranged at the bottom of the chassis 221, similar to the drive wheels W1. The four driven wheels W2 are respectively arranged at the four corners of the chassis 221.

[0021] In this embodiment, the driven wheels W2 have a direction-changing function for changing the direction of the transport vehicle 2. Each driven wheel W2 changes its posture so as to change the inclination angle with respect to the first direction D1 as viewed in the up-down direction D3, based on the rotation axis as viewed in the up-down direction D3, thereby changing the traveling direction of the transport vehicle 2. Hereinafter, for convenience of explanation, changing the inclination angle with respect to the first direction D1 as viewed in the up-down direction D3 by the driven wheels W2 in order to exert the direction-changing function will be referred to as "the driven wheels W2 changing their posture."

[0022] The vehicle position recognition device 23 is a device for recognizing the position of the vehicle on the floor surface 31. The vehicle includes a transport vehicle 2 to which the vehicle position recognition device 23 is attached, and a transport vehicle 2 whose position is to be recognized by the control system. The vehicle position on the floor surface 31 is determined by coordinates in a coordinate system set based on a reference position provided on the floor surface 31, or the distance to a wall or equipment placed in the transport area 3.

[0023] The transport vehicle 2 is configured to change direction based on a preset reference position, based on the result of recognition of the vehicle's position by the vehicle position recognition device 23. Therefore, the transport vehicle 2 changes direction when it reaches the preset position.

[0024] In this embodiment, as shown in FIG. 3, the vehicle position recognition device 23 includes a detectable portion 231 that serves as a reference position for setting a drivable route 23R along which the guided vehicle 2 can travel, and a detection portion 232 that detects the detectable portion 231. The detection portion 232 is mounted on the chassis 221, and the detectable portion 231 is installed in the transport area 3. In this embodiment, the reference position is the position of each of the multiple detectable portions 231 arranged on the floor surface 31. As shown in FIG. 1, the guided vehicle 2 is configured to travel along a route (drivable route 23R) that is set to connect the multiple detectable portions 231. In the example shown in FIG. 1, the detectable portions 231 are regularly arranged at intervals on the floor surface 31 of the travel area 34. The drivable route 23R is set, for example, to connect the positions where two detectable portions 231 are arranged in a straight line.

[0025] In this embodiment, the detectable portion 231 includes, for example, a magnetic material or an identification code such as a one-dimensional code or a two-dimensional code. If the detectable portion 231 is a magnetic material, the detecting portion 232 is configured with a detector or the like that detects the magnetic material. If the detectable portion 231 is an identification code, the detecting portion 232 is configured with a code reader or the like that reads the identification code. However, as long as the detecting portion 232 can detect the detectable portion 231, the detecting portion 232 and the detectable portion 231 are not limited to such configurations. For example, the detectable portion 231 may be configured with an IC (Integrated Circuit) tag, and the detecting portion 232 may be configured with an IC tag reader. Alternatively, the detectable portion 231 may be configured with a mark that is detected by being imaged by the detecting portion 232.

[0026] 3. Control System The control system controls one or more transport vehicles 2. In detail, the control system moves the transport vehicle 2 to a designated location including a source and a destination, and causes the transport vehicle 2 to perform an operation for handing over the transported object 10 by the transport vehicle 2 at the designated location. In an example of control of the transport vehicle 2 by the control system shown in FIG. 1 , the controlled transport vehicle 2 moves from the outgoing station 32 in a first direction D1 and changes direction to travel in a second direction D2. Then, the control system moves the changed direction transport vehicle 2 to the receiving station 33. Note that, for ease of explanation, the transported object 10 transported by the transport vehicle 2 is not shown in FIG. 1. Also, hereinafter, for ease of explanation, the control system's control of the travel of the transport vehicle 2 will be simply expressed as the transport vehicle 2 traveling.

[0027] The control system calculates multiple candidates for the travelable route 23R along which the transport vehicle 2 will travel in order to move the transport vehicle 2 to the designated location. The control system sets a travel route along which the transport vehicle 2 will actually travel from the multiple calculated travelable routes 23R. Then, the control system drives the transport vehicle 2 along the travel route to move the transport vehicle 2 to the designated location.

