Transport vehicle

Abstract

To provide a method by which a behavior of a carrier vehicle in turning is made to be stabilized.SOLUTION: A pair of driving wheels 11a are arranged at a central region 10Am in a vehicle body longitudinal direction L of a main traveling body part 10 for each of the wheels to be separated in a body width direction W. In a vertical plan, a first driving source 30M is arranged in a first side L1 in a vehicle body longitudinal direction against a width direction reference line LW and in a first side W1 in a body width direction against a longitudinal direction reference line LL. Also, in a vertical plan, a second driving source 40M is arranged in a second side L2 in a vehicle body longitudinal direction against a width direction reference line LW and in a second side W2 in a body width direction against the longitudinal direction reference line LL.SELECTED DRAWING: Figure 13

Description

[Technical field]

[0001] The present invention relates to a transport vehicle that supports and transports an article and transfers the article to a transfer target location. [Background technology]

[0002] Conventionally, in such technical fields, various measures have been taken to realize smooth running and direction changes of transport vehicles.

[0003] For example, in the technology disclosed in Japanese Patent No. 5481994 (Patent Document 1), a pair of drive wheels (12, 13) and a pair of caster wheels (14, 15) are provided on a vehicle body (11) of a transport vehicle (10). One of the pair of caster wheels (14, 15) is provided with a shock absorbing mechanism to enable vertical movement, and the other caster wheel (15) is fixed so that it cannot vertically move, and a heavy battery (18) is disposed inside the triangle formed by the pair of drive wheels (12, 13) and the fixed caster wheel (15) when viewed in the vertical direction. As a result, in the technology of Patent Document 1, even if the vehicle body (11) is tilted due to an unbalanced load, the drive wheels (12, 13) are easily grounded, and the resistance applied to the caster wheels (14, 15) during turning is reduced, thereby realizing smooth running and direction changes of the transport vehicle (10). In addition, the reference symbols in parentheses above are those of Patent Document 1. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5481994 Summary of the Invention [Problem to be solved by the invention]

[0005] Meanwhile, the above-mentioned transport vehicle that transports and transfers an article while supporting it is equipped with a functional unit for supporting and transferring the article. The drive source for driving the functional unit is likely to be a relatively heavy component among the components that make up the transport vehicle. By considering the position of such a drive source, it is expected that the weight balance of the transport vehicle can be improved, and further, the behavior of the transport vehicle when the transport vehicle turns to change direction, etc. can be expected to be stabilized.

[0006] In view of the above situation, it is desirable to realize a technique that can stabilize the behavior of a transport vehicle when turning. [Means for solving the problem]

[0007] A transport vehicle that transports an object while supporting it and transfers the object to a transfer target location, A traveling vehicle; A functional part for supporting and transferring the article; a first driving source and a second driving source for driving the functional unit, The traveling body includes a traveling main body, a pair of drive wheels supported by the traveling main body, and a wheel drive source that drives the pair of drive wheels, The pair of drive wheels are rotationally driven by the wheel drive source at the same speed or different speeds, A direction in which the traveling body travels is defined as a vehicle body fore-and-aft direction, one side of the vehicle body fore-and-aft direction is defined as a vehicle body fore-and-aft first side, and the other side of the vehicle body fore-and-aft direction is defined as a vehicle body fore-and-aft second side, A direction perpendicular to the vehicle body front-rear direction when viewed in the up-down direction along the up-down direction is defined as a vehicle body width direction, one side of the vehicle body width direction is defined as a vehicle body width direction first side, and the other side of the vehicle body width direction is defined as a vehicle body width direction second side, The pair of drive wheels are disposed in a central region of the vehicle body in the front-rear direction of the traveling main body portion and spaced apart in the vehicle body width direction, A virtual line extending along the vehicle body width direction so as to connect the pair of drive wheels when viewed in the up-down direction is defined as a width direction reference line, and a virtual line intersecting the width direction reference line when viewed in the up-down direction at a middle position between the pair of drive wheels in the vehicle body width direction and extending in the vehicle body fore-aft direction is defined as a front-aft direction reference line, the first drive source is disposed on a first side in the vehicle body front-rear direction with respect to the width direction reference line and on a first side in the vehicle body width direction with respect to the front-rear direction reference line when viewed in the up-down direction, the second drive source is disposed on a second side in the vehicle body forward / rearward direction with respect to the width direction reference line and on a second side in the vehicle body width direction with respect to the forward / rearward direction reference line when viewed in the up / down direction, The article is a container capable of accommodating an object to be contained, a container group support unit that is mounted on the traveling body and supports the plurality of containers as a stacked container group within a specified stacking area; a lifting device as the functional part that is mounted on the traveling body and lifts the containers of the container group supported by the container group support part; A transfer device as the functional unit that is mounted on the traveling body and transfers the container, the first drive source is a drive source for the lifting device, The second driving source is a driving source for the transfer device.

[0008] According to this configuration, the pair of drive wheels are rotated in opposite directions to each other, so that the traveling body can be turned on the spot, i.e., a so-called spin turn can be performed. However, when performing such a spin turn, if the center of gravity of the transportation vehicle is significantly biased in the front-rear direction and width direction of the vehicle body, the behavior of the transportation vehicle may become unstable. Here, the point where the width direction reference line and the front-rear direction reference line intersect in the up-down direction roughly coincides with the turning center of the traveling body when the transportation vehicle performs a spin turn. According to this configuration, the first driving source and the second driving source, which tend to be heavy objects, are arranged diagonally in the up-down direction with respect to the turning center of the traveling body. Therefore, it is easy to prevent the center of gravity of the transportation vehicle from being significantly biased in the front-rear direction and width direction of the vehicle body. Therefore, according to this configuration, it is possible to stabilize the behavior of the transportation vehicle when turning, including the spin turn.

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

[0010] [Figure 1] Plan view of a transportation facility equipped with transport vehicles [Diagram 2] FIG. 2 is a plan view showing each area in which the moving object moves. [Diagram 3] Front view of container shelf [Figure 4] View of the width of the transport vehicle [Diagram 5] FIG. 2 is a plan view showing a first posture and a second posture of the transfer device; [Figure 6] Control Block Diagram [Figure 7] FIG. 13 is an explanatory diagram showing the scooping operation of a container on a shelf portion. [Figure 8] FIG. 13 is an explanatory diagram showing the operation of unloading a container from a shelf portion. [Figure 9] FIG. 13 shows a state in which a container in the stacking area is lifted by a lifting device. [Figure 10] An explanatory diagram of a case where the scooping and unloading of containers are performed in parallel in a stacked area. [Figure 11] An explanatory diagram of a case where the scooping and unloading of containers are performed in parallel in a stacked area. [Figure 12] FIG. 1 is a view showing a main part of a vehicle body viewed in a width direction of the vehicle body. [Figure 13] FIG. 1 is a plan view showing a schematic view of a main part of a traveling body; [Figure 14] FIG. 13 is an explanatory diagram showing the operation of the transfer device under the control of lowering the center of gravity. [Figure 15] FIG. 4 is an explanatory diagram showing the timing for starting the low center of gravity control; [Figure 16] A flowchart showing a processing procedure when performing a lowering center of gravity control. [Figure 17] FIG. 13 is a front-rear view of a vehicle body showing a lifting device according to a second embodiment. [Figure 18] FIG. 11 is a plan view showing a lifting device according to a second embodiment; [Figure 19] FIG. 11 is an explanatory diagram showing the operation of the lifting device by container group facing control in the second embodiment. [Figure 20] A flowchart showing a processing procedure when container group facing control is executed in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The transport vehicle transports an article in a supported state and transfers the article to a transfer target location. Below, an embodiment of the transport vehicle will be described, taking as an example a case where the transport vehicle is provided in a transport facility that transports containers. That is, in this embodiment, the container corresponds to the "article." The transport vehicle is configured to transport the container in a supported state and transfer the container to a transfer target location.

[0012] [First embodiment] First, a first embodiment of the transport vehicle will be described.

[0013] As shown in Fig. 1, the transport facility TF includes a container shelf 8 that stores containers 70 (see Fig. 3), a loading / unloading section 9 that loads and unloads the containers 70, and a host controller H that manages the entire facility. A transport vehicle 100 transports the containers 70 loaded by the loading / unloading section 9 to the container shelf 8, or transports the containers 70 stored on the container shelf 8 to the loading / unloading section 9 for unloading.

[0014] In this embodiment, the multiple container shelves 8 are arranged parallel to each other with a specified interval between them. Each of the multiple container shelves 8 has at least an open front, and containers 70 are inserted and removed from the front. A part of the travel path R of the traveling body 1 (transport vehicle 100) is set between a pair of adjacent container shelves 8 whose front faces each other. In other words, a pair of adjacent container shelves 8 are arranged parallel to each other with an interval between them, and a part of the travel path R is set to pass between the pair of container shelves 8. In addition, the container shelf 8 arranged at the end of the multiple container shelves 8 provided in the transport facility TF is arranged with its front facing outward, and a part of the travel path R is also set in the area along the front of the container shelf 8 at the end. In addition, the transport facility TF is provided with multiple loading / unloading sections 9, and a part of the travel path R is also set in the area passing through each of the multiple loading / unloading sections 9.

[0015] The travel path R includes an intra-shelf path Ra extending along the front surface of the container shelf 8 in the extension direction of the container shelf 8, and an extra-shelf path Rb set outside the arrangement area of ​​the container shelf 8. The intra-shelf path Ra is set corresponding to each of the multiple container shelves 8. In this embodiment, a part of the travel path R set in the area between a pair of adjacent container shelves 8 whose front surfaces face each other, and a part of the travel path R set in the area along the front surface of the container shelf 8 arranged with the front surface facing outward, correspond to the intra-shelf path Ra. In addition, the extra-shelf path Rb is set so as to connect the multiple intra-shelf paths Ra. In addition, the extra-shelf path Rb is also set so as to pass through each of the multiple loading / unloading sections 9. In this embodiment, the part of the travel path R other than the intra-shelf path Ra corresponds to the extra-shelf path Rb.

