Article conveying equipment

Abstract

To provide an article conveyance facility provided with running floors having a plurality of layers, which enables a conveying vehicle to smoothly start on an arrival floor.SOLUTION: It is configured that a first straight-running route R1 and a second straight-running route R2 are in parallel to each other and a direction in which a conveying vehicle V runs on the first straight-running route R1 and a direction in which the conveying vehicle V runs on the second straight-running route R2 are opposite to each other. A first lifter L1 is configured to connect an end part at a straight-running route first side X1 of the first straight-running route R1 to an end part at a straight-running route first side X1 of the second straight-running route R2. A second lifter is configured to connect an end part at a straight-running route second side X2 of the first straight-running route R1 to an end part at a straight-running route second side X2 of the second straight-running route R2. The first lifter L1 and the second lifter comprise lifting bases La on which the conveying vehicle V can be placed, respectively. The lifting base La is larger than a turning trajectory which is a trajectory of the conveying vehicle V that executes turning motion, in a vertical direction view.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an article conveying facility including a plurality of vertically arranged running floors and a carrier for conveying articles by running on the running floors.

Background Art

[0002] An example of such an article conveying facility is disclosed in Japanese Patent No. 6833983 (Patent Document 1). Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The facility disclosed in Patent Document 1 includes a lifter (20) for raising and lowering a carrier (30) between different floors (40, 41). When the carrier (30) is moved to different floors by the lifter (20), a part (32) of the carrier (30) that has entered the lifter (20) is engaged with a part (116) of the lifter (20). Then, with this engaged state, the carrier (30) is raised and lowered by the lifter (20).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As described above, in the facility of Patent Document 1, during the raising and lowering of the carrier vehicle (30) by the lifter (20), a part (32) of the carrier vehicle (30) engages with a part (116) of the lifter (20). Therefore, the posture of the carrier vehicle (30) is the same at the departure floor and the arrival floor. Accordingly, when the carrier vehicle (30) advances and enters the lifter (20) at the departure floor, it needs to reverse and exit the lifter (20) at the arrival floor. Since such a carrier vehicle generally moves forward during normal movement, there is a problem that it is difficult to smoothly start at the arrival floor in a situation where reverse movement is required at the start.

[0006] In view of the above situation, in an article conveying facility having a plurality of running floors, it is desired to realize a technology capable of smoothly starting the carrier vehicle at the arrival floor.

Means for Solving the Problem

[0007] An article conveying facility including a plurality of running floors arranged vertically and a carrier vehicle that runs on the running floors to convey articles, a straight - ahead path provided on each of the plurality of running floors, which is a running path for the carrier vehicle to move straight ahead, and a pair of lifters, a first lifter and a second lifter, for raising and lowering the carrier vehicle across the plurality of running floors, the carrier vehicle is configured to perform straight - ahead running and to change direction by executing a turning operation of turning around a vertical axis on the spot, Regarding the straight - ahead paths of a pair of the running floors adjacent to each other in the vertical direction as a first straight - ahead path and a second straight - ahead path respectively, the first straight - ahead path and the second straight - ahead path are parallel to each other, and the direction in which the carrier vehicle runs on the first straight - ahead path and the direction in which the carrier vehicle runs on the second straight - ahead path are set to face opposite sides, Regarding the side towards which the carrier vehicle running on the first straight - ahead path is heading as the first side of the straight - ahead path, and the side towards which the carrier vehicle running on the second straight - ahead path is heading as the second side of the straight - ahead path, The first lifter is configured to connect the end of the first straight path on the first side of the straight path and the end of the second straight path on the first side of the straight path. The second lifter is configured to connect the end of the first straight path on the second side of the straight path and the end of the second straight path on the second side of the straight path. Each of the first lifter and the second lifter includes a lifting platform on which the carrier can be placed. In a top-down view, the lifting platform is larger than the turning trajectory, which is the trajectory of the carrier performing the turning operation.

[0008] According to this configuration, the carrier can be pre-positioned in a posture suitable for starting at the arrival floor by performing a turning operation during the lifting by the lifter. Therefore, the carrier can smoothly start at the arrival floor. Further, according to this configuration, the lifting platform of the lifter is larger than the turning trajectory of the carrier in a top-down view. Therefore, the carrier can appropriately perform a turning operation even while being lifted by the lifter.

[0009] Further features and advantages of the technology according to the present disclosure will become clearer from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying out the Invention

[0011] The article conveying equipment includes a plurality of running floors arranged vertically and a carrier that runs on the running floors to convey articles. Hereinafter, an embodiment of the article conveying equipment will be described with reference to the drawings.

[0012] As shown in FIG. 1, the article conveying equipment 100 includes a plurality of running floors F arranged vertically and a carrier V that runs on a running surface Fa formed on each of the plurality of running floors F. On each running floor F of each layer, a plurality of carriers V are running on the running surface Fa.

[0013] In this embodiment, the article conveying equipment 100 further includes a control device M that controls a plurality of carriers V. The control device M issues a conveyance command, a standby command, etc. to each carrier V. In the conveyance command, the source and destination of the article G are specified. The carrier V that has received the conveyance command receives the article G at the specified source and conveys the article G to the specified destination. Also, in the standby command, a standby location is specified. The carrier V that has received the standby command travels to the specified standby location and waits until it receives the next command or the like on the spot.

[0014] In the example shown in FIG. 1, the article conveying equipment 100 includes two layers of running floors F. FIG. 1 shows the running floor F on the first floor and the running floor F on the second floor. However, the article conveying equipment 100 is not limited to such a configuration and may include three or more layers of running floors F.