[0028] The control system assigns a transport task to each of the multiple transport vehicles 2 to transport the object 10 to be transported. The transport task includes an instruction to transport the object 10 from the origin to the destination. Each transport vehicle 2 to which the control system assigns a transport task transports the object 10 from the origin to the destination in accordance with the transport task. The transport task also includes an instruction for the travel route of the transport vehicle 2 to which the transport task is assigned. As a result, the transport vehicle 2 travels along a route (travel route) selected from the preset drivable routes 23R based on the recognition result of the vehicle's own position by the vehicle position recognition device 23.

[0029] The control system includes, for example, a host control device (not shown) that manages the entire conveyance facility 1, and a vehicle control device (not shown) that controls each conveyance vehicle 2. The host control device and the vehicle control device are configured to communicate with each other. The host control device assigns conveyance tasks to the vehicle control devices (conveyance vehicles 2). The vehicle control devices assigned with conveyance tasks control various devices and the like provided therein according to the conveyance tasks. The host control device and the vehicle control device each include, for example, a processor such as a microcomputer, peripheral circuits such as memory, and the like. Each process or function is realized by cooperation between this hardware and a program executed on a processor such as a computer.

[0030] 4.Transportation area The transfer area 3 includes an unloading facility as the transfer origin, an unloading facility as the transfer destination, auxiliary facilities (not shown) that assist the travel of the transfer vehicle 2, a travel area 34 consisting of a floor surface 31 on which the transfer vehicle 2 travels, and a reinforcing member 4. The reinforcing member 4 is a member for reinforcing the floor surface 31 of the travel area 34. The transfer area 3 illustrated in FIG. 1 represents one floor inside a factory or warehouse building.

[0031] In this embodiment, a travel area 34 is provided in a position adjacent to the carry-in facility and the carry-out facility. The transport vehicle 2 travels on a floor surface 31 provided in the travel area 34. Therefore, friction occurs between the floor surface 31 and the wheels 222 at points on the floor surface 31 that come into contact with the wheels 222. The friction between the floor surface 31 and the wheels 222 may cause wear on the floor surface 31. The reinforcing member 4 prevents wear from occurring at points on the floor surface 31 that come into contact with the wheels 222. In the following description, the path of contact on the floor surface 31 by the wheels 222 of the transport vehicle 2 traveling on the traversable path 23R is referred to as the wheel path WT.

[0032] The reinforcing member 4 has a surface that is more wear-resistant than the floor surface 31. In addition, the reinforcing member 4 is preferably formed in a sheet shape. The wear resistance of the reinforcing member 4 refers to the property of the reinforcing member 4 that makes it less susceptible to wear when friction occurs between the reinforcing member 4 and the floor surface 31. Specifically, the surface of the reinforcing member 4 is harder than the floor surface 31. In addition, it is preferable that the surface of the reinforcing member 4 has a low coefficient of friction in the case of friction with the driven wheel W2. In this way, wear due to friction between the driven wheel W2 and the reinforcing member 4 is less likely to occur.

[0033] The reinforcing member 4 is disposed at a specific location P of the wheel trajectory WT where wear due to friction between the wheel 222 and the floor surface 31 is greater than at other locations. Here, the magnitude of wear due to friction between the wheel 222 and the floor surface 31 is determined according to at least one of the magnitude of the frictional force acting on the floor surface 31 and the frequency with which the frictional force acts. In detail, as the frictional force acting on the floor surface 31 increases, wear occurring on the floor surface 31 increases. Also, as the frequency with which the frictional force acts on the floor surface 31 increases, wear occurring on the floor surface 31 increases.

[0034] The specific location P includes a location where the wheels 222 frequently come into contact with the floor surface 31 and a location where the transport vehicle 2 changes direction. By disposing the reinforcing member 4 at the specific location P, the wheels 222 of the transport vehicle 2 passing through the specific location P come into contact with the reinforcing member 4. As a result, the reinforcing member 4 comes into contact with the wheels 222 instead of the floor surface 31, and wear at the specific location P due to friction between the floor surface 31 and the wheels 222 can be prevented.