[0016] 2, the transport facility TF is provided with a shelf area IA and an outer area OA in which the traveling body 1 travels. In this embodiment, the transport facility TF is further provided with a direction change area DA.

[0017] The shelf area IA is an area set along the front of each container shelf 8. The entire shelf area IA faces the front of the container shelf 8 corresponding to that shelf area IA. In other words, the shelf area IA extends along the front of the container shelf 8 corresponding to that shelf area IA in the extension direction of that container shelf 8. The dimension of the shelf area IA in the extension direction is equal to the dimension of the container shelf 8 in the extension direction.

[0018] The shelf area IA is an area through which the intra-shelf path Ra (see FIG. 1) passes, and is an area where the traveling body 1 traveling on the intra-shelf path Ra faces the front of the container shelf 8. In this embodiment, the shelf area IA is set in an area between a pair of adjacent container shelves 8 whose front faces each other. The IA is also set in an area along the front of the container shelf 8 located at the farthest end among the multiple container shelves 8 provided in the transport facility TF.

[0019] The external area OA is an area other than the shelf area IA within the transport equipment TF. The external area OA is an area through which the off-shelf path Rb passes. In this embodiment, direction change areas DA are set at multiple locations in the external area OA. The direction change areas DA are areas for the traveling body 1 to change its traveling direction (change direction). Some of the multiple direction change areas DA are set at locations where multiple traveling paths R (off-shelf paths Rb) intersect. Although details will be described later, the traveling body 1 according to this embodiment changes its traveling direction in the direction change area DA by rotating on the spot around an axis along the up-down direction.

[0020] [Container shelf] 3, the container shelf 8 has multiple shelf sections 80 in the vertical direction for storing containers 70. In this embodiment, the container shelf 8 has multiple beam members 82 extending horizontally along the front surface of the container shelf 8, and also has multiple support members 81 extending in the vertical direction and connected to each of the multiple beam members 82. In other words, the container shelf 8 is configured to have a support frame in which multiple support members 81 and multiple beam members 82 are combined.

[0021] The beam members 82 are arranged spaced apart from each other in the up-down direction. A mounting member 83 for mounting the container 70 is connected to each of the beam members 82. In this example, the container 70 is stored in the shelf section 80 by being placed on the pair of mounting members 83. In addition, multiple pairs of mounting members 83 are arranged on the shelf section 80, so that a plurality of containers 70 can be stored in one shelf section 80. In this example, the area between a pair of support members 81 adjacent in the width direction (left-right direction) when viewed from the front as shown in FIG. 3 and between a pair of beam members 82 adjacent in the up-down direction corresponds to the opening of the container shelf 8.

[0022] In this embodiment, a target portion 82T that serves as a target for storing the container 70 at a reference position 80P for storing the container 70 on the shelf portion 80 is provided. In this example, the target portion 82T is provided on the beam member 82. One target portion 82T is provided for each pair of mounting members 83. In the example shown in the figure, the target portion 82T is configured by a hole formed in the beam member 82.

[0023] 〔container〕 The container 70 is an object to be transported by the transport vehicle 100. Although detailed illustration is omitted, the container 70 is formed in a box shape with an opening that opens upward. In this example, the outer shape of the container when viewed from the top and bottom is rectangular. The container 70 is capable of containing a specified object. The object includes, for example, various products such as food and daily necessities, or parts and work in progress used in a factory production line. As described above, in this embodiment, the container 70 corresponds to an "item". That is, in this embodiment, the object is the container 70 that can contain the object.

[0024] In this embodiment, the container 70 is configured so that it can be stacked with another container 70 while containing an object to be contained therein. That is, the containers 70 are configured so that they can be stacked vertically (see FIG. 4). In this example, the bottom of the container 70 fits into the opening of the other container 70 from above, thereby stacking the two containers 70 vertically.

[0025] [Transport vehicle] As shown in FIG. 4, the transport vehicle 100 includes a traveling body 1 and a functional unit F for supporting and transferring the containers 70. The traveling body 1 travels along a predetermined travel route R (see FIG. 1). In this embodiment, the transport vehicle 100 transports a plurality of containers 70 in a stacked container group 7. The transport vehicle 100 is equipped with a container group support section 2 that supports the containers 70 in a specified stacking area 2A as a stacking unit, a lifting device 3 as a functional section F that lifts up containers 70 of the container group 7 supported by the container group support section 2, and a transfer device 4 as a functional section F that transfers the containers 70. In this embodiment, the transport vehicle 100 is further equipped with a control device C (see FIG. 6) that controls the running body 1, the lifting device 3, and the transfer device 4. The control device C also controls the container group support section 2 in addition to these.

[0026] The container group support section 2, lifting device 3, and transfer device 4 are mounted on a running body 1. If the direction in which the running body 1 travels is defined as the "vehicle body fore-and-aft direction L," the container group support section 2 and the transfer device 4 are arranged side by side in the vehicle body fore-and-aft direction L on the running body 1. In the following, the direction perpendicular to the vehicle body fore-and-aft direction L when viewed in the up-and-down direction is defined as the "vehicle body width direction W."

[0027] [Running body] The running body 1 is configured to run on a specified running path R (see FIG. 1) and is configured to be able to run in the shelf area IA and the external area OA (see FIG. 2). In this embodiment, the running body 1 is configured to run on the intra-shelf path Ra and the extra-shelf path Rb. The running body 1 is located in the shelf area IA when running or stopped on the intra-shelf path Ra, and is located in the external area OA when running or stopped on the extra-shelf path Rb. When the running body 1 is at the boundary between the shelf area IA and the external area OA, a part of the running body 1 is located in the shelf area IA, and another part of the running body 1 is located in the external area OA. In this embodiment, the running body 1 is configured to run on the floor surface.

[0028] The running body 1 includes a running main body 10, a plurality of running wheels 11 supported by the running main body 10, and a wheel drive source 11M that drives the running wheels 11. The wheel drive source 11M includes a motor (not shown). The wheel drive source 11M drives some of the plurality of running wheels 11, thereby imparting a propulsive force to the running body 1.

[0029] [Container group support part] The container group support section 2 is mounted on the traveling body 1. The container group support section 2 is configured to be able to support a plurality of containers 70 as a container group 7 in a stacked state. A stacking area 2A in which the container group 7 is arranged is defined above the container group support section 2. The stacking area 2A is a three-dimensional virtual area extending upward from the container group support section 2. In this example, the container group support section 2 is configured as a conveyor capable of moving the container group 7 in a state in which the container group 7 is placed. In this example, the container group support section 2 is capable of moving the container group 7 along the vehicle body width direction W. The conveyor constituting the container group support section 2 may be a well-known conveyor such as a roller conveyor, a chain conveyor, or a belt conveyor.

[0030] A container group 7 in which a plurality of containers 70 are stacked is carried into the carry-in / out section 9 (see FIG. 1 and FIG. 2). When the traveling body 1 is adjacent to the carry-in / out section 9, the container group support section 2 receives the container group 7 from the carry-in / out section 9 or transfers the container group 7 to the carry-in / out section 9. That is, the container group support section 2 is configured to transfer the container group 7 between the carry-in / out section 9. Although detailed illustration is omitted, in this example, the carry-in / out section 9 is adjacent to a picking area where the work of removing the contained items such as goods from the containers 70 is performed. When the container group 7 is transferred from the container group support section 2 to the carry-in / out section 9, the contained items are removed from the containers 70 in the picking area adjacent to the carry-in / out section 9. After some or all of the contained items contained in the containers 70 are removed, the containers 70 are transferred from the carry-in / out section 9 to the container group support section 2 (transport vehicle 100) and transported again to the container shelf 8. However, the loading / unloading section 9 does not have to be adjacent to the picking area, and may be adjacent to other equipment or a work area. Also, for example, the loading / unloading section 9 may be configured to transport the container group 7 delivered from the container group support section 2 to the outside of the transport equipment TF.

[0031] [Lifting device] The lifting device 3 as the functional part F is mounted on the traveling body 1. The lifting device 3 is configured to lift the containers 70 of the container group 7 supported by the container group support part 2, in other words, the containers 70 of the container group 7 arranged in the stacking area 2A. The lifting device 3 is also configured to be capable of supporting the container group 7 in the stacking area 2A from the horizontal direction.

[0032] The lifting device 3 includes a lifting mast 30 erected upward from the traveling body 1, a lifting body 30B connected to the lifting mast 30, and a lifting body drive unit 30M that raises and lowers the lifting body 30B along the lifting mast 30. Although detailed illustration is omitted, the lifting body drive unit 30M is configured as, for example, a motor for rotating a rotating body around which an endless body such as a belt is wound.

[0033] In this embodiment, the lifting lift body drive unit 30M is a drive source of the lifting device 3 serving as the functional unit F. Here, the lifting lift body drive unit 30M corresponds to the "first drive source." In other words, the transport vehicle 100 is equipped with a first drive source (lifting lift body drive unit 30M) for driving the functional unit F.

[0034] The lifting device 3 includes a first lifting mechanism 31 that lifts a container 70 of any height among the container group 7 stacked in the stacking area 2A relative to the container 70 adjacent thereto below the container 70, and a second lifting mechanism 32 that lifts a container 70 below the container 70 lifted by the first lifting mechanism 31 relative to the container 70 adjacent thereto below the container 70. In this embodiment, the first lifting mechanism 31 and the second lifting mechanism 32 are arranged spaced apart in the vertical direction. This makes it possible to form a space between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32 in the vertical direction, as shown in FIG. 9, for example. In addition, it is possible to form a space in the vertical direction below the container 70 lifted by the second lifting mechanism 32.