[0015] The article conveying equipment 100 includes a straight - ahead path R that is provided on each of the plurality of running floors F and is a running path for the carrier V to move straight. The straight - ahead paths R of a pair of running floors F adjacent to each other in the vertical direction are respectively a first straight - ahead path R1 and a second straight - ahead path R2. In this example, the first straight - ahead path R1 is provided on the running floor F on the first floor. The second straight - ahead path R2 is provided on the running floor F on the second floor. Hereinafter, when the first straight - ahead path R1 and the second straight - ahead path R2 are not particularly distinguished, the two may be collectively referred to as the "straight - ahead path R".

[0016] The straight path R is configured as a part of the traveling floor F. Each floor's traveling floor F is provided with a straight path R and a traveling field Ff. In the illustrated example, the first straight path R1 is a single passage provided across the work area WA and the sorting area SA, which will be described later. When the carrier vehicle V transports the article G from the work area WA to the sorting area SA, it travels along the first straight path R1. The traveling field Ff is a planar portion on the traveling floor F. The carrier vehicle V can freely travel on the traveling field Ff. In this embodiment, the straight path R and the traveling field Ff partially overlap. In the illustrated example, on the first-floor traveling floor F, a traveling field Ff is provided between the work area WA and the sorting area SA. The first straight path R1 is provided so as to cross the traveling field Ff between the work area WA and the sorting area SA.

[0017] Hereinafter, the direction in which the first straight path R1 extends is defined as the "straight path direction X", and the direction orthogonal to the straight path direction X in the vertical view is defined as the "path width direction Y". In this embodiment, the second straight path R2 extends in the same direction as the first straight path R1 on a floor different from the floor where the first straight path R1 is provided. That is, the second straight path R2 extends along the straight path direction X.

[0018] As shown in FIG. 2, the carrier vehicle V is configured to perform straight traveling and a turning operation of turning around the vertical axis on the spot to change direction. By performing straight traveling and the turning operation, the carrier vehicle V can freely travel on the traveling field Ff on each of the first-floor traveling floor F and the second-floor traveling floor F.

[0019] On the traveling surface Fa, the traveling path of the carrier vehicle V is set to extend along each of the straight path direction X and the path width direction Y. A turning position where the turning operation of the carrier vehicle V is permitted is set at the intersection of the traveling path extending in the straight path direction X and the traveling path extending in the path width direction Y.

[0020] In this embodiment, position information holding units In that hold position information are provided at a plurality of locations on the travel floor F. A travel route for the carrier vehicle V is set so as to connect the plurality of position information holding units In. The turning positions where the turning operation of the carrier vehicle V is permitted are set based on the positions of the position information holding units In. And in this embodiment, the carrier vehicle V travels on the travel floor F while reading the position information held by the plurality of position information holding units In provided on the travel floor F, and is configured to execute a turning operation at a position corresponding to the position information holding unit In.

[0021] In this embodiment, unique identification information is set in the position information holding unit In. In this example, the identification information includes address information indicating the position where the position information holding unit In is provided. The carrier vehicle V is provided with a detection unit (not shown) for detecting the position information holding unit In. And the carrier vehicle V can grasp the position where the position information holding unit In is provided, that is, the current position of its own vehicle at the time of detection, by detecting the position information holding unit In with this detection unit. For example, as the position information holding unit In, a one-dimensional code or a two-dimensional code having identification information can be used. Alternatively, as the position information holding unit In, an RFID tag (Radio Frequency Identification Tag) having identification information can be used.

[0022] As shown in FIG. 1, the article conveyance facility 100 includes a first lifter L1 and a second lifter L2, which are a pair of lifters L for raising and lowering the carrier vehicle V across a plurality of travel floors F. Hereinafter, when the first lifter L1 and the second lifter L2 are not particularly distinguished, the two may be collectively referred to as "lifter L".

[0023] The article conveying equipment 100 includes an article supply unit Pg where articles G are supplied, a work area WA where the work of delivering the articles G supplied from the article supply unit Pg to the transport vehicle V is performed, a sorting area SA where the sorting work of the articles G conveyed by the transport vehicle V is performed, and an empty container recovery device B that recovers the empty containers C generated by the sorting work in the sorting area SA. In the present embodiment, the work area WA corresponds to the "article receiving area where the transport vehicle receives articles". The sorting area SA corresponds to the "article discharging area where the transport vehicle discharges articles".

[0024] In the present embodiment, both the work area WA and the sorting area SA are provided at the same level as the first-floor traveling floor F. And on the second-floor traveling floor F, neither the work area WA nor the sorting area SA is provided. That is, the article receiving area (work area WA) where the transport vehicle V receives the articles G and the article discharging area (sorting area SA) where the transport vehicle V discharges the articles G are provided on the same-floor traveling floor F.

[0025] The work area WA is arranged so as to be adjacent to both the first straight path R1 and the article supply unit Pg. In the present embodiment, the article supply unit Pg supplies the articles G to the work area WA in a state of being accommodated in the supply container Cp. In the work area WA, the work of taking out the articles G accommodated in the supply container Cp and delivering the articles G to the transport vehicle V waiting on the first straight path R1 is performed. The delivery of the articles G to the transport vehicle V may be performed in a state where the articles G are accommodated in a container C different from the supply container Cp, or may be performed in a mode of delivering the articles G as they are without accommodating them in the container C. In the present embodiment, the above work in the work area WA is performed by the worker W. However, the above work may be performed by a robot instead of the worker W, or may be performed by both the worker W and the robot.