[0035] In this embodiment, as shown in FIG. 1 , the specific location P includes at least one of a first specific location P1, a second specific location P2, and a third specific location P3. The first specific location P1 is a location where the frequency of passage of the wheel 222 is equal to or greater than a preset threshold. The second specific location P2 is a location where the wheel 222 rotates around an axis along the vertical direction D3 relative to the floor surface 31. The third specific location P3 is a location where the wheel 222 starts to roll from a stopped state. Here, the first specific location P1 is a location where the wheel 222 comes into contact with the floor surface 31 frequently. The second specific location P2 and the third specific location P3 are locations where the transport vehicle 2 changes direction.

[0036] At the first specific point P1, the frequency of passage of the wheels 222 includes, for example, the number of times the wheels 222 pass per unit time. Specifically, the first specific point P1 may be an intersection of the wheel trajectories WT or a position on the wheel trajectory WT formed by the transport vehicle 2 traveling on a main route, such as the drivable route 23R connecting the main carry-in facility and the carry-out facility. In FIG. 1, the first specific point P1 is exemplified by a location where the wheel trajectory WT is formed when an article is transported from the delivery station 32 to one of multiple storage stations 33 provided in the transport facility 1. Specifically, the transport vehicle 2 leaving the delivery station 32 passes through the drivable route 23R that passes through the detectable unit 231 disposed adjacent to the delivery station 32. The trajectory of the wheels 222 formed by the transport vehicle 2 traveling on the drivable route 23R becomes the first specific point P1.

[0037] Preferably, when the first specific location P1 is a wheel path WT on a main route or the like that is a drivable route 23R connecting a main carry-in facility and a carry-out facility, the reinforcing members 4 are placed at intervals along the wheel path WT. With this configuration, the number of reinforcing members 4 installed at the first specific location P1 can be reduced.

[0038] Furthermore, preferably, when the first specific location P1 is a wheel path WT on a main route or the like that is a drivable route 23R connecting a main carry-in facility and a carry-out facility, the reinforcing members 4 are placed at first specific location P1 in a location where the wear resistance of the floor surface 31 is relatively low. According to this configuration, the reinforcing members 4 are placed only in locations on the floor surface 31 that are likely to be subject to large wear, so the floor surface 31 can be effectively protected with a small number of reinforcing members 4.

[0039] The second specific location P2 includes, for example, corners where the wheel trajectory WT bends and locations where the curvature of the wheel trajectory WT changes, as well as turning locations where the guided vehicle 2 turns.

[0040] The turning point is a point where the wheel trajectory WT is formed when the transporting vehicle 2 changes direction while traveling. For example, when the transporting vehicle 2 changes direction, if the side toward which the transporting vehicle 2 is heading after changing direction is defined as the inside and the opposite side as the outside, the outer circumferential surface of the wheel 222 that makes contact with the floor surface 31 will slip in the traveling direction. This is because the outer circumferential surface of the wheel 222 has a faster speed than the inner circumferential surface of the wheel 222.

[0041] The curved portion includes a boundary between a straight portion and a curved portion in the wheel trajectory WT, as shown in Figures 1 and 4. As shown in Figure 4, the guided vehicle 2 traveling toward the detection target 231 changes the posture of the driven wheel W2 from the traveling direction to a direction intersecting the traveling direction. The posture of the driven wheel W2 is changed while the guided vehicle 2 is traveling. By placing a reinforcing member 4 at the second specific portion P2, each driven wheel W2 changes its posture on the reinforcing member 4.

[0042] 1 and 5, the turning point is a point where the transportation vehicle 2 changes its horizontal posture while stopped in place. For example, when the transportation vehicle 2 changes the posture of the driven wheel W2 while stopped, the driven wheel W2 changes its posture while sliding against the floor surface 31. For this reason, when the posture of the driven wheel W2 is changed while the transportation vehicle 2 is stopped, wear due to friction between the floor surface 31 and the wheel 222 is likely to increase.

[0043] The turning point includes a point where the driven wheel W2 comes into contact with the floor surface 31 when the driven wheel W2 changes its posture, as shown in Fig. 5. As shown in Fig. 5, the guided vehicle 2 traveling toward the detection target 231 temporarily stops on the detection target 231. Then, while the guided vehicle 2 is stopped, it changes the posture of the driven wheel W2. By placing a reinforcing member 4 at the second specific point P2, each driven wheel W2 changes its posture on the reinforcing member 4.