[0035] In this embodiment, the lifting device 3 includes a frame unit FU including a plurality of frame parts. In this example, the lifting device 3 includes a first frame part 31F and a second frame part 32F protruding from the lifting ascending body 30B toward the stacking area 2A in the vehicle body front-rear direction L, and a connecting frame part 33F connecting the first frame part 31F and the second frame part 32F. That is, the frame unit FU includes the first frame part 31F, the second frame part 32F, and the connecting frame part 33F. The first frame part 31F and the second frame part 32F are arranged with a gap therebetween in the vertical direction. The first frame part 31F is arranged above the second frame part 32F. The connecting frame part 33F connects the first frame part 31F and the second frame part 32F in the vertical direction. With this configuration, the first frame portion 31F and the second frame portion 32F do not move relative to each other, and the vertical distance between the first frame portion 31F and the second frame portion 32F is always constant. The first frame portion 31F, the second frame portion 32F, and the connecting frame portion 33F (frame unit FU) rise and fall together as the lifting body 30B rises and falls.

[0036] In this embodiment, the first frame portion 31F includes a pair of first frame members 31Fa spaced apart in the vehicle body width direction W. The pair of first frame members 31Fa are arranged to correspond to the width (length in the vehicle body width direction W) of the containers 70 arranged in the stacking area 2A. The second frame portion 32F includes a pair of second frame members 32Fa spaced apart in the vehicle body width direction W. The pair of second frame members 32Fa are arranged to correspond to the width of the containers 70 arranged in the stacking area 2A. The connecting frame portion 33F includes a pair of connecting frame members 33Fa spaced apart in the vehicle body width direction W. Each of the pair of connecting frame members 33Fa is made up of a first frame member 31Fa and a second frame member 32Fa arranged vertically. The frame member 32Fa is connected to the frame member 32Fa.

[0037] As shown in Fig. 9, in this embodiment, the first lifting mechanism 31 includes a first lifting and holding part 31a that holds the container 70. The first lifting and holding part 31a is configured to be able to change its position between a holding position in which the container 70 is held and a non-holding position in which the container 70 is not held. In Fig. 9, the first lifting and holding part 31a is in the holding position.

[0038] Similarly, the second lifting mechanism 32 includes a second lifting and holding part 32a that holds the container 70. The second lifting and holding part 32a is configured to be able to change its position between a holding position in which the container 70 is held and a non-holding position in which the container 70 is not held. In Fig. 9, the second lifting and holding part 32a is in the holding position.

[0039] 9, the containers 70 stacked in the stacking area 2A are numbered "1 to 5" in order from bottom to top. Also, the container 70 held by the transfer device 4 is labeled with the letter "α."

[0040] When a space is formed between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32 in the vertical direction, it is possible to unload another container 70 into the space. That is, it is possible to stack another container 70 on top of the container 70 lifted by the second lifting mechanism 32 by the transfer device 4. FIG. 10 shows an example of a case where a container 70 (container "α") held by the transfer device 4 is unloaded into the space formed between the container 70 (container "5") lifted by the first lifting mechanism 31 and the container 70 (container "4") lifted by the second lifting mechanism 32 in the vertical direction.

[0041] Furthermore, when a vertical space is formed below the container 70 lifted by the second lifting mechanism 32, the space can be used to scoop up the container 70 arranged below the container 70 lifted by the second lifting mechanism 32. Fig. 10 shows an example of scooping up a container 70 (container "3") arranged below a container 70 (container "4") lifted by the second lifting mechanism 32. The unloading and scooping operations of the container 70 with respect to the stacking area 2A will be described later.

[0042] [Transfer equipment] As shown in Fig. 4, the transfer device 4 as a functional unit F is mounted on the traveling body 1. The transfer device 4 is configured to transfer a container 70 to a transfer target location T. The transfer device 4 is configured to perform a lowering operation to transfer the container 70 to the transfer target location T, and a scooping operation to transfer the container 70 from the transfer target location T. In this embodiment, the transfer target location T includes the stacking area 2A and the shelf portion 80 of the container shelf 8.

[0043] Here, the movement direction of the container 70 transferred by the transfer device 4 is referred to as the "transfer direction X." One side in the transfer direction X is referred to as the "transfer direction unloading side X1," and the other side is referred to as the "transfer direction scooping side X2." In this example, the transfer direction X is a direction along the horizontal direction. The transfer direction unloading side X1 is the side along which the container 70 moves along the transfer direction X when unloading the container 70. The transfer direction scooping side X2 is the side along which the container 70 moves along the transfer direction X when scooping the container 70.

[0044] In this embodiment, the transport vehicle 100 is equipped with a turning device 5 that turns the transfer device 4 around an axis along the vertical direction. As shown in FIG. 5, the turning device 5 turns the transfer device 4 (specifically, a part of the transfer device 4) around an axis along the vertical direction to change the transfer device 4 between a first posture P1 in which the transfer direction X faces the stacking area 2A and a second posture P2 in which the transfer direction X faces the container shelf 8. In this manner, in this embodiment, the transfer direction X can be changed within the horizontal plane by the turning device 5.

[0045] In this embodiment, the transfer device 4 changes its posture depending on the position of the transfer target location T. Specifically, the transfer device 4 takes a first posture P1 when the transfer target location T is the stacking area 2A, and takes a second posture P2 when the transfer target location T is the container shelf 8 (shelf section 80). As shown in Fig. 4, in this example, the swivel device 5 includes a swivel base 50 that supports the transfer device 4 (specifically, a part of the transfer device 4), a swivel shaft 51 that rotatably supports the swivel base 50 with respect to the transfer lifting body 40B, and a swivel drive unit (not shown) that drives the swivel shaft 51.

[0046] As shown in FIG. 4, the transfer device 4 includes a transfer mast 40 fixed to the travelling body 1 and arranged along the vertical direction, a transfer lifting body 40B that moves up and down along the transfer mast 40, a holding part A that is connected to the transfer lifting body 40B and holds the container 70, and a transfer machine B that transfers the container 70. The transfer device 4 also includes a transfer lifting body driving part 40M that moves the transfer lifting body 40B up and down along the transfer mast 40. This allows the transfer device 4 to move the holding part A and the transfer machine B in the vertical direction, and allows the container 70 to be transferred to each of the multiple shelves 80 (see FIG. 3). Although detailed illustration is omitted, the transfer lifting body driving part 40M is configured as a motor for rotating a rotating body around which an endless body such as a belt is wound.

[0047] In this embodiment, the transfer lift body driving unit 40M is a driving source of the transfer device 4 as the functional unit F. Here, the transfer lift body driving unit 40M corresponds to a "second driving source." In other words, the transport vehicle 100 is equipped with a second driving source (transfer lift body driving unit 40M) for driving the functional unit F.

[0048] The holding part A is connected to the transfer lift body 40B and is configured to be able to hold the container 70. In this embodiment, the holding part A includes a first holding part 41A and a second holding part 42A disposed below the first holding part 41A. The first holding part 41A and the second holding part 42A are each configured to be able to hold the container 70 independently.

[0049] In this embodiment, the transfer device 4 includes a holding connector 43 that connects the first holding part 41A and the second holding part 42A in the vertical direction. The holding connector 43 connects the first holding part 41A and the second holding part 42A such that the distance between them in the vertical direction is constant.

[0050] The transfer machine B is configured to be able to transfer the container 70 to both the shelf section 80 and the stacking area 2A. When the shelf section 80 is set as the transfer target location T, the transfer machine B transfers the container 70 between the holding section A and the shelf section 80. When the stacking area 2A is set as the transfer target location T, the transfer machine B transfers the container 70 between the holding section A and the stacking area 2A. In this example, the transfer machine B transfers the container 70 to the stacking area 2A in the first position P1, and transfers the container 70 to the shelf section 80 in the second position P2 (see FIG. 5).

[0051] 4, in this embodiment, the transfer machine B includes a first transfer machine 41B and a second transfer machine 42B disposed below the first transfer machine 41B. The first transfer machine 41B transfers the container 70 between the first holding unit 41A and the transfer target location T. The second transfer machine 42B transfers the container 70 between the second holding unit 42A and the transfer target location T.

[0052] [Control configuration] As shown in FIG. 6, the transport vehicle 100 is equipped with a control device C that controls each part. In this embodiment, the control device C controls the traveling body 1, the container group support part 2, the lifting device 3, the transfer device 4, and the turning device 5. The operations for supporting, transporting, and transferring the container 70 are performed by the control device. The control device C controls each part based on the detection results of a reference position detection sensor Se1 and a storage container detection sensor Se2, which will be described later. The control device C includes, for example, a processor such as a microcomputer, and peripheral circuits such as a memory. Each function is realized by the cooperation of these hardware components with a program executed on a processor of a computer or the like.

[0053] [Transfer operation] 7 to 11 are explanatory diagrams of the case where the transfer device 4 performs a transfer operation (unloading operation or scooping operation) of the container 70 to the transfer target location T.

[0054] As shown in Figs. 7 to 11, in this embodiment, the first transfer machine 41B includes a first pressing part 41Ba that presses the container 70 toward the unloading side X1 in the transfer direction when performing the unloading operation of the container 70, a first locking part 41Bb that is locked to the container 70 and pulls the container 70 toward the scooping side X2 in the transfer direction when performing the scooping operation of the container 70, and a first support member 41Bc that supports the first pressing part 41Ba and the first locking part 41Bb. In this example, the first support member 41Bc is driven by a driving part (not shown) and is configured to move relative to the first holding part 41A along the transfer direction X. As a result, the first pressing part 41Ba and the first locking part 41Bb are configured to be movable relative to the first holding part 41A along the transfer direction X. The first pressing portion 41Ba moves relative to the first holding portion 41A toward the unloading side X1 in the transfer direction, thereby pressing the container 70 to be unloaded toward the unloading side X1 in the transfer direction. The first locking portion 41Bb moves relative to the first holding portion 41A toward the scooping side X2 in the transfer direction, thereby pulling the container 70 to be scooped toward the scooping side X2 in the transfer direction.

