Article conveying equipment

Abstract

To achieve a technique that can avoid a conveying vehicle being lifted from falling from a lifter, without disturbing the conveying vehicle from smoothly getting in and getting out from the lifter.SOLUTION: An article conveyance facility comprises a lifter 2 that lifts a conveying vehicle 1 along a plurality of running floors. The lifter 2 comprises a lifting base 20 on which the conveying vehicle 1 can be placed and a gate 24 provided at a gateway 20E of the lifting base 20. The gate 24 comprises a pair of gate pieces 240 arranged separately in an orthogonal direction Dy. The conveying vehicle 1 is configured to run straight and execute turning motion to turn around. When an interval in the orthogonal direction Dy between the pair of gate pieces 240 is defined as a gate interval, a dimension along a running direction of the conveying vehicle 1 is defined as a longitudinal dimension and a dimension along a direction orthogonal to the running direction of the conveying vehicle 1 in a vertical direction view is defined as a lateral width dimension, the gate dimension is narrower than the longitudinal dimension and is wider than the lateral width dimension.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to an article conveying facility including a plurality of vertically arranged running floors and a carrier that runs 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) that raises and lowers a carrier (30) between different floors (40, 41). When the carrier (30) is moved to a different floor 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, in 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 equipment 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). Thereby, even if vibration occurs during the raising and lowering of the carrier vehicle (30), it is possible to prevent the carrier vehicle (30) from falling from the lifter (20). However, in the mode of engaging a part (32) of the carrier vehicle (30) with a part (116) of the lifter (20), the above engagement is performed when the carrier vehicle (30) enters the lifter (20), and the above engagement is released when the carrier vehicle (30) exits the lifter (20) at the arrival floor. Therefore, the operations for engagement and disengagement may hinder the smooth entry and exit of the carrier vehicle (30). Also, it is difficult to adjust the relative positions of the engaging parts (32, 116). On the other hand, there is a high need to take measures to prevent the carrier vehicle (30) from falling during raising and lowering.

[0006] In view of the above circumstances, it is desired to realize a technology that can avoid the carrier vehicle during raising and lowering from falling from the lifter without hindering the smooth entry and exit of the carrier vehicle with respect to the lifter.

Means for Solving the Problem

[0007] An article conveying facility including a plurality of running floors arranged in the vertical direction and a carrier vehicle that runs on the running floors, comprising a lifter for raising and lowering the carrier vehicle across a plurality of the running floors, the lifter includes a lifting platform on which the carrier vehicle can enter and exit each of the plurality of running floors and can place the entered carrier vehicle, and a gate provided at the entrance and exit of the lifting platform, when the carrier vehicle passes through the entrance and exit, the running direction is defined as the passing direction, and the direction perpendicular to the passing direction in the vertical view is defined as the orthogonal direction, the gate includes a pair of gate pieces arranged at a distance in the orthogonal direction, the pair of gate pieces are supported by the lifting platform with the interval in the orthogonal direction fixed, The transport vehicle is configured to travel straight and perform a turning operation of turning around a vertical axis on the spot to change its direction. The distance between the pair of gate pieces in the orthogonal direction is defined as the gate interval, the dimension along the traveling direction of the transport vehicle is defined as the front-rear dimension, and the dimension along the direction orthogonal to the traveling direction of the transport vehicle in a top-down view is defined as the lateral dimension. The gate interval is narrower than the front-rear dimension and wider than the lateral dimension.

[0008] According to this configuration, the distance (gate interval) between the pair of gate pieces in the orthogonal direction is wider than the lateral dimension of the transport vehicle. Therefore, the transport vehicle can smoothly enter and exit the lift without contacting the pair of gate pieces by traveling along the passage direction at the entrance and exit of the lift platform. Also, according to this configuration, the distance (gate interval) between the pair of gate pieces in the orthogonal direction is narrower than the front-rear dimension of the transport vehicle. Therefore, when the transport vehicle enters the lift platform, for example, when the front and rear of the transport vehicle are in a posture along the orthogonal direction, the exit of the transport vehicle from the lift platform in that posture is prevented by the pair of gate pieces. Thus, even when a relatively large vibration occurs in the lift platform during lifting and lowering, the fall of the transport vehicle from the lift platform can be avoided. As described above, according to this configuration, it is possible to avoid the transport vehicle falling from the lift during lifting and lowering without preventing the transport vehicle from smoothly entering and exiting the lift.

[0009] Further features and advantages of the technology according to the present disclosure will become more apparent 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

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

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

[0012] As shown in FIG. 1, the article conveying facility 100 includes a plurality of vertically arranged running floors F and a carrier 1 that runs on the 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 1 are running on the running surface Fa.

[0013] In this embodiment, the article conveying facility 100 further includes a control device M that controls a plurality of carriers 1. The control device M issues conveyance commands, standby commands, etc. to each carrier 1. In the conveyance command, the source and destination of the article G are specified. The carrier 1 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, the standby location is specified. The carrier 1 that has received the standby command runs to the specified standby location and waits there until it receives the next command or the like.