[0044] The third specific location P3 includes, for example, a location where the transport vehicle 2 temporarily stops to perform some work, as shown in FIGS. 1 and 6 . Examples of such locations include the outgoing station 32 or the incoming station 33, which are the source or destination of the transport vehicle 2, and a location where the transport vehicle 2 stops to receive power at a charging station, which is an example of auxiliary equipment. In particular, if the direction in which the transport vehicle 2 was moving immediately before stopping differs from the direction in which the transport vehicle 2 will move from the stopped state, as shown in FIG. 6 , the driven wheel W2 changes its position so as to rotate toward the direction of movement of the transport vehicle 2. Therefore, friction is likely to occur between the contact surface of the driven wheel W2 with the floor surface 31 and the floor surface 31. In addition, the transport vehicle 2 often turns at charging stations, transfer stations, etc., which also results in significant wear of the driven wheel W2 due to friction between the driven wheel W2 and the floor surface 31.

[0045] 6, when the transport vehicle 2 that has entered the storage station 33 and is stopped moves from the storage station 33, each of the driven wheels W2 temporarily changes its position on the reinforcing member 4. Then, each of the driven wheels W2 that has changed its position on the reinforcing member 4 rolls on the floor surface 31 in a position for moving from the storage station 33.

[0046] The first specific location P1 to the third specific location P3 are determined based on the movement of the guided vehicle 2. Here, the specific location P can also be determined based on the wheel trajectories WT. When the wheel trajectories WT are used as the reference, the specific location P includes at least one of a location where multiple wheel trajectories WT overlap, a location where the curvature of the wheel trajectories WT changes, and a location where the extension direction of the wheel trajectories WT changes. A location where multiple wheel trajectories WT overlap includes, for example, a location where multiple different wheel trajectories WT intersect, abut, or overlap. Here, overlapping includes the meaning that the wheel trajectories WT of different guided vehicles 2 overlap. A location where the extension direction of the wheel trajectories WT changes can be, for example, a corner or a location included in a curve.

[0047] Preferably, the reinforcing members 4 are disposed only at the specific locations P. According to this configuration, the reinforcing members 4 are not disposed at locations other than the specific locations P, so the number of reinforcing members 4 required to reinforce the floor surface 31 is reduced. Therefore, the overall cost of the conveyance facility 1 is reduced.

[0048] As shown in FIG. 7, the reinforcing member 4 is formed in a sheet shape, and an adhesive layer 42 is provided on the back surface of a surface sheet 41 for adhering to the floor surface 31. In addition, the surface sheet 41 is preferably made of metal or synthetic resin. The surface sheet 41 may be plate-shaped. However, the thickness of the reinforcing member 4 is preferably such that vibrations do not occur in the transport vehicle 2 when the wheels 222 move from the floor surface 31 to the reinforcing member 4 due to a step formed between the floor surface 31 and the reinforcing member 4. In this embodiment, the adhesive layer 42 is a layer made of adhesive. The adhesive layer 42 may be an adhesive seal or the like.

[0049] Stainless steel is preferably used as the material for the surface sheet 41 that constitutes the reinforcing member 4. With this configuration, the reinforcing member 4 is resistant to rust. This prevents problems that would occur if the reinforcing member 4 rusted and the rust came into contact with the wheel 222. Such problems include, for example, rust that has formed on the reinforcing member 4 adhering to the wheel 222.

[0050] Preferably, the reinforcing member 4 is harder than the contact surface of the driven wheel W2. According to this configuration, the driven wheel W2 wears out. Since the worn driven wheel W2 can be simply replaced, the cost of the entire conveyance facility 1 can be reduced.

[0051] More preferably, the reinforcing member 4 has a shape that has no corners in a plan view. According to this configuration, when the wheel 222 comes into contact with the reinforcing member 4, the wheel 222 is unlikely to get caught on the reinforcing member 4. This makes it possible to prevent the wheel 222 from getting caught on the reinforcing member 4 and peeling off from the floor surface 31. Shapes that have no corners include a circle, an ellipse, and a polygon with arc-shaped corners in a plan view. The reinforcing member 4 illustrated in Figures 1 and 4 to 7 has a circular shape in a plan view. Therefore, the reinforcing member 4 has a simple structure, and when the wheel 222 of the traveling transport vehicle 2 runs over the reinforcing member 4, the reinforcing member 4 is unlikely to get caught on the wheel 222.