[0055] In this embodiment, the second transfer machine 42B includes a second pressing part 42Ba that presses the container 70 toward the unloading side X1 in the transfer direction when performing the unloading operation of the container 70, a second locking part 42Bb that is locked to the container 70 and pulls the container 70 toward the scooping side X2 in the transfer direction when performing the scooping operation of the container 70, and a second support member 42Bc that supports the second pressing part 42Ba and the second locking part 42Bb. In this example, the second support member 42Bc is driven by a drive part (not shown) and is configured to move relative to the second holding part 42A along the transfer direction X. As a result, the second pressing part 42Ba and the second locking part 42Bb are configured to be movable relative to the second holding part 42A along the transfer direction X. The second pressing portion 42Ba moves relative to the second holding portion 42A toward the unloading side X1 in the transfer direction, thereby pressing the container 70 to be unloaded toward the unloading side X1 in the transfer direction. The second locking portion 42Bb moves relative to the second holding portion 42A toward the scooping side X2 in the transfer direction, thereby pulling the container 70 to be scooped toward the scooping side X2 in the transfer direction.

[0056] In this embodiment, each of the first locking portion 41Bb and the second locking portion 42Bb is driven by a drive unit (not shown) and configured to be able to change its position between a locking position in which it is locked to the container 70 and a non-locking position in which it is not locked to the container 70. In Fig. 7 to Fig. 11, the first locking portion 41Bb or the second locking portion 42Bb in the locked position is shown in gray, and the first locking portion 41Bb or the second locking portion 42Bb in the non-locking position is shown in white.

[0057] 7 shows the scooping operation (transfer operation) of the container 70 relative to the shelf section 80, and illustrates the case where the first transfer machine 41B scoops up the container 70 stored on the shelf section 80 onto the first holding section 41A. In this case, the control device C (see FIG. 6) aligns the position of the first transfer machine 41B with the reference position 80P (see FIG. 3) of the shelf section 80, and then uses the first locking section 41Bb to pull the container 70 toward the transfer direction scooping side X2.

[0058] In this embodiment, the transfer device 4 detects a reference position 80P (see FIG. 3) on the shelf portion 80. As described above, the reference position 80P is a position on the shelf 80 that serves as a reference for storing the container 70 therein.

[0059] The reference position detection sensor Se1 is configured to detect the positional relationship between the transfer device 4 equipped with the reference position detection sensor Se1 and the reference position 80P of the shelf unit 80 by detecting the target portion 82T provided on the beam member 82. Then, based on the detection result of the target portion 82T by the reference position detection sensor Se1, the traveling body 1, the turning device 5, and the transfer lifting body driving unit 40M are controlled to perform an operation to correct the position of the transfer device 4, thereby making it possible to appropriately transfer the container 70 to the shelf unit 80. In this example, the reference position detection sensor Se1 is configured by a camera. The positional relationship between the transfer device 4 and the target portion 82T provided on the beam member 82 can be detected by image recognition of the reference position detection sensor Se1 configured as a camera. For example, the reference position detection sensor Se1 may have a function as a distance measurement sensor that detects the distance to the target.

[0060] 8 shows the unloading operation (transfer operation) of the container 70 on the shelf section 80, and illustrates the case where the container 70 held by the second holding section 42A is unloaded onto the shelf section 80 by the second transfer machine 42B. In this case, when the control device C (see FIG. 6) determines that no other container 70 is stored on the shelf section 80 onto which the container 70 is to be unloaded, it causes the second pressing section 42Ba to press the container 70 towards the unloading side X1 in the transfer direction.

[0061] In this embodiment, the transfer device 4 is provided with a storage container detection sensor Se2 that detects the container 70 stored on the shelf portion 80.

[0062] When the transfer device 4 performs an unloading operation to transfer the container 70 to the shelf section 80, the storage container detection sensor Se2 detects the presence or absence of the container 70 on the shelf section 80 to which the container 70 is to be transferred. When the storage container detection sensor Se2 detects that the container 70 is not present on the target shelf section 80 to which the container 70 is to be unloaded, the transfer device 4 performs an unloading operation of the container 70 on the shelf section 80. When the storage container detection sensor Se2 detects that the container 70 is present on the target shelf section 80 to which the container 70 is to be unloaded, the container 70 may be transferred to another empty shelf section 80, or the transfer may be stopped. For example, the storage container detection sensor Se2 may be configured as a distance measuring sensor that detects the distance to the target. This allows the transfer operation to be performed while measuring the distance between the transfer device 4 and the transfer target location T. In this embodiment, the storage container detection sensor Se2 is configured as an optical sensor that projects light onto the target. However, the present invention is not limited to this configuration, and the storage container detection sensor Se2 may be configured using known means such as an ultrasonic sensor or a camera.

[0063] 9 to 11 show the operation of transferring the container 70 to the stacking area 2A. As described above, in this embodiment, the lifting device 3 can form spaces between the multiple containers 70 stacked in the stacking area 2A in the vertical direction. The transfer device 4 then utilizes these spaces to transfer the container 70 to the stacking area 2A. In this embodiment, the transfer device 4 is configured to perform a scooping operation and a lowering operation of the container 70 to the stacking area 2A. In detail, the transfer device 4 is configured to perform a parallel operation of scooping and lowering the container 70 to the stacking area 2A in parallel.

[0064] 9 to 11 show an example in which five tiers of containers 70 are stacked as a container group 7 in the stacking area 2A. In the figures, the stacked containers 70 are numbered "1 to 5" in order from bottom to top. In addition, the container 70 to be unloaded that is held by the first holding section 41A is marked with the letter "α." In the example shown below, the container 70 to be unloaded (container "5") is lifted onto the fourth tier of containers 70 (container "4") by utilizing the space formed by the lifting device 3 between the fifth tier of containers 70 (container "5") and the fourth tier of containers 70 (container "4"). At the same time, the lifting device 3 uses the space formed below the fourth tier of containers 70 (containers "4") to scoop up the third tier of containers 70 (containers "3").

[0065] As shown in FIG. 10, the control device C (see FIG. 6) moves the second locking portion 42Bb in the locking posture relative to the second holding portion 42A toward the scooping side X2 in the transfer direction while the second locking portion 42Bb is locked to the container 70 (container "3"). In parallel with this, the control device C moves the first pressing portion 41Ba relative to the first holding portion 41A toward the unloading side X1 in the transfer direction while pressing the container 70 (container "α") held by the first holding portion 41A with the first pressing portion 41Ba. As a result, the second locking portion 42Bb pulls the container 70 (container "3") to be scooped toward the scooping side X2 in the transfer direction, and the first pressing portion 41Ba presses the container 70 (container "α") to be unloaded toward the unloading side X1 in the transfer direction.

[0066] Then, the control device C places the container 70 (container "3") to be scooped and pulled in by the second locking portion 42Bb on the second holding portion 42A, and places the container 70 (container "α") to be unloaded and pressed by the first pressing portion 41Ba above the container 70 (container "4") lifted by the second lifting and holding portion 32a, and fits it into the container 70 (container "4"). As a result, the container group 7 in the stacking area 2A becomes in the state shown in FIG. 11. That is, some of the containers 70 (containers "3") among the multiple containers 70 arranged in the stacking area 2A are replaced with new containers 70 (containers "α").

[0067] Here, as described above, the transport vehicle 100 is equipped with a functional unit F (in this example, the lifting device 3 and the transfer device 4) for supporting and transferring the container 70, and a first drive source (in this example, the lifting lift body drive unit 30M) and a second drive source (in this example, the transfer lift body drive unit 40M) for driving the functional unit F. The drive sources 30M and 40M for driving such functional unit F tend to be relatively heavy among the members constituting the transport vehicle 100. By considering the arrangement positions of such drive sources 30M and 40M, it is expected that the weight balance of the transport vehicle 100 can be improved, and in turn, it is expected that the behavior of the transport vehicle 100 can be stabilized when the transport vehicle 100 turns to change direction, etc.

[0068] Fig. 12 is a view seen in the vehicle width direction W, which shows a schematic view of a main part of the running body 1. Fig. 13 is a plan view showing a schematic view of a main part of the running body 1. Hereinafter, one side in the vehicle front-rear direction L is referred to as the vehicle front-rear direction first side L1, and the other side in the vehicle front-rear direction L is referred to as the vehicle front-rear direction second side L2. In addition, one side in the vehicle width direction W is referred to as the vehicle width direction first side W1, and the other side in the vehicle width direction W is referred to as the vehicle width direction second side W2.

[0069] As shown in Fig. 12 and Fig. 13, the running body 1 includes a running main body 10 and a plurality of running wheels 11 supported by the running main body 10. The plurality of running wheels 11 include a pair of drive wheels 11a and a plurality of driven wheels 11b. The pair of drive wheels 11a are driven by a wheel drive source 11M. That is, the running body 1 includes the running main body 10, the pair of drive wheels 11a supported by the running main body 10, and a wheel drive source 11M that drives the pair of drive wheels 11a.

[0070] The pair of drive wheels 11a are rotationally driven by a wheel drive source 11M at the same speed or different speeds. In this embodiment, each of the pair of drive wheels 11a is independently driven by a different wheel drive source 11M. When the pair of drive wheels 11a are rotationally driven at different speeds, this includes a case where one of the pair of drive wheels 11a is rotationally driven in the forward direction and the other is rotationally driven in the reverse direction. In other words, this includes a case where the pair of drive wheels 11a are rotationally driven in opposite directions.

[0071] In this embodiment, driven wheels 11b are provided on both sides of the pair of driving wheels 11a in the vehicle body front-rear direction L. That is, in this example, four driven wheels 11b are supported by the traveling main body 10. Each driven wheel 11b is supported by the traveling main body 10 so as to be rotatable around an axis along the up-down direction. That is, the direction along which the rotation axis of the driven wheel 11b runs can be changed within a horizontal plane. In this example, each driven wheel 11b is configured as a caster.