[0014] In the example shown in FIG. 1, the article conveying facility 100 includes two 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 facility 100 is not limited to such a configuration and may include three or more running floors F.

[0015] The article conveying equipment 100 is provided on each of a plurality of running floors F, and includes a straight running path R which is a running path for the carrier vehicle 1 to go straight. The straight running paths R of a pair of vertically adjacent running floors F are respectively the first straight running path R1 and the second straight running path R2. In this example, the first straight running path R1 is provided on the running floor F of the first floor. The second straight running path R2 is provided on the running floor F of the second floor. Hereinafter, when the first straight running path R1 and the second straight running path R2 are not particularly distinguished, both may be collectively referred to as the "straight running path R".

[0016] The straight running path R is configured as a part of the running floor F. Each floor's running floor F includes a straight running path R and a running field Ff. In the illustrated example, the first straight running path R1 is a single passage provided across the work area WA and the sorting area SA described later. When the carrier vehicle 1 conveys the article G from the work area WA to the sorting area SA, it runs on the first straight running path R1. The running field Ff is a planar part on the running floor F. The carrier vehicle 1 can freely run on the running field Ff. In this embodiment, the straight running path R and the running field Ff partially overlap. In the illustrated example, on the running floor F of the first floor, a running field Ff is provided between the work area WA and the sorting area SA. The first straight running path R1 is provided so as to cross the running field Ff between the work area WA and the sorting area SA.

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

[0018] As shown in FIG. 2, the carrier vehicle 1 is configured to travel straight and perform a turning operation of turning around a vertical axis on the spot to change its direction. By performing straight travel and turning operations, the carrier vehicle 1 can freely travel in the travel field Ff on each of the first-floor travel floor F and the second-floor travel floor F.

[0019] On the travel surface Fa, the travel path of the carrier vehicle 1 is set to extend along the straight-ahead path direction X and the path width direction Y, respectively. A turning position where the turning operation of the carrier vehicle 1 is permitted is set at the intersection of the travel path extending in the straight-ahead path direction X and the travel path extending in the path width direction Y.

[0020] In the present embodiment, position information holding units In that hold position information are provided at a plurality of locations on the travel floor F. The travel path of the carrier vehicle 1 is set so as to connect the plurality of position information holding units In. The turning position where the turning operation of the carrier vehicle 1 is permitted is set based on the positions of the position information holding units In. And in the present embodiment, the carrier vehicle 1 is configured to travel 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 to perform a turning operation at a position corresponding to the position information holding unit In.

[0021] In the present 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 1 includes a detection unit (not shown) for detecting the position information holding unit In. And the carrier vehicle 1 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 holding identification information can be used. Alternatively, as the position information holding unit In, an RFID tag (Radio Frequency Identification Tag) holding identification information can be used.

[0022] As shown in FIG. 1, the article conveying facility 100 includes a lifter 2 that raises and lowers the carrier 1 across a plurality of traveling floors F. In the present embodiment, the article conveying facility 100 includes a first lifter 2A and a second lifter 2B, which are a pair of lifters 2 that raise and lower the carrier 1 across a plurality of traveling floors F. Hereinafter, when the first lifter 2A and the second lifter 2B are not particularly distinguished, both may be collectively referred to as the "lifter 2".

[0023] The article conveying facility 100 includes an article supply unit Pg to which the article G is supplied, a work area WA where the work of delivering the article G supplied from the article supply unit Pg to the carrier 1 is performed, a sorting area SA where the sorting work of the article G conveyed by the carrier 1 is performed, and an empty container recovery device B that recovers the empty container C generated by the sorting work in the sorting area SA. The work area WA can be paraphrased as an "article receiving area" for the carrier 1 to receive the article G. The sorting area SA can be paraphrased as an "article discharging area" for the carrier 1 to discharge the article G.

[0024] In the present embodiment, both the work area WA and the sorting area SA are provided at the same level as the traveling floor F on the first floor. And, both the work area WA and the sorting area SA are not provided on the traveling floor F on the second floor. That is, the article receiving area (work area WA) where the carrier 1 receives the article G and the article discharging area (sorting area SA) where the carrier 1 discharges the article G are provided on the same traveling floor F.

[0025] The work area WA is arranged 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 article G to the work area WA in a state where the article G is accommodated in the supply container Cp. In the work area WA, an operation is performed to take out the article G accommodated in the supply container Cp and deliver the article G to the transport vehicle 1 waiting on the first straight path R1. The delivery of the article G to the transport vehicle 1 may be performed in a state where the article G is accommodated in a container C different from the supply container Cp, or may be performed in a mode of delivering the article G as it is without accommodating it in the container C. In the present embodiment, the above operation in the work area WA is performed by the worker W. However, the above operation may be performed by a robot instead of the worker W, or may be performed by both the worker W and the robot.