[0052] 5. Other embodiments Next, other embodiments of the conveying equipment 1 will be described.

[0053] (1) In the present embodiment, the traveling device 22 has been described as having a pair of drive wheels W1. However, the number of drive wheels W1 is not limited to one pair. For example, the traveling device 22 may have one or more than one pair of drive wheels W1. Also, in the present embodiment, four driven wheels W2 have been described as being disposed at the bottom of the chassis 221. However, the number of driven wheels W2 may be other than four. And the driven wheels W2 may be disposed at a location other than the bottom of the chassis 221.

[0054] (2) In the present embodiment, the plurality of wheels 222 of the traveling device 22 are described as including the driving wheels W1 and the driven wheels W2. However, all of the plurality of wheels 222 of the traveling device 22 may be driving wheels W1.

[0055] (3) In this embodiment, the driven wheel W2 has been described as having a turning function. However, the driving wheel W1 may have the turning function instead of the driven wheel W2. In addition, both the driven wheel W2 and the driving wheel W1 may have the turning function.

[0056] (4) In the present embodiment, the vehicle position recognition device 23 is described as including the detection unit 232 and the detected unit 231. However, the vehicle position recognition device 23 may have any configuration as long as it can recognize the vehicle's position on the floor surface 31. For example, the vehicle position recognition device 23 may be a combination of a detector that detects objects (such as walls and equipment) in the carry-out area arranged around the transport vehicle 2 and a calculation device. The calculation device creates map information of the transport area 3 based on the positional relationship between the objects and the transport vehicle 2 detected by the detection unit 232, and identifies the vehicle's position on the map. The detector may be, for example, a sensor that detects whether objects are arranged within a certain range around the vehicle, or a sensor such as a laser rangefinder that measures the distance from objects arranged around the vehicle to the vehicle's position. In this case, the vehicle's position on the floor surface 31 is set based on the objects arranged around the vehicle, and the drivable route 23R is a route determined by the arrangement of surrounding walls and equipment. Furthermore, the vehicle position recognition device 23 may be a position recognition device that uses radio waves, such as a global positioning system (GPS). In this case, the vehicle position on the floor surface 31 is determined by coordinates in a coordinate system that is set based on a reference position provided on the floor surface 31. With this configuration, there is no need to place a reference for the transport vehicle 2 to travel in the travel area 34, which simplifies the entire transport facility 1.

[0057] (5) In the present embodiment, the travelable path 23R is described as, for example, a path that linearly connects two different detectable parts 231. However, the travelable path 23R may be a path that connects two different detectable parts 231 in a curved line, or a path that is formed by combining a path that connects two different detectable parts 231 in a straight line with a path that connects two different detectable parts 231 in a curved line.

[0058] (6) In the present embodiment, it has been described that the drivable path 23R is determined by a plurality of detectable parts 231 arranged at intervals. However, the drivable path 23R may be determined along the detectable parts 231 extending in one or more directions. For example, the drivable path 23R may be determined along a magnetic tape that extends in one or more directions and is placed on the floor surface 31. In this case, the detectable parts 231 are the magnetic tape placed on the floor surface 31, and the detector 232 is a magnetic sensor that is attached to the transport vehicle 2 and detects the magnetism carried by the magnetic tape placed on the floor surface 31.

[0059] (7) In the present embodiment, the second specific point P2 is described as a point on the wheel trajectory WT where a straight portion and a curved portion form a boundary. However, the second specific point P2 may be a boundary between curves with different curvature directions or between curves with different curvatures on the wheel trajectory WT.

[0060] (8) In the present embodiment, it has been described that the material of the surface sheet 41 constituting the reinforcing member 4 is preferably stainless steel. However, the material of the surface sheet 41 constituting the reinforcing member 4 may be synthetic resin or a metal other than stainless steel. For example, if the material of the surface sheet 41 constituting the reinforcing member 4 is synthetic resin, there is an advantage that the reinforcing member 4 does not rust.

[0061] (9) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0062] 6. Summary of this embodiment The above-described embodiments of the conveying equipment will be summarized below.