[0026] The transport vehicle V is configured to transport the articles G or the containers C in which the articles G are accommodated. In the present embodiment, the transport vehicle V transports the articles G received in the work area WA or the containers C in which the articles G are accommodated to the sorting area SA.

[0027] The sorting area SA is provided adjacent to the first straight path R1 in the path width direction Y at a location separated from the work area WA. In the sorting area SA, sorting operations for the articles G conveyed by the transport vehicle V are performed. The sorting operations are performed based on predetermined order information. For example, the order information includes various types of information such as customer information, shipping destination information, and article type information.

[0028] In the present embodiment, when the transport vehicle V conveys the article G accommodated in the container C to the sorting area SA, in the sorting area SA, a taking-out operation for taking out the article G from the container C conveyed by the transport vehicle V is performed. That is, the sorting operation includes a taking-out operation for taking out the article G from the container C conveyed by the transport vehicle V. By this taking-out operation, the container C and the article G are separated, and an empty container C is generated. When the transport vehicle V conveys the article G (article G not accommodated in the container C) to the sorting area SA, in the sorting area SA, a receiving operation for receiving the article G conveyed by the transport vehicle V is performed. The article G taken out from the container C by the taking-out operation and the article G received by the receiving operation are accommodated, for example, in a container (not shown) according to the shipping destination.

[0029] The empty container collecting device B is configured to collect the empty containers C generated by the above-described taking-out operation. And a collecting path Rb, which is a path along which the empty containers C are conveyed by the empty container collecting device B, extends to a position adjacent to the work area WA. In this example, the collecting path Rb extends into the work area WA. The empty containers C collected by the empty container collecting device B are conveyed to the work area WA along the collecting path Rb and are used for the work in the work area WA. The empty container collecting device B is configured using, for example, a conveyor. The empty container collecting device B configured using a conveyor extends along the collecting path Rb. In the present embodiment, the sorting operation (including the above-described taking-out operation) in the sorting area SA is performed by the worker W. However, the sorting operation may be performed by a robot instead of the worker W, or the sorting operation may be performed by both the worker W and the robot.

[0030] After delivering the article G to the sorting area SA, the transport vehicle V gets on the lifter L and heads for the running floor F on another floor (the running floor F on the second floor in this example). Then, the transport vehicle V travels on the running floor F on the second floor, gets on another lifter L, and returns to the running floor F (the running floor F on the first floor in this example) of the floor where the above-described work area WA and sorting area SA are provided. The returned transport vehicle V receives the article G in the work area WA and conveys the article G to the sorting area SA in the same manner as described above.

[0031] FIG. 3 shows how the transport vehicle V travels between the floors. As shown in FIG. 3, the first straight path R1 and the second straight path R2 are parallel to each other, and the direction in which the transport vehicle V travels along the first straight path R1 and the direction in which the transport vehicle V travels along the second straight path R2 are set to face opposite sides. Hereinafter, the side toward which the transport vehicle V traveling along the first straight path R1 heads is referred to as "straight path first side X1", and the side toward which the transport vehicle V traveling along the second straight path R2 heads is referred to as "straight path second side X2".

[0032] The first lifter L1 is configured to connect the end of the first straight path R1 on the first side X1 of the straight path and the end of the second straight path R2 on the first side X1 of the straight path. The first lifter L1 is configured to raise and lower the carrier vehicle V between the end of the first straight path R1 on the first side X1 of the straight path and the end of the second straight path R2 on the first side X1 of the straight path.

[0033] The second lifter L2 is configured to connect the end of the first straight path R1 on the second side X2 of the straight path and the end of the second straight path R2 on the second side X2 of the straight path. The second lifter L2 is configured to raise and lower the carrier vehicle V between the end of the first straight path R1 on the second side X2 of the straight path and the end of the second straight path R2 on the second side X2 of the straight path.

[0034] The first lifter L1 is arranged on the first side X1 of the straight path with respect to the second lifter L2. The second lifter L2 is arranged on the second side X2 of the straight path with respect to the first lifter L1. The first straight path R1 and the second straight path R2 are arranged between the first lifter L1 and the second lifter L2 in the straight path direction X. Note that at least one of the first straight path R1 and the second straight path R2 may be connected to an extension path (not shown) extending along the horizontal plane from a portion where the first lifter L1 or the second lifter L2 is connected.

[0035] Each of the first lifter L1 and the second lifter L2 includes a lift table La on which the carrier vehicle V can be placed. Each of the first lifter L1 and the second lifter L2 raises and lowers the carrier vehicle V over multiple floors with the carrier vehicle V placed on the lift table La provided by itself. Each of the first lifter L1 and the second lifter L2 is configured to raise and lower the lift table La while maintaining the posture of the lift table La in a posture along the horizontal plane (for example, a posture parallel to the horizontal plane). In this example, in all of the ascending path RLu, the descending path RLd, and the pair of connection paths RLc described later, the posture of the lift table La is maintained in a posture along the horizontal plane.

[0036] In this embodiment, each of the first lifter L1 and the second lifter L2 includes a plurality of lifting platforms La. Each of the first lifter L1 and the second lifter L2 is configured to circulate the plurality of lifting platforms La along a predetermined annular path RL.

[0037] The annular path RL includes an ascending path RLu for raising the lifting platform La, a descending path RLd for lowering the lifting platform La, and a pair of connecting paths RLc that connect the ascending path RLu and the descending path RLd on both the upper and lower sides in the vertical direction. In this embodiment, the ascending path RLu and the descending path RLd extend along the vertical direction and are arranged side by side in the straight-ahead path direction X. Also, in this example, the pair of connecting paths RLc are formed in an arc shape. Therefore, the annular path RL is a substantially elliptical path that extends along the vertical direction when viewed in the path width direction Y.