[0026] The transport vehicle 1 is configured to transport the article G or the container C in which the article G is accommodated. In the present embodiment, the transport vehicle 1 transports the article G received in the work area WA or the container C in which the article G is 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 away from the work area WA. In the sorting area SA, a sorting operation of the article G transported by the transport vehicle 1 is performed. The sorting operation is performed based on predetermined order information. For example, the order information includes various information such as customer information, shipping destination information, and article type information.

[0028] In this embodiment, when the carrier vehicle 1 transports the article G accommodated in the container C to the sorting area SA, in the sorting area SA, a take-out operation for taking out the article G from the container C transported by the carrier vehicle 1 is performed. That is, the sorting operation includes a take-out operation for taking out the article G from the container C transported by the carrier vehicle 1. By this take-out operation, the container C and the article G are separated, and an empty container C is generated. When the carrier vehicle 1 transports the article G (the 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 transported by the carrier vehicle 1 is performed. The article G taken out from the container C by the take-out operation and the article G received by the receiving operation are accommodated, for example, in a container (not shown) according to the destination of shipment.

[0029] The empty container recovery device B is configured to recover the empty container C generated by the above-described take-out operation. And a recovery path Rb, which is a path along which the empty container C is transported by the empty container recovery device B, extends to a position adjacent to the work area WA. In this example, the recovery path Rb extends to the inside of the work area WA. The empty container C recovered by the empty container recovery device B is transported to the work area WA along the recovery path Rb and used for the work in the work area WA. The empty container recovery device B is configured using, for example, a conveyor. The empty container recovery device B configured using a conveyor extends along the recovery path Rb. In this embodiment, the sorting operation (including the above-described take-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 may be performed by both the worker W and the robot.

[0030] After delivering the article G to the sorting area SA, the carrier vehicle 1 gets on the elevator 2 and heads for the traveling floor F on another floor (the traveling floor F on the second floor in this example). Then, the carrier vehicle 1 travels on the traveling floor F on the second floor, gets on another elevator 2, and returns to the traveling floor F on the floor where the above-described work area WA and sorting area SA are provided (the traveling floor F on the first floor in this example). The returned carrier vehicle 1 receives the article G in the work area WA in the same manner as described above, and conveys the article G to the sorting area SA.

[0031] FIG. 3 shows how the carrier vehicle 1 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 carrier vehicle 1 travels along the first straight path R1 and the direction in which the carrier vehicle 1 travels along the second straight path R2 are set to face opposite sides. Hereinafter, the side towards which the carrier vehicle 1 traveling along the first straight path R1 heads is referred to as "straight path first side X1", and the side towards which the carrier vehicle 1 traveling along the second straight path R2 heads is referred to as "straight path second side X2".

[0032] The first elevator 2A is configured to connect the end on the straight path first side X1 of the first straight path R1 and the end on the straight path first side X1 of the second straight path R2. The first elevator 2A is configured to raise and lower the carrier vehicle 1 between the end on the straight path first side X1 of the first straight path R1 and the end on the straight path first side X1 of the second straight path R2.

[0033] The second elevator 2B is configured to connect the end on the straight path second side X2 of the first straight path R1 and the end on the straight path second side X2 of the second straight path R2. The second elevator 2B is configured to raise and lower the carrier vehicle 1 between the end on the straight path second side X2 of the first straight path R1 and the end on the straight path second side X2 of the second straight path R2.

[0034] The first lifter 2A is arranged on the first side X1 of the straight path with respect to the second lifter 2B. The second lifter 2B is arranged on the second side X2 of the straight path with respect to the first lifter 2A. Between the straight path directions X of the first lifter 2A and the second lifter 2B, a first straight path R1 and a second straight path R2 are arranged. 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) that extends along the horizontal plane from the portion where the first lifter 2A or the second lifter 2B is connected.

[0035] Each of the first lifter 2A and the second lifter 2B includes a lift table 20 on which the carrier vehicle 1 can be placed. Each of the first lifter 2A and the second lifter 2B raises and lowers the carrier vehicle 1 over multiple floors with the carrier vehicle 1 placed on the lift table 20 provided by itself. Each of the first lifter 2A and the second lifter 2B is configured to raise and lower the lift table 20 while maintaining the posture of the lift table 20 in a posture along the horizontal plane (for example, a posture parallel to the horizontal plane). In this example, throughout the entire annular path Rc described later, the posture of the lift table 20 is maintained in a posture along the horizontal plane.

[0036] In this embodiment, each of the first lifter 2A and the second lifter 2B includes a plurality of lift tables 20. Each of the first lifter 2A and the second lifter 2B is configured to circulate the plurality of lift tables 20 along a predetermined annular path Rc.

[0037] In this embodiment, each of the first lifter 2A and the second lifter 2B is configured to move the plurality of lift tables 20 only toward one side in the direction along the annular path Rc. In other words, the direction in which