[0072] In this embodiment, the pair of drive wheels 11a are driven to rotate in opposite directions, so that the transport vehicle 100 can perform a so-called spin turn, which rotates the running body 1 on the spot around the vertical axis. In this example, the transport vehicle 100 is configured to change the traveling direction of the running body 1 by performing a spin turn in a direction change area DA (see FIG. 1). However, the traveling direction of the running body 1 can be changed by a method other than a spin turn. For example, the transport vehicle 100 may change the traveling direction of the running body 1 by stopping the rotation of one of the pair of drive wheels 11a and rotating the other, or may change the traveling direction of the running body 1 by rotating the pair of drive wheels 11a in the same direction but at different rotation speeds.

[0073] When the transport vehicle 100 makes a turn including a spin turn, if the center of gravity of the transport vehicle 100 is significantly biased in the vehicle body front-rear direction L and the vehicle body width direction W, the behavior of the transport vehicle 100 may become unstable. However, the transport vehicle 100 according to the present disclosure is configured to be able to stabilize the behavior during turns including spin turns. This will be described in detail below.

[0074] The pair of drive wheels 11a are arranged spaced apart in the vehicle width direction W in a central region 10Am of the traveling main body 10 in the vehicle front-rear direction L. The central region 10Am is a region near the center of the traveling main body 10 in the vehicle front-rear direction L. In this embodiment, the central region 10Am is a region arranged in the center of the vehicle front-rear direction L of the traveling main body 10 among the regions formed in an area obtained by dividing the dimension of the traveling main body 10 in the vehicle front-rear direction L into thirds. In this example, the pair of wheel drive sources 11M are arranged in the central region 10Am of the traveling main body 10.

[0075] Here, as shown in FIG. 13, a virtual line extending along the vehicle width direction W to connect a pair of drive wheels 11a when viewed in the vertical direction is defined as a widthwise reference line LW, and a virtual line intersecting the widthwise reference line LW when viewed in the vertical direction at a midpoint Pm between the pair of drive wheels 11a in the vehicle width direction W and extending in the vehicle fore-aft direction L is defined as a fore-aft reference line LL.

[0076] The lifting body drive unit 30M, which is the first drive source, and the transfer lifting body drive unit 40M, which is the second drive source, are mounted on the traveling main body 10. The lifting body drive unit 30M is disposed on the first side L1 in the vehicle body front-rear direction with respect to the width reference line LW and on the first side W1 in the vehicle body width direction with respect to the front-rear direction reference line LL, when viewed in the vertical direction. The transfer lifting body drive unit 40M is disposed on the second side L2 in the vehicle body front-rear direction with respect to the width reference line LW and on the second side W2 in the vehicle width direction with respect to the front-rear direction reference line LL, when viewed in the vertical direction. As a result, the lifting body drive unit 30M and the transfer lifting body drive unit 40M, which tend to be heavy objects, are disposed diagonally with respect to the turning center of the traveling body 1, when viewed in the vertical direction. Therefore, it is possible to prevent the center of gravity of the transport vehicle 100 from being significantly biased in the vehicle body front-rear direction L and the vehicle body width direction W. Therefore, according to the above configuration, it is possible to stabilize the behavior of the transportation vehicle 100 when turning, including a spin turn.

[0077] In this embodiment, the distance in the vehicle body fore-and-aft direction L from the widthwise reference line LW to the lifting lift body drive unit 30M is equal to the distance in the vehicle body fore-and-aft direction L from the widthwise reference line LW to the transfer lift body drive unit 40M. Furthermore, the distance in the vehicle body width direction W from the front-and-aft reference line LL to the lifting lift body drive unit 30M is equal to the distance in the vehicle body width direction W from the front-and-aft reference line LL to the transfer lift body drive unit 40M. This allows the position of the center of gravity of the transport vehicle 100 to be adjusted according to the rotation of the running body 1 when the transport vehicle 100 makes a spin turn (rotation). This makes it easier to approach the rotation center, which makes it easier to further stabilize the behavior of the transport vehicle 100. The distance from each of the reference lines LW, LL to the lifting lift body drive unit 30M is defined based on the center of the lifting lift body drive unit 30M when viewed in the vertical direction. Similarly, the distance from each of the reference lines LW, LL to the transfer lift body drive unit 40M is defined based on the center of the transfer lift body drive unit 40M when viewed in the vertical direction.

[0078] 12, in this embodiment, the lifting lift body drive unit 30M and the transfer lift body drive unit 40M are disposed below the container group support unit 2. This allows the center of gravity of the transport vehicle 100 to be lowered, and the behavior of the transport vehicle 100 during turning, including a spin turn, can be further stabilized.

[0079] In this embodiment, the lifting body drive unit 30M is disposed so as to at least partially overlap with the container group support unit 2 when viewed in the up-down direction. Furthermore, the container group support unit 2 and the lifting device 3 are disposed in close proximity to each other. Therefore, with the above configuration, the lifting body drive unit 30M, which is the first drive source, and the lifting device 3 that is the object of drive of the lifting body drive unit 30M can be disposed in close proximity to each other, which facilitates the transmission of drive force from the lifting body drive unit 30M to the lifting device 3. For example, it is possible to simplify the configuration of the power transmission path that transmits this drive force.

[0080] In this embodiment, the transfer lifting body driving unit 40M is disposed so as not to overlap with the transfer device 4 in a vertical view. This makes it possible to ensure a wide lifting range for the container 70 raised and lowered by the transfer device 4. In this embodiment, the transfer lifting body driving unit 40M is disposed so as not to overlap with the transfer lifting body 40B in a vertical view (see FIG. 14). This makes it possible to ensure a wide lifting range VR (see FIG. 14) of the transfer lifting body 40B described later.

[0081] As described above, the transport vehicle 100 is equipped with a control device C that controls each part of the transport vehicle 100. Furthermore, in this embodiment, the transport vehicle 100 is equipped with a power storage device Cb that supplies power to the wheel drive source 11M, the lifting lift body drive unit 30M as a first drive source, and the transfer lift body drive unit 40M as a second drive source.

[0082] The control device C and the power storage device Cb are mounted on the traveling main body 10. In this embodiment, the control device C is arranged below the container group support part 2. In addition, the power storage device Cb is arranged below the container group support part 2. By arranging the control device C and the power storage device Cb, which tend to be relatively heavy, below the container group support part 2, the center of gravity of the transport vehicle 100 can be lowered, and the behavior of the transport vehicle 100 during turning, including spin turns, can be further stabilized.

[0083] Furthermore, in this embodiment, the control device C is disposed on the first side L1 in the vehicle body front-rear direction with respect to the width reference line LW when viewed in the vertical direction. Moreover, the power storage device Cb is disposed on the first side L1 in the vehicle body front-rear direction with respect to the width reference line LW when viewed in the vertical direction. The position of the center of gravity of the transport vehicle 100 changes with an increase or decrease in the number of containers 70 constituting the container group 7 supported in the stacking area 2A. According to the above configuration, the control device C and the power storage device Cb, which tend to be heavy objects, can be disposed at a position overlapping with the stacking area 2A where the multiple containers 70 are stacked, or at a position close to the overlapping position, when viewed in the vertical direction. Therefore, even if the number of containers 70 constituting the container group 7 increases or decreases, the change in the position of the center of gravity of the transport vehicle 100 can be suppressed to a small amount. Therefore, it is easy to stabilize the behavior of the transport vehicle 100 when turning, including a spin turn.

[0084] As shown in FIG. 14, in this embodiment, the control device C (see FIG. 6) controls the position of the transfer lift body 40B so that it is located within a lower range UR that is set below the center of the liftable range VR. The control device C is configured to be able to execute a center-of-gravity lowering control in which the transfer device 4 is controlled as described above. The control device C executes the center-of-gravity lowering control by controlling the transfer device 4. Specifically, the control device C executes the center-of-gravity lowering control by controlling the transfer lifting body driving unit 40M (see FIG. 12, etc.). By executing this center-of-gravity lowering control, the center of gravity of the entire transport vehicle 100 can be lowered, making it difficult for the transport vehicle 100 to tip over. In addition, the behavior of the transport vehicle 100 during turning, including a spin turn, can also be easily stabilized. In this embodiment, the control device C positions the transfer lifting body 40B at the bottom of the liftable range VR in the center-of-gravity lowering control. This makes it even more difficult for the transport vehicle 100 to tip over, and also makes it even more easy to stabilize the behavior of the transport vehicle 100 during turning.

[0085] The control device C judges whether the traveling body 1 is in the shelf area IA or the external area OA (see FIG. 2), and executes the center-of-gravity lowering control in at least a part of the external area OA. In the external area OA, there are few structures such as the container shelf 8 that can support the transport vehicle 100 when the traveling body 1 is in the shelf area IA. However, as described above, by executing the center-of-gravity lowering control in at least a part of the external area OA, the center of gravity of the entire transport vehicle 100 can be lowered when the transport vehicle 100 is in the external area OA, so that the transport vehicle 100 in the external area OA is less likely to tip over. Also, as described above, the external area OA is provided with a direction change area DA, which is an area for the traveling body 1 to change the traveling direction. Therefore, with the center of gravity of the transport vehicle 100 lowered, the direction can be changed by a spin turn or the like in the direction change area DA.

[0086] In this embodiment, the transport vehicle 100 is equipped with a position information acquisition unit Ca (see FIG. 6) that acquires current position information of the transport vehicle 1. In this example, the control device C judges whether the transport vehicle 1 is in the shelf area IA or the external area OA based on the position information acquired by the position information acquisition unit Ca. In this example, the position information acquisition unit Ca is configured to acquire current position information of the transport vehicle 1 transmitted from a higher-level controller H that manages the entire facility. In this case, the higher-level controller H knows the positions of the transport vehicles 1 (transport vehicles 100) present in the entire facility, and transmits current position information of the transport vehicle 1 (transport vehicle 100) to the position information acquisition unit Ca.