[0038] In this embodiment, each of the first lifter L1 and the second lifter L2 is configured to move the plurality of lifting platforms La only in one direction along the annular path RL. In other words, the direction in which each of the first lifter L1 and the second lifter L2 circulates the plurality of lifting platforms La is predetermined in one direction.

[0039] In this embodiment, the first lifter L1 is set for raising the carrier vehicle V and is configured to place the carrier vehicle V only on the lifting platform La in the ascending path RLu. In this example, the first lifter L1 is configured not to place the carrier vehicle V on the lifting platforms La in the paths other than the ascending path RLu in the annular path RL (descending path RLd and the pair of connecting paths RLc). In other words, the first lifter L1 receives the carrier vehicle V from the first straight-ahead path R1 in the ascending path RLu and delivers the carrier vehicle V to the second straight-ahead path R2 in the ascending path RLu. That is, the first lifter L1 delivers the carrier vehicle V received from the first straight-ahead path R1 in the ascending path RLu to the second straight-ahead path R2 before the carrier vehicle V passes through the connecting path RLc or the descending path RLd.

[0040] As a storage unit for storing the carrier vehicle V, the lift table La can also be used. For example, when the facility is in a standby state, or for some reason such as the battery of the carrier vehicle V running out or a malfunction occurring, and the carrier vehicle V is not intentionally operated in the facility, the lift table La may be used as a storage unit for the carrier vehicle V. In such a case, the first lifter L1 can place the carrier vehicle V on the lift table La in the descending path RLd or the connection path RLc in addition to the ascending path RLu. That is, in this example, a part of the plurality of lift tables La in the first lifter L1 functions as a storage unit for temporarily storing the carrier vehicle V. In this case, for example, the control device M (see FIG. 1) designates one of the plurality of lift tables La in the first lifter L1 for a specific carrier vehicle V to be stored, and issues a standby command to standby at the designated lift table La.

[0041] In the present embodiment, the second lifter L2 is set for lowering the carrier vehicle V and is configured to place the carrier vehicle V only on the lift table La in the descending path RLd. In this example, the second lifter L2 is configured not to place the carrier vehicle V on the lift table La in the paths other than the descending path RLd (the ascending path RLu and the pair of connection paths RLc) in the annular path RL. In other words, the second lifter L2 receives the carrier vehicle V from the second straight path R2 in the descending path RLd and delivers the carrier vehicle V to the first straight path R1 in the descending path RLd. That is, the second lifter L2 delivers the carrier vehicle V received from the second straight path R2 in the descending path RLd to the first straight path R1 before the carrier vehicle V passes through the connection path RLc or the ascending path RLu. In addition, the second lifter L2 can place the carrier vehicle V on the lift table La in the ascending path RLu or the connection path RLc in addition to the descending path RLd. That is, in this example, a part of the plurality of lift tables La in the second lifter L2 functions as a storage unit for temporarily storing the carrier vehicle V. In this case, for example, the control device M (see FIG. 1) designates one of the plurality of lift tables La in the second lifter L2 for a specific carrier vehicle V to be stored, and issues a standby command to standby at the designated lift table La.

[0042] As described above, in the present embodiment, a work area WA (article receiving area) where the transport vehicle V receives the article G and a sorting area SA (article discharging area) where the transport vehicle V discharges the article G are provided on the same floor traveling floor F. Specifically, the work area WA and the sorting area SA are provided on the first floor traveling floor F. In this example, the transport vehicle V exits from the exit of the second lifter L2 for descending to the first floor traveling floor F and receives the article G in the work area WA. After that, the transport vehicle V travels straight along the first straight path R1 toward the first side X1 of the straight path while holding the article G, and discharges the article G in the sorting area SA. Further thereafter, the transport vehicle V enters the first lifter L1 for ascending from the first floor traveling floor F and heads for the second floor traveling floor F. The transport vehicle V exits from the exit of the first lifter L1 for ascending to the second floor traveling floor F and travels straight along the second straight path R2 toward the second side X2 of the straight path. Then, the transport vehicle V enters the second lifter L2 for descending and heads for the first floor traveling floor F. In this way, the transport vehicle V circulates between the first floor traveling floor F and the second floor traveling floor F.

[0043] In the configuration in which the work area WA (article receiving area) where the transport vehicle V receives the article G and the sorting area SA (article discharging area) where the transport vehicle V discharges the article G are provided on the same floor traveling floor F as described above, since the transport vehicle V completes the conveyance of the article G on the same floor, the transport vehicle V does not get on both the first lifter L1 and the second lifter L2 while holding the article G. That is, the transport vehicle V gets on either the first lifter L1 or the second lifter L2 in a state where it is not holding the article G.

[0044] In this embodiment, a work area WA (article receiving area) where the carrier vehicle V receives the article G is provided adjacent to the exit of the target lift among the first lift L1 and the second lift L2. In this example, the second lift L2 is the target lift. Also, the lift that is not the target lift among the first lift L1 and the second lift L2 is defined as the non-target lift. In this example, the first lift L1 is the non-target lift. Then, the control device M (see FIG. 1) controls the carrier vehicle V on the travel floor F (the travel floors F of the first and second floors) so that the number of carrier vehicles V in the target lift (the second lift L2) is equal to or greater than the number of carrier vehicles V in the non-target lift (the first lift L1).