[0063] The transport facility includes a transport vehicle that transports an object to be transported and a floor surface on which the transport vehicle travels, the transport vehicle includes wheels that roll on the floor surface and a vehicle position recognition device that recognizes the position of the transport vehicle on the floor surface; the transport vehicle is configured to travel along a route selected from preset travelable routes based on a result of the recognition of the vehicle's position by the vehicle position recognition device, A trajectory of the wheels of the transport vehicle traveling along the drivable path on the floor surface is defined as a wheel trajectory, A reinforcing member having a surface that is more wear-resistant than the floor surface is disposed at a specific location of the wheel path where wear due to friction with the wheels is greater than other locations.

[0064] This characteristic configuration makes it possible to prevent specific areas of the floor from being worn more than other areas due to friction with the wheels, even when the transport vehicle repeatedly travels along a route selected from a preset list of possible routes. Therefore, this configuration makes it possible to effectively protect the floor from wear due to friction with the wheels while keeping the cost of the transport equipment lower than when the entire floor is reinforced.

[0065] Furthermore, it is preferable that the specific location of the conveying equipment includes at least one of a location where the frequency of passage of the wheels is equal to or greater than a predetermined threshold, a location where the wheels rotate around a vertical axis relative to the floor surface, and a location where the wheels start rolling from a stopped state.

[0066] This configuration allows the reinforcing members to be appropriately positioned in areas of the wheel path where friction with the wheels is likely to be greater than in other areas, thereby appropriately reinforcing areas of the floor surface that are likely to be worn down due to friction with the wheels.

[0067] Furthermore, it is preferable that the specific location of the conveying equipment includes at least one of a location where multiple wheel tracks overlap, a location where the curvature of the wheel tracks changes, and a location where the extension direction of the wheel tracks changes.

[0068] This configuration allows the reinforcing members to be appropriately positioned in areas of the wheel path where friction with the wheels is likely to be greater than in other areas, thereby appropriately reinforcing areas of the floor surface that are likely to be worn down due to friction with the wheels.

[0069] In addition, it is preferable that the conveying equipment has the reinforcing member formed in a sheet shape and equipped with a surface sheet that forms the surface and an adhesive layer for adhering the surface sheet to the floor surface.

[0070] This configuration ensures high abrasion resistance of the surface of the reinforcing member, and allows the reinforcing member to be easily installed in specific locations by simply attaching it to the floor surface. Furthermore, replacing the reinforcing member is also relatively easy; it only requires replacing the reinforcing member. [Industrial Applicability]

[0071] The technology disclosed herein can be used in a transport facility equipped with a transport vehicle that travels on a floor surface. [Explanation of symbols]

[0072] 1:Transportation equipment 2: Transport vehicle 4: Reinforcement member 10:Transported object 23: Vehicle position recognition device 23R: Possible route 31: Floor 41: Surface sheet 42: Adhesive layer 222 :Wheel P: Specific location WT: Wheel trajectory

Claims

1. a transport vehicle that transports an object to be transported; a floor surface on which the transport vehicle travels; A conveying facility comprising: the transport vehicle includes wheels that roll on the floor surface and a vehicle position recognition device that recognizes the position of the transport vehicle on the floor surface; the transport vehicle is configured to travel along a route selected from preset travelable routes based on a result of the recognition of the vehicle's position by the vehicle position recognition device, A trajectory of the wheels of the transport vehicle traveling along the drivable path on the floor surface is defined as a wheel trajectory, A conveying facility, wherein a reinforcing member having a surface more wear-resistant than the floor surface is disposed at a specific location of the wheel path where wear due to friction with the wheels is greater than at other locations.

2. The conveying equipment according to claim 1, wherein the specific locations include at least one of a location where the frequency of passage of the wheels is equal to or greater than a predetermined threshold, a location where the wheels rotate around a vertical axis relative to the floor surface, and a location where the wheels start rolling from a stopped state.

3. 2. The conveying facility according to claim 1, wherein the specific location includes at least one of a location where a plurality of the wheel trajectories overlap, a location where the curvature of the wheel trajectories changes, and a location where the extension direction of the wheel trajectories changes.

4. The reinforcing member is A surface sheet formed in a sheet shape and constituting the surface; The conveying facility according to claim 1 , further comprising: an adhesive layer for adhering the top sheet to the floor surface.

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