[0087] As shown in FIG. 15, in this embodiment, the stop position of the traveling body 1 when the transfer device 4 (see FIG. 4, etc.) transfers the container 70 between the container shelf 8 is set as the transfer stop position SP, and the control device C starts the center-of-gravity lowering control after completing the transfer of the container 70 at the last transfer stop position SP before the traveling body 1 leaves the shelf area IA to the external area OA along the travel path R of the traveling body 1 and before the traveling body 1 leaves the external area OA. Then, the control device C maintains the state in which the center-of-gravity lowering control is being performed while the traveling body 1 is in the external area OA. In this example, when the transfer device 4 transfers the next container 70, the control device C maintains the state in which the center-of-gravity lowering control is being performed after the traveling body 1 leaves the external area OA, while the traveling body 1 is in the external area OA, and from when the traveling body 1 enters the shelf area IA until the next transfer is performed.

[0088] Next, a processing procedure for executing the center-of-gravity lowering control will be described with reference to the flowchart of FIG.

[0089] As shown in Fig. 16, the control device C judges whether the route on which the traveling object 1 is currently traveling is a route from the shelf area IA to the external area OA (step #1). The route on which the traveling object 1 is traveling is included in, for example, a transport command transmitted from the upper controller H. In this case, the control device C judges the route based on the transport command.

[0090] When the control device C determines that the route on which the traveling object 1 is currently traveling is not a route from the shelf area IA to the external area OA (step #1: No), the control device C ends the routine. When the control device C determines that the route on which the traveling object 1 is currently traveling is a route from the shelf area IA to the external area OA (step #1: Yes), the control device C It is determined whether the final transfer is completed (step #2).

[0091] If the control device C determines that the final transfer in shelf area IA has not been completed (step #2: No), it repeats the processing of step #2. If the control device C determines that the final transfer in shelf area IA has been completed (step #2: Yes), it executes the center of gravity lowering control (step #3). Then, after the traveling body 1 leaves the external area OA, the control device C maintains the execution of the center of gravity lowering control until it enters shelf area IA and the next container 70 is transferred by the transfer machine B (step #4).

[0092] As described above, the transport vehicle 100 is configured to be structurally and controllably capable of lowering the center of gravity of the transport vehicle 100. This makes it possible to stabilize the behavior of the transport vehicle 100 during turning, including spin turns.

[0093] Second Embodiment Next, a second embodiment of the transport vehicle will be described with reference to Figures 17 to 20. Points that are not specifically described below are the same as those in the first embodiment.

[0094] Fig. 17 shows the lifting device 3 as seen in the vehicle body front-rear direction L. Fig. 18 shows the lifting device 3 as seen in a plan view.

[0095] 17 and 18, in this embodiment, the lifting device 3 is provided with a regulating guide portion 3G that regulates the inclination of the container group 7 in the stacking area 2A. The regulating guide portion 3G regulates the inclination of the container group 7 by facing the container group 7 in the horizontal direction, separately from the container group support portion 2 (see FIG. 4, etc.) that supports the container group 7 from below. The regulating guide portion 3G also has a function of guiding the container 70 in the transfer direction X when the transfer device 4 transfers the container 70 to the stacking area 2A.

[0096] In this embodiment, the restriction guide portion 3G includes a first restriction guide portion 31G and a second restriction guide portion 32G arranged below the first restriction guide portion 31G. In this example, the first restriction guide portion 31G is provided on the first frame portion 31F. In detail, the first restriction guide portion 31G is provided on a pair of first frame members 31Fa arranged at an interval in the vehicle body width direction W, and has a portion protruding from each of the first frame members 31Fa to the inside in the vehicle body width direction W. In addition, in this example, the second restriction guide portion 32G is provided on the second frame portion 32F. In detail, the second restriction guide portion 32G is provided on a pair of second frame members 32Fa arranged at an interval in the vehicle body width direction W, and has a portion protruding from each of the second frame members 32Fa to the inside in the vehicle body width direction W.

[0097] As shown in FIG. 18, in this embodiment, the first frame portion 31F includes a pair of first frame members 31Fa and a width direction frame member 31Fb arranged along the vehicle body width direction W. In this example, the width direction frame member 31Fb connects the ends of the pair of first frame members 31Fa on the transfer direction scooping side X2. In this embodiment, the first regulating guide portion 31G is provided on the pair of first frame members 31Fa and the width direction frame member 31Fb. Although detailed illustration is omitted, the second frame portion 32F also includes a width direction frame member. In addition to the pair of second frame members 32Fa, the second regulating guide portion 32G is also provided on the width direction frame member. That is, in this example, the first regulating guide portion 31G and the second regulating guide portion 32G have the same structure. In the following, the structure of the first restriction guide portion 31G will be described, and the structure of the second restriction guide portion 32G will not be described since it is similar to the first restriction guide portion 31G.

[0098] As shown in FIG. 18, in this embodiment, the first restriction guide portion 31G is a stacking area 2A. The container group 7 is provided with a widthwise facing portion 31Ga facing the vehicle body width direction W and a front-rear facing portion 31Gb facing the vehicle body front-rear direction L. As a result, when the container group 7 in the stacking area 2A is tilted in the vehicle body width direction W or the vehicle body front-rear direction L, the widthwise facing portion 31Ga or the front-rear facing portion 31Gb abuts against the container group 7 to support the container group 7 in the vehicle body width direction W or the vehicle body front-rear direction L. This makes it possible to appropriately regulate the tilt of the container group 7. Note that even when the container group 7 in the stacking area 2A moves in the vehicle body width direction W or the vehicle body front-rear direction L, the widthwise facing portion 31Ga or the front-rear facing portion 31Gb abuts against the container group 7, thereby appropriately regulating the movement of the container group 7.

[0099] In this embodiment, the first regulating guide portion 31G includes a first regulating guide member 31G1 arranged corresponding to a portion of the container group 7 in the stacking area 2A on the unloading side X1 in the transfer direction, a second regulating guide member 31G2 arranged corresponding to a portion of the container group 7 in the stacking area 2A on the scooping side X2 in the transfer direction, and a third regulating guide member 31G3 arranged on the scooping side X2 in the transfer direction further than the container group 7 in the stacking area 2A.

[0100] In this embodiment, the first and second restricting guide members 31G1 and 31G2 are connected to the pair of first frame members 31Fa. The first restricting guide member 31G1 is disposed closer to the unloading side X1 in the transfer direction than the second restricting guide member 31G2. The second restricting guide member 31G2 is disposed closer to the scooping side X2 in the transfer direction than the first restricting guide member 31G1. The third restricting guide member 31G3 is connected to the width direction frame member 31Fb. In this example, the pair of third restricting guide members 31G3 are connected to the width direction frame member 31Fb with a gap between them in the vehicle body width direction W.

[0101] In this embodiment, the first regulating guide member 31G1 includes a widthwise facing portion 31Ga and a front-rear facing portion 31Gb. The front-rear facing portion 31Gb of the first regulating guide member 31G1 is disposed facing the container group 7 in the stacking area 2A on the unloading side X1 in the transfer direction. In this example, the widthwise facing portion 31Ga has a surface facing the inside of the vehicle body width direction W and is formed in a plate shape extending along the transfer direction X. The front-rear facing portion 31Gb of the first regulating guide member 31G1 has a surface facing the scooping side X2 in the transfer direction and is formed in a plate shape extending along the vehicle body width direction W. The widthwise facing portion 31Ga and the front-rear facing portion 31Gb of the first regulating guide member 31G1 are continuous to each other to form an L shape when viewed in the up-down direction. In the illustrated example, both the widthwise facing portion 31Ga and the front-rear facing portion 31Gb face the container group 7 with a gap therebetween. The widthwise facing portion 31Ga and the front-rear facing portion 31Gb may be disposed to face each other while being in contact with the side surface of the container group 7.

[0102] In this embodiment, the first regulating guide portion 31G (second regulating guide portion 32G) includes a guide portion 31Gg that guides the container 70 transferred to the stacking area 2A along the transfer direction X in addition to the width direction opposing portion 31Ga and the front-rear direction opposing portion 31Gb. The second regulating guide member 31G2 includes the guide portion 31Gg and the width direction opposing portion 31Ga. The guide portion 31Gg is formed in a plate shape that extends toward the inside of the vehicle body width direction W as it approaches the transfer direction unloading side X1. This makes it possible to appropriately guide the container 70 transferred to the stacking area 2A toward the transfer direction unloading side X1. In this example, the guide portion 31Gg and the width direction opposing portion 31Ga of the second regulating guide member 31G2 are formed continuously. The widthwise facing portion 31Ga of the second restriction guide member 31G2 is formed in a plate shape extending continuously from the end portion of the guide portion 31Gg on the lowering side X1 in the transfer direction toward the lowering side X1 in the transfer direction.

[0103] In this embodiment, the third restriction guide member 31G3 has a front-rear facing portion 31Gb. The front-rear facing portion 31Gb of the third restriction guide member 31G3 is disposed to face the scooping side X2 in the transfer direction with respect to the container group 7 in the stacking area 2A. In this example, the front-rear facing portion 31Gb of the third restriction guide member 31G3 has a surface facing the unloading side X1 in the transfer direction and is disposed in a vehicle body width direction. It is formed in a plate shape extending along the direction W.

[0104] Here, the widthwise facing portion 31Ga and the front-rear facing portion 31Gb are configured to change between a facing state in which the container group 7 in the stacking area 2A is horizontally facing and capable of supporting the container group 7, and a non-facing state in which the container group 7 is not horizontally facing. That is, as shown by the imaginary line in Fig. 19, when the frame unit FU is in a position where it does not overlap with the container group 7 in the stacking area 2A in a horizontal view, the widthwise facing portion 31Ga and the front-rear facing portion 31Gb are in a non-facing state. On the other hand, as shown by the solid line in Fig. 19, when the frame unit FU is in a position where it overlaps with the container group 7 in the stacking area 2A in a horizontal view, the widthwise facing portion 31Ga and the front-rear facing portion 31Gb are in a facing state.