[0045] According to such a configuration, since the number of carrier vehicles V in the target lift (the second lift L2) can be relatively increased, it is easy to increase the number of carrier vehicles V that can arrive at the work area WA (article receiving area) provided at the exit of the target lift (the second lift L2) in a short time. Therefore, the possibility of a state where the carrier vehicle V waits in the work area WA (article receiving area) can be reduced, and the ratio of the carrier vehicle V that is transporting the article G among the plurality of carrier vehicles V existing in the facility can be increased. Therefore, it can contribute to improving the transport capacity of the entire facility.

[0046] FIG. 4 is an explanatory diagram when the carrier vehicle V moves between travel floors F on different floors. Specifically, FIG. 4 shows how the carrier vehicle V moves from the travel floor F on the first floor to the travel floor F on the second floor by the first lift L1. Although FIG. 4 shows the structure around the first lift L1, the structure around the second lift L2 is the same. Therefore, the illustration of the structure around the second lift L2 is omitted.

[0047] As shown in FIG. 4, a plurality of position information holding units In are arranged side by side along the straight path direction X in the first straight path R1 and the second straight path R2. A position information holding unit In is also provided on the mounting surface Lf of the carrier vehicle V on the lift tables La of the first lifter L1 and the second lifter L2. The carrier vehicle V travels while sequentially reading the position information holding units In of the first straight path R1 or the second straight path R2. Then, the carrier vehicle V enters the first lifter L1 or the second lifter L2 or exits from the first lifter L1 or the second lifter L2 through the plurality of position information holding units In.

[0048] In the first straight path R1 and the second straight path R2, at least in the vicinity of the lifter L, there is no space where two or more carrier vehicles V can travel in parallel in the path width direction Y. That is, in the first straight path R1 and the second straight path R2 in the vicinity of the lifter L, there is only space for one carrier vehicle V to travel. Therefore, the carrier vehicle V that has entered the lifter L to move to different running floors F needs to exit from the lifter L in the direction opposite to the entering direction at the arrival floor. However, as described above, there is no space for pre-changing the direction before entering the lifter L in the first straight path R1 and the second straight path R2 in the vicinity of the lifter L.

[0049] Therefore, in the article conveying facility 100 according to the present disclosure, the carrier vehicle V is configured to turn within the lifter L to change its direction. Specifically, when the carrier vehicle V travels toward the first side X1 of the straight path and enters the lifter L (here, the first lifter L1), it turns 180° within the lifter L to face the second side X2 of the straight path. Then, at the arrival floor, it travels from the lifter L (the first lifter L1) to the second side X2 of the straight path and exits. Further, when the carrier vehicle V travels toward the second side X2 of the straight path and enters the lifter L (here, the second lifter L2), it turns 180° within the lifter L (the second lifter L2) to face the first side X1 of the straight path. Then, at the arrival floor, it travels from the lifter L (the second lifter L2) to the first side X1 of the straight path and exits. With such a configuration, the carrier vehicle V can smoothly exit from the lifter L at the arrival floor. Further, even if there is a space where the direction can be changed near the lifter L, without using such a space, if the carrier vehicle V changes its direction within the lifter L as in the above configuration, the period during which the carrier vehicle V is lifted and lowered by the lifter L can also be used for direction change. Therefore, the carrier vehicle V can be efficiently moved.

[0050] As shown in FIG. 4, the lift table La is larger than the turning locus Vt, which is the locus of the carrier vehicle V that performs the turning operation, in the vertical direction view. Thereby, the carrier vehicle V can appropriately perform the turning operation even while being lifted and lowered by the lifter L.

[0051] In the present embodiment, the lift table La includes a pair of lateral walls w1 arranged apart in the path width direction Y, a rear wall w2 arranged on the back side in the straight path direction X (the first side X1 of the straight path in the illustrated example) with respect to the entrance and exit of the lifter L, and a bottom w3 having a mounting surface Lf on which the carrier vehicle V is mounted. In this example, a position information holding portion In is provided on the mounting surface Lf of the bottom w3, and the pair of lateral walls w1 and the rear wall w2 are arranged at positions that do not interfere with the turning locus Vt when the carrier vehicle V performs the turning operation at the position of the position information holding portion In. Thereby, the carrier vehicle V can appropriately perform the turning operation without interfering with the pair of lateral walls w1 and the rear wall w2 within the lifter L.

[0052] Taking as an example the case where the carrier vehicle V moves from the first straight path R1 (the running floor F on the first floor) to the second straight path R2 (the running floor F on the second floor), the carrier vehicle V travels straight along the first straight path R1 to the straight path first side X1 through a plurality of position information holding parts In and enters the first lifter L1 for ascending (see Fig. 4(a)). While ascending from the first floor to the second floor, the carrier vehicle V makes a turning motion inside the first lifter L1 and changes its direction by 180° (see Fig. 4(b)). As a result, the carrier vehicle V, which faced the straight path first side X1 when entering the first lifter L1, faces the straight path second side X2, which is the opposite side. When the carrier vehicle V arrives at the second floor where the second straight path R2 is located, it starts moving toward the straight path second side X2 and exits the first lifter L1 (see Fig. 4(c)).

[0053] Here, as described above, in the present embodiment, the article receiving area (work area WA) where the carrier vehicle V receives the article G and the article discharging area (sorting area SA) where the carrier vehicle V discharges the article G are provided on the same floor. Therefore, basically, the carrier vehicle V does not get on the lifter L while holding the article G. However, when the carrier vehicle V discharges only some of the articles G in the article discharging area, or when the article receiving area (work area WA) and the article discharging area (sorting area SA) are provided on different floors instead of the same floor, etc., it is necessary for the carrier vehicle V to get on the lifter L while holding the article G. The article conveying facility 100 according to the present disclosure can also handle such cases and can appropriately move the carrier vehicle V holding the article G to the running floor F on another floor. The following will be described with reference to Fig. 5.

[0054] Fig. 5 shows the intervals between the plurality of lift platforms La provided in the lifter L and the positional relationship between the plurality of lift platforms La and the running floors F of each floor. Note that Fig. 5 shows the structure of the second lifter L2, but the structure of the first lifter L1 is the same as this. Therefore, the illustration of the structure of the first lifter L1 is omitted.

[0055] In this embodiment, the vertical interval Hd between a plurality of lifting platforms La in each of the first lifter L1 and the second lifter L2 is equal to or greater than the length obtained by adding a certain margin Ha to the combined height (Hv + Hc) of the carrier vehicle V and the article G in the carrier vehicle V holding the article G. With one of the plurality of lifting platforms La connected to the travel floor F provided with the first straight travel path R1 and another one of the plurality of lifting platforms La connected to the travel floor F provided with the second straight travel path R2. This can prevent the article G from interfering with another adjacent lifting platform La above the lifting platform La on which the carrier vehicle V is riding even when the carrier vehicle V rides on the lifter L while holding the article G. Also, since one of the plurality of lifting platforms La is connected to the travel floor F and another one of the plurality of lifting platforms La is connected to another travel floor F, it becomes possible to simultaneously perform the entry of the carrier vehicle V into the same lifter L and the exit of another carrier vehicle V on different floors.

[0056] As described above, the carrier vehicle V can carry the article G as it is, but may sometimes carry the article G contained in the container C together with the container C. In this embodiment, the vertical interval Hd between a plurality of lifting platforms La in each of the first lifter L1 and the second lifter L2 is set to be equal to or greater than the length obtained by adding the height Hv of the carrier vehicle V, the height Hc of the container C, and a certain margin Ha. This can prevent the container C from interfering with another adjacent lifting platform La above the lifting platform La on which the carrier vehicle V is riding even when the carrier vehicle V rides on the lifter L while holding the container C.

[0057] 〔Other Embodiments〕 Next, other embodiments of the article conveying facility will be described.

[0058] (1) In the above-described embodiment, an example has been described in which each of the first lifter L1 and the second lifter L2 is configured to circulate a plurality of elevating platforms La along a predetermined annular path RL. However, without being limited to such an example, at least one of the first lifter L1 and the second lifter L2 may be configured to reciprocate a single or a plurality of elevating platforms La by a single elevating path.

[0059] (2) In the above-described embodiment, an example has been described in which each of the first lifter L1 and the second lifter L2 is configured to move a plurality of elevating platforms La only in one direction along the annular path RL. However, without being limited to such an example, at least one of the first lifter L1 and the second lifter L2 may be configured to move a plurality of elevating platforms La in both one side and the other side in the direction along the annular path RL.

[0060] (3) In the above-described embodiment, an example has been described in which the first lifter L1 is set for the ascent of the carrier vehicle V and the second lifter L2 is set for the descent of the carrier vehicle V. However, without being limited to such an example, the first lifter L1 may be used for both the ascent and the descent of the carrier vehicle V. Also, the second lifter L2 may be used for both the ascent and the descent of the carrier vehicle V.

[0061] (4) In the above-described embodiment, an example has been described in which a part of the plurality of elevating platforms La in each of the first lifter L1 and the second lifter L2 functions as a storage unit for temporarily storing the carrier vehicle V. However, without being limited to such an example, each of the first lifter L1 and the second lifter L2 only needs to function for the ascent and descent of the carrier vehicle V, and may not have a function for storing the carrier vehicle V.

[0062] (5) In the above-described embodiment, an example has been described in which, while one of the plurality of elevating platforms La is connected to the traveling floor F, another one of the plurality of elevating platforms La is connected to another traveling floor F. However, without being limited to such an example, even when one of the plurality of elevating platforms La is connected to the traveling floor F, the elevating platform La may not be connected to the other traveling floor F.

[0063] (6) Note that the configurations disclosed in the above-described embodiments can also be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations as well, all the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope not departing from the gist of the present disclosure.

[0064] [Outline of the Above Embodiment] Hereinafter, the article conveyance facility described above will be described.

[0065] An article conveyance facility including a plurality of vertically arranged traveling floors and a conveyance vehicle that travels on the traveling floors to convey articles, a straight-ahead path provided on each of the plurality of traveling floors, which is a traveling path for the conveyance vehicle to travel straight, a first lifter and a second lifter, which are a pair of lifters for raising and lowering the conveyance vehicle across the plurality of traveling floors, the conveyance vehicle is configured to travel straight and perform a turning operation of turning around a vertical axis on the spot to change its direction, taking the straight-ahead paths of a pair of the traveling floors adjacent to each other in the vertical direction as a first straight-ahead path and a second straight-ahead path, respectively, the first straight-ahead path and the second straight-ahead path are parallel to each other, and the direction in which the conveyance vehicle travels on the first straight-ahead path and the direction in which the conveyance vehicle travels on the second straight-ahead path are set to face opposite sides, taking the side towards which the conveyance vehicle traveling on the first straight-ahead path heads as the first side of the straight-ahead path and the side towards which the conveyance vehicle traveling on the second straight-ahead path heads as the second side of the straight-ahead path, The first lifter is configured to connect the end of the first straight path on the first side of the straight path and the end of the second straight path on the first side of the straight path. The second lifter is configured to connect the end of the first straight path on the second side of the straight path and the end of the second straight path on the second side of the straight path. Each of the first lifter and the second lifter includes a lifting platform on which the carrier vehicle can be placed. In a vertical view, the lifting platform is larger than the turning trajectory which is the trajectory of the carrier vehicle that executes the turning operation.