[0105] In this embodiment, the control device C (see FIG. 4) is configured to be capable of executing container group facing control for arranging the frame unit FU at a position overlapping the container group 7 in the stacking area 2A in a horizontal view. In the container group facing control, the control device C raises and lowers the lifting body 30B supporting the frame unit FU to position the frame unit FU in the container group facing range SR. Specifically, the control device C controls the lifting body drive unit 30M (see FIG. 12, etc.) to execute the container group facing control.

[0106] Here, the "container group facing range SR" is a range set along the vertical direction, and is a range set according to the vertical range of the container group 7 currently in the stacking area 2A. The control device C executes the container group facing control to place at least a part of the frame unit FU in the container group facing range SR. In this embodiment, the control device C executes the container group facing control so that the frame unit FU is arranged to overlap the container 70 arranged in the uppermost stage among the multiple containers 70 constituting the container group 7 in a horizontal view. Here, the control device C arranges the regulating guide portion 3G to overlap the container 70 arranged in the uppermost stage of the container group 7 in a horizontal view. More specifically, in this example, of the first regulating guide portion 31G and the second regulating guide portion 32G provided on the frame unit FU, the first regulating guide portion 31G is arranged to overlap the container 70 arranged in the uppermost stage of the container group 7 in a horizontal view. As a result, when the container group 7 tilts, the container 70 arranged at the topmost position among the multiple containers 70 constituting the container group 7 can be supported by the regulating guide portion 3G (the widthwise facing portion 31Ga and the front-rear facing portion 31Gb), thereby appropriately preventing the container group 7 from tilting or falling over. Note that in Fig. 19, the regulating guide portion 3G (the widthwise facing portion 31Ga and the front-rear facing portion 31Gb) are not shown to avoid complexity.

[0107] In this embodiment, the control device C determines whether the traveling object 1 is in the shelf area IA or the external area OA (see FIG. 2), and executes the container group facing control in at least a part of the external area OA. This makes it possible to prevent the container group 7 in the stacking area 2A from falling over when the traveling object 1 changes direction by a spin turn or the like in the external area OA, specifically, in the direction change area DA.

[0108] In this embodiment, the control device C starts the container group facing control after completing the transfer of the container 70 at the last transfer stop position SP (see FIG. 15) before the traveling body 1 exits from the shelf area IA to the external area OA along the traveling path R of the traveling body 1, and before the traveling body 1 exits the external area OA. Then, the control device C maintains the state of performing the container group facing control while the traveling body 1 is in the external area OA. In this example, when the transfer device 4 transfers the next container 70, the control device C maintains the state of performing the container group facing control after the traveling body 1 exits the external area OA, while the traveling body 1 is in the external area OA, and from when the traveling body 1 enters the shelf area IA until the next transfer is performed.

[0109] In this embodiment, the control device C executes the container group facing control at the same time as the center-of-gravity lowering control. This makes it possible to prevent the transfer vehicle 100 from falling over, and also to prevent the container group 7 from falling over.

[0110] Next, a processing procedure for performing container group facing control will be described with reference to the flowchart of FIG.

[0111] As shown in Fig. 20, the control device C judges whether the route on which the traveling object 1 is currently traveling is a route from the shelf area IA to the external area OA (step #11). The route on which the traveling object 1 is traveling is included in, for example, a transport command transmitted from the upper controller H. In this case, the control device C judges the route based on the transport command.

[0112] If the control device C determines that the route on which the traveling object 1 is currently traveling is not the route from the shelf area IA to the external area OA (step #11: No), it ends the routine. If the control device C determines that the route on which the traveling object 1 is currently traveling is the route from the shelf area IA to the external area OA (step #11: Yes), it determines whether the final transfer in the shelf area IA is completed (step #12).

[0113] If the control device C determines that the final transfer in shelf area IA has not been completed (step #12: No), it repeats the processing of step #12. If the control device C determines that the final transfer in shelf area IA has been completed (step #12: Yes), it executes the lowering center of gravity control and the container group facing control (step #13). Then, after the traveling body 1 leaves the external area OA, the control device C maintains the execution of the lowering center of gravity control and the container group facing control until it enters shelf area IA and the transfer device 4 transfers the next container 70 (step #14).

[0114] Other embodiments Next, other embodiments of the transport vehicle will be described.

[0115] (1) In the above embodiment, the lifting device 3 and the transfer device 4 are exemplified as the functional unit F. However, the present invention is not limited to such an example, and devices other than the lifting device 3 and the transfer device 4 may be the functional unit F.

[0116] (2) In the above embodiment, the lifting lift body drive unit 30M is exemplified as the first drive source, and the transfer lift body drive unit 40M is exemplified as the second drive source. However, without being limited to such an example, the first drive source may be various drive units for driving the functional unit F. Similarly, the second drive source may be various drive units for driving a functional unit F different from the functional unit F.

[0117] (3) In the above embodiment, the distance in the vehicle body front-rear direction L from the width direction reference line LW to the lifting body drive unit 30M is equal to the distance in the vehicle body front-rear direction L from the width direction reference line LW to the transfer lifting body drive unit 40M, and the distance in the vehicle body width direction W from the front-rear direction reference line LL to the lifting body drive unit 30M is equal to the distance in the vehicle body width direction W from the front-rear direction reference line LL to the lifting body drive unit 30M. However, the present invention is not limited to such an example, and each of the distances described above may be a value that takes into account the overall weight balance of the traveling body 1, and is appropriately set according to the weight difference between the lifting body drive unit 30M and the transfer lifting body drive unit 40M.

[0118] (4) In the above embodiment, an example has been described in which the lifting body drive unit 30M is disposed so as to at least partially overlap the container group support unit 2 when viewed in the up-down direction. However, the present invention is not limited to such an example, and the entire lifting body drive unit 30M may be disposed so as to overlap the container group support unit 2 when viewed in the up-down direction. They may also be arranged so as not to overlap with the container group support portion 2 when viewed from the same direction.

[0119] (5) In the above embodiment, an example has been described in which the transfer lifting body driving unit 40M is arranged so as not to overlap with the transfer device 4 in a vertical view. However, the present invention is not limited to this example, and at least a part of the transfer lifting body driving unit 40M may be arranged so as to overlap with the transfer device 4 in a vertical view.

[0120] (6) In the above embodiment, an example has been described in which the control device C is disposed on the first side L1 in the vehicle front-rear direction relative to the width reference line LW when viewed in the vertical direction. However, the present invention is not limited to such an example. A part of the control device C may be disposed on the first side L1 in the vehicle front-rear direction relative to the width reference line LW when viewed in the vertical direction, and other parts of the control device C may be disposed on the second side L2 in the vehicle front-rear direction relative to the width reference line LW when viewed in the vertical direction. Alternatively, the entire control device C may be disposed on the second side L2 in the vehicle front-rear direction relative to the width reference line LW when viewed in the vertical direction.

[0121] (7) In the above embodiment, an example has been described in which the power storage device Cb is disposed on the first side L1 in the vehicle front-rear direction with respect to the widthwise reference line LW when viewed in the vertical direction. However, the present invention is not limited to this example. A part of the power storage device Cb may be disposed on the first side L1 in the vehicle front-rear direction with respect to the widthwise reference line LW when viewed in the vertical direction, and other parts of the power storage device Cb may be disposed on the second side L2 in the vehicle front-rear direction with respect to the widthwise reference line LW when viewed in the vertical direction. Alternatively, the entire power storage device Cb may be disposed on the second side L2 in the vehicle front-rear direction with respect to the widthwise reference line LW when viewed in the vertical direction.

[0122] (8) In the above embodiment, an example has been described in which the control device C executes the container group facing control at the same time as the center of gravity lowering control. However, without being limited to such an example, the control device C may execute the container group facing control at a time different from the center of gravity lowering control. Furthermore, the control device C may execute only one of the center of gravity lowering control and the container group facing control, or may execute neither.

[0123] (9) In the above embodiment, an example has been described in which each of the pair of drive wheels 11a is independently driven by a different wheel drive source 11M. However, the present invention is not limited to such an example, and the pair of drive wheels 11a may be connected by a gear mechanism or the like so as to rotate at the same speed or at different speeds, and may be configured to be driven by a single wheel drive source 11M.

[0124] (10) In the above embodiment, an example has been described in which the pair of wheel drive sources 11M are disposed in the central region 10Am of the traveling main body 10. However, the pair of wheel drive sources 11M may be disposed in a region of the traveling main body 10 other than the central region 10Am.

[0125] (11) In the above embodiment, an example has been described in which the position information acquisition unit Ca is configured to acquire the position information of the moving object 1 transmitted from the upper controller H that manages the entire facility. However, without being limited to such an example, for example, the position information acquisition unit Ca may be configured to acquire the current position information of the moving object 1 at the boundary between the shelf area IA and the external area OA by reading information indicating the position of the information storage unit from the information storage unit (not shown) provided at the boundary between the shelf area IA and the external area OA. In this case, the information storage unit may be an information storage medium such as a barcode or an IC tag. Alternatively, the position information acquisition unit Ca may be configured with a camera and acquire the current position information of the moving object 1 based on an image of the surroundings of the moving object 1 captured by the camera.

[0126] (12) The configurations disclosed in the above-described embodiments may be applied to other embodiments as long as no contradiction occurs. It is also possible to apply the present invention in combination with the configuration disclosed in the above embodiment. As for 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.

[0127] [Summary of the above embodiment] The above-described transport vehicle will now be described.