[0066] According to this configuration, the carrier vehicle can be pre-positioned in a posture suitable for starting at the arrival floor by performing a turning operation during the lifting by the lifter. Therefore, the carrier vehicle can smoothly start at the arrival floor. Further, according to this configuration, the lifting platform of the lifter is larger than the turning trajectory of the carrier vehicle in a vertical view. Therefore, the carrier vehicle can appropriately perform a turning operation even during the lifting by the lifter.

[0067] It is preferable that each of the first lifter and the second lifter includes a plurality of the lifting platforms and is configured to circulate the plurality of the lifting platforms along a predetermined circular path.

[0068] According to this configuration, a plurality of carrier vehicles can be lifted in parallel by each of the first lifter and the second lifter. Therefore, the circulation efficiency of the carrier vehicles between different floors can be improved.

[0069] Each of the first lifter and the second lifter is configured to move the plurality of the lifting platforms only toward one side in the direction along the circular path. The circular path includes an ascending path for raising the lifting platform, a descending path for lowering the lifting platform, and a pair of arc-shaped connecting paths that connect the ascending path and the descending path on both upper and lower sides. The first lifter is set for lifting the carrier vehicle, and the carrier vehicle is placed only on the lift table in the ascending path. It is preferable that the second lifter is set for lowering the carrier vehicle, and the carrier vehicle is placed only on the lift table in the descending path.

[0070] According to this configuration, the roles of the first lifter and the second lifter are divided into ascending and descending uses, and the carrier vehicle placed on each lift table is moved only to one side of ascending or descending. Therefore, the direction of the ascending and descending movement of the carrier vehicle in each lifter can be made unidirectional. Thus, it is easier to increase the movement efficiency of the carrier vehicle in each lifter compared to the case of reciprocating the lift table. Here, in the case of a lifter that moves the lift table along an annular path, depending on the structure of the annular path, when passing through the uppermost position or the lowermost position (the point where ascending and descending are switched) of the annular path, the lift table may vibrate greatly, and positional deviation of the carrier vehicle on the lift table is likely to occur. However, according to this configuration, the carrier vehicle placed on the lift table passes only through the ascending path in the first lifter and only through the descending path in the second lifter. Thereby, since the carrier vehicle can be prevented from passing through the uppermost position or the lowermost position of the annular path, the above problems are less likely to occur.

[0071] It further includes a control device for controlling a plurality of the carrier vehicles. An article receiving area where the carrier vehicle receives the article is provided adjacent to the exit of a target lifter which is either the first lifter or the second lifter. Regarding the lifter other than the target lifter among the first lifter and the second lifter as a non-target lifter. It is preferable that the control device controls the carrier vehicles on the traveling floor such that the number of carrier vehicles in the target lifter is equal to or more than the number of carrier vehicles in the non-target lifter.

[0072] According to this configuration, since the number of carrier vehicles in the target lifter can be relatively increased, it is easy to increase the number of carrier vehicles that can arrive at the article receiving area provided at the exit of the target lifter in a short time. Therefore, the possibility of a state where carrier vehicles are waiting in the article receiving area can be reduced, and the ratio of the carrier vehicles that are transporting articles among the plurality of carrier vehicles existing in the facility can be increased. Therefore, it is possible to contribute to improving the transportation capacity of the entire facility.

[0073] Each of the first lifter and the second lifter includes a plurality of the lift platforms. It is preferable that a part of the plurality of lift platforms in each of the first lifter and the second lifter functions as a storage unit for temporarily storing the carrier vehicle.

[0074] According to this configuration, when it is not possible to secure a place for storing the carrier vehicles that are not in operation, etc., a part of the plurality of lift platforms provided in each lifter can be used as a storage unit for storing the carrier vehicles. For example, it is beneficial to use a part of the plurality of lift platforms as a storage unit for carrier vehicles during the night or when the facility is not in full operation (including the rest state).

[0075] It is preferable that the article receiving area where the carrier vehicle receives the article and the article discharging area where the carrier vehicle discharges the article are provided on the same running floor.

[0076] According to this configuration, since the carrier vehicle can complete the receiving and discharging of articles on the same floor, it is possible to prevent the carrier vehicle from boarding the lifter while holding the article. Therefore, the article can be protected from the vibration during lifting by the lifter. In addition, since the lifter can be designed without considering the dimensions of the articles transported by the carrier vehicle, it is easy to reduce the size of the lifter.

[0077] Each of the first lifter and the second lifter includes a plurality of the lift platforms. The vertical interval between the plurality of elevating platforms in each of the first lifter and the second lifter is not less than the length obtained by adding a certain margin to the height of the combination of the carrier vehicle and the article in the carrier vehicle holding the article, and one of the plurality of elevating platforms is connected to the traveling floor provided with the first straight traveling path, and the other of the plurality of elevating platforms is connected to the traveling floor provided with the second straight traveling path. It is preferably set so as to be in a connected state.

[0078] According to this configuration, even when the carrier vehicle may get on the lifter while holding the article, it is possible to avoid the article from interfering with another elevating platform adjacent to the upper side of the elevating platform on which the carrier vehicle is mounted. Further, according to this configuration, it is possible to simultaneously perform the entry of the carrier vehicle into the same lifter and the exit of another carrier vehicle on different floors.

[0079] The carrier vehicle is configured to travel on the traveling floor while reading the position information held by a plurality of position information holding portions provided on the traveling floor, and to perform the turning operation at a position corresponding to the position information holding portion. It is preferable that the position information holding portion is also provided on the mounting surface on which the carrier vehicle is mounted on the elevating platforms of the first lifter and the second lifter.

[0080] According to this configuration, the carrier vehicle can perform a turning operation on the elevating platform based on the position of the position information holding portion provided on the mounting surface of the elevating platform. Therefore, it is easy to realize an appropriate turning operation of the carrier vehicle on the elevating platform.

Industrial Applicability

[0081] The technology according to the present disclosure can be used in an article conveying facility including a plurality of vertically arranged traveling floors and a carrier vehicle that travels on the traveling floor to convey articles.

Explanation of Signs

[0082] 100 : Article conveying facility F: Travel Floor In: Position Information Holding Unit L: Lift L1: First Lift L2: Second Lift La: Lift Platform Lf: Placing Surface RL: Circular Path RLc: Connection Path RLd: Descent Path RLu: Ascent Path R: Straight Path R1: First Straight Path R2: Second Straight Path M: Control Device V: Carrier Vt: Turning Locus G: Article Hv: Height of Carrier Hc: Height of Article Ha: Clearance X1: First Side of Straight Path X2: Second Side of Straight Path

Claims

1. An article conveying facility comprising a plurality of running floors arranged in the vertical direction and a carrier that runs on the running floors to convey articles, a straight running path provided on each of the plurality of running floors, which is a running path for the carrier to move straight, and a pair of lifters, a first lifter and a second lifter, for raising and lowering the carrier across the plurality of running floors, wherein the carrier is configured to perform a turning operation of turning around a vertical axis on the spot while moving straight, so as to change its direction, with the straight running paths of a pair of the running floors adjacent to each other in the vertical direction being defined as a first straight running path and a second straight running path respectively, the first straight running path and the second straight running path being parallel to each other, and the direction in which the carrier runs on the first straight running path and the direction in which the carrier runs on the second straight running path being set to face opposite sides, with the side towards which the carrier running on the first straight running path is heading being defined as the first side of the straight running path, and the side towards which the carrier running on the second straight running path is heading being defined as the second side of the straight running path, the first lifter being configured to connect the end of the first straight running path on the first side of the straight running path and the end of the second straight running path on the first side of the straight running path, the second lifter being configured to connect the end of the first straight running path on the second side of the straight running path and the end of the second straight running path on the second side of the straight running path, each of the first lifter and the second lifter including a lifting platform on which the carrier can be placed, wherein the lifting platform is larger than a turning locus, which is the locus of the carrier performing the turning operation, when viewed in the vertical direction. An article conveying facility.

2. The article conveying facility according to claim 1, wherein each of the first lifter and the second lifter includes a plurality of the lifting platforms, and is configured to circulate the plurality of the lifting platforms along a predetermined circular path.

3. Each of the first lifter and the second lifter is configured to move the plurality of the lifting platforms only towards one side in the direction along the circular path, the circular path including a rising path for raising the lifting platform, a descending path for lowering the lifting platform, and a pair of arc-shaped connecting paths that connect the rising path and the descending path on both the upper and lower sides, wherein the first lifter is set for raising the carrier, and the carrier is placed only on the lifting platform in the rising path. The article conveying facility according to claim 2, wherein the second lifter is set for lowering the carrier vehicle, and the carrier vehicle is placed only on the lift table in the lowering path.

4. The article conveying facility further includes a control device for controlling a plurality of the carrier vehicles, an article receiving area where the carrier vehicle receives the article is provided adjacent to an exit of a target lifter which is either the first lifter or the second lifter, with the non-target lifter being the one of the first lifter and the second lifter that is not the target lifter, the control device controls the carrier vehicles on the traveling floor such that the number of the carrier vehicles in the target lifter is equal to or greater than the number of the carrier vehicles in the non-target lifter. The article conveying facility according to claim 3.

5. Each of the first lifter and the second lifter includes a plurality of the lift tables, and a part of the plurality of the lift tables in each of the first lifter and the second lifter functions as a storage unit for temporarily storing the carrier vehicle. The article conveying facility according to claim 1.

6. The article receiving area where the carrier vehicle receives the article and the article discharging area where the carrier vehicle discharges the article are provided on the same floor of the traveling floor. The article conveying facility according to any one of claims 1 to 5.

7. Each of the first lifter and the second lifter includes a plurality of the lift tables, the vertical interval between the plurality of the lift tables in each of the first lifter and the second lifter is equal to or greater than a length obtained by adding a certain margin to the combined height of the carrier vehicle and the article in the carrier vehicle holding the article, and one of the plurality of the lift tables is connected to the traveling floor provided with the first straight traveling path, and another one of the plurality of the lift tables is connected to the traveling floor provided with the second straight traveling path. The article conveying facility according to any one of claims 1 to 5.

8. The carrier vehicle is configured to travel on the traveling floor while reading position information held by a plurality of position information holding parts provided on the traveling floor, and execute the turning operation at a position corresponding to the position information holding part. The position information holding part is also provided on a mounting surface of the lift table of the first lifter and the second lifter on which the carrier vehicle is mounted. The article conveying facility according to any one of claims 1 to 5.

Images