[0128] A transport vehicle that transports an object while supporting it and transfers the object to a transfer target location, A traveling vehicle; A functional part for supporting and transferring the article; a first driving source and a second driving source for driving the functional unit, The traveling body includes a traveling main body, a pair of drive wheels supported by the traveling main body, and a wheel drive source that drives the pair of drive wheels, The pair of drive wheels are rotationally driven by the wheel drive source at the same speed or different speeds, A direction in which the traveling body travels is defined as a vehicle body fore-and-aft direction, one side of the vehicle body fore-and-aft direction is defined as a vehicle body fore-and-aft first side, and the other side of the vehicle body fore-and-aft direction is defined as a vehicle body fore-and-aft second side, A direction perpendicular to the vehicle body front-rear direction when viewed in the up-down direction along the up-down direction is defined as a vehicle body width direction, one side of the vehicle body width direction is defined as a vehicle body width direction first side, and the other side of the vehicle body width direction is defined as a vehicle body width direction second side, The pair of drive wheels are disposed in a central region of the vehicle body in the front-rear direction of the traveling main body portion and spaced apart in the vehicle body width direction, A virtual line extending along the vehicle body width direction so as to connect the pair of drive wheels when viewed in the up-down direction is defined as a width direction reference line, and a virtual line intersecting the width direction reference line when viewed in the up-down direction at a middle position between the pair of drive wheels in the vehicle body width direction and extending in the vehicle body fore-aft direction is defined as a front-aft direction reference line, the first drive source is disposed on a first side in the vehicle body front-rear direction with respect to the width direction reference line and on a first side in the vehicle body width direction with respect to the front-rear direction reference line when viewed in the up-down direction, The second drive source is disposed on a second side in the vehicle body forward / rearward direction with respect to the width direction reference line and on a second side in the vehicle body width direction with respect to the forward / rearward direction reference line when viewed in the up / down direction.

[0129] According to this configuration, the pair of drive wheels are rotated in opposite directions to each other, so that the traveling body can be turned on the spot, i.e., a so-called spin turn can be performed. However, when performing such a spin turn, if the center of gravity of the transportation vehicle is significantly biased in the front-rear direction and width direction of the vehicle body, the behavior of the transportation vehicle may become unstable. Here, the point where the width direction reference line and the front-rear direction reference line intersect in the up-down direction roughly coincides with the turning center of the traveling body when the transportation vehicle performs a spin turn. According to this configuration, the first driving source and the second driving source, which tend to be heavy objects, are arranged diagonally in the up-down direction with respect to the turning center of the traveling body. Therefore, it is easy to prevent the center of gravity of the transportation vehicle from being significantly biased in the front-rear direction and width direction of the vehicle body. Therefore, according to this configuration, it is possible to stabilize the behavior of the transportation vehicle when turning, including the spin turn.

[0130] Here, it is preferable that the wheel drive source is disposed in the central region of the traveling main body in the vehicle body front-rear direction.

[0131] According to this configuration, the wheel drive source can be positioned closer to the center of rotation of the running body when the transport vehicle performs a spin turn, thereby making it possible to further stabilize the behavior of the transport vehicle when turning, including a spin turn.

[0132] Moreover, the article is a container capable of accommodating an object to be contained, a container group support unit that is mounted on the traveling body and supports the plurality of containers as a stacked container group within a specified stacking area; a lifting device as the functional part that is mounted on the traveling body and lifts the containers of the container group supported by the container group support part, It is preferable that the first driving source is a driving source for the lifting device and is disposed so as to overlap at least a portion of the container group supporting portion when viewed in the up-down direction.

[0133] According to this configuration, the first driving source and the lifting device that is the driving object of the first driving source can be disposed close to each other, so that the driving force can be easily transmitted from the driving source to the driving object.

[0134] In the above configuration, A transfer device is mounted on the traveling body and serves as the functional unit for transferring the container, It is preferable that the second driving source is a driving source for the transfer device and is disposed so as not to overlap with the transfer device when viewed in the up-down direction.

[0135] According to this configuration, the operation of the transfer device is less likely to be restricted by the presence of the second drive source. For example, if the transfer device has a function for raising and lowering the container, it is possible to ensure a wide range of lifting and lowering of the container.

[0136] In the above configuration, A control device that controls the traveling body, the lifting device, and the transfer device, It is preferable that the control device is disposed below the container group support portion and on a first side in the vehicle front-rear direction with respect to the width direction reference line when viewed in the up-down direction.

[0137] The position of the center of gravity of the transport vehicle changes as the number of containers that make up the container group supported in the stacking area increases or decreases. With this configuration, the control device, which is likely to be heavy, can be placed in a position that overlaps with the stacking area where multiple containers are stacked in a vertical view, or in a position close to the stacking area. Therefore, even if the number of containers that make up the container group increases or decreases, the amount of change in the position of the center of gravity of the transport vehicle can be kept small.

[0138] In the above configuration, a power storage device that supplies electric power to the wheel drive source, the first drive source, and the second drive source; It is preferable that the electricity storage device is disposed below the container group support portion and on a first side in the vehicle front-rear direction with respect to the width direction reference line when viewed in the up-down direction.

[0139] The position of the center of gravity of the transport vehicle changes as the number of containers that make up the container group supported in the stacking area increases or decreases. With this configuration, the power storage device, which tends to be heavy, can be placed in a position that overlaps with the stacking area where multiple containers are stacked in a vertical view, or in a position close to the stacking area. Therefore, even if the number of containers that make up the container group increases or decreases, the amount of change in the position of the center of gravity of the transport vehicle can be kept small.

[0140] In the above configuration, It is preferable that the first driving source and the second driving source are disposed below the container group support portion.

[0141] According to this configuration, the center of gravity of the transport vehicle can be lowered, so that the behavior of the transport vehicle during turning, including spin turns, can be further stabilized. [Industrial Applicability]

[0142] The technology disclosed herein can be used in a transport vehicle that supports and transports an object and transfers the object to a transfer target location. [Explanation of symbols]

[0143] 100: Transport vehicle F: Functional part C: Control device Cb: Power storage device 1: Running body 10: Running body 10Am: Central area 11M: Wheel drive source 11a: Drive wheel 2: Container group support part 2A: Stacking area 3: Lifting device 30M: First drive source 4:Transfer device 40M: Second drive source 7: Container group 70: Container (article) L: Front-rear direction of the vehicle L1: First side in the vehicle longitudinal direction L2: Second side in the vehicle longitudinal direction W: Vehicle width direction W1: First side in the vehicle width direction W2: Second side in the vehicle width direction LL: Anteroposterior reference line LW: Width reference line Pm: intermediate position T: Transfer location

Claims

1. A transport vehicle that transports an object while supporting it and transfers the object to a transfer target location, A traveling vehicle; A functional part for supporting and transferring the article; a first driving source and a second driving source for driving the functional unit, The traveling body includes a traveling main body, a pair of drive wheels supported by the traveling main body, and a wheel drive source that drives the pair of drive wheels, The pair of drive wheels are rotationally driven by the wheel drive source at the same speed or different speeds, A direction in which the traveling body travels is defined as a vehicle body fore-and-aft direction, one side of the vehicle body fore-and-aft direction is defined as a vehicle body fore-and-aft first side, and the other side of the vehicle body fore-and-aft direction is defined as a vehicle body fore-and-aft second side, A direction perpendicular to the vehicle body front-rear direction when viewed in the up-down direction along the up-down direction is defined as a vehicle body width direction, one side of the vehicle body width direction is defined as a vehicle body width direction first side, and the other side of the vehicle body width direction is defined as a vehicle body width direction second side, The pair of drive wheels are disposed in a central region of the vehicle body in the front-rear direction of the traveling main body portion and spaced apart in the vehicle body width direction, A virtual line extending along the vehicle body width direction so as to connect the pair of drive wheels when viewed in the up-down direction is defined as a width direction reference line, and a virtual line intersecting the width direction reference line when viewed in the up-down direction at a middle position between the pair of drive wheels in the vehicle body width direction and extending in the vehicle body fore-aft direction is defined as a front-aft direction reference line, the first drive source is disposed on a first side in the vehicle body front-rear direction with respect to the width direction reference line and on a first side in the vehicle body width direction with respect to the front-rear direction reference line when viewed in the up-down direction, the second drive source is disposed on a second side in the vehicle body forward / rearward direction with respect to the width direction reference line and on a second side in the vehicle body width direction with respect to the forward / rearward direction reference line when viewed in the up / down direction, The article is a container capable of accommodating an object to be contained, a container group support unit that is mounted on the traveling body and supports the plurality of containers as a stacked container group within a specified stacking area; a lifting device as the functional part that is mounted on the traveling body and lifts the containers of the container group supported by the container group support part; A transfer device as the functional unit that is mounted on the traveling body and transfers the container, the first drive source is a drive source for the lifting device, The second driving source is a driving source for the transfer device.

2. The transport vehicle according to claim 1 , wherein the first driving source is disposed so as to overlap at least a portion of the container group support portion when viewed in the up-down direction.

3. A control device that controls the traveling body, the lifting device, and the transfer device, The transport vehicle according to claim 1 or 2, wherein the control device is disposed below the container group support portion and on a first side in the vehicle body fore-and-aft direction with respect to the width direction reference line when viewed in the up-down direction.

4. a power storage device that supplies electric power to the wheel drive source, the first drive source, and the second drive source; The transport vehicle according to claim 1 , wherein the power storage device is disposed below the container group support portion and on a first side in the vehicle body fore-and-aft direction relative to the widthwise reference line when viewed in the up-down direction.

5. The transport vehicle according to claim 1 , wherein the first driving source and the second driving source are disposed below the container group support portion.

6. The wheel drive source is disposed in the central region of the traveling main body in the vehicle body front-rear direction, The transport vehicle according to claim 1 , wherein the transfer device includes a holding section that holds the item, and is configured to be able to transfer the item between the holding section and the stacking area.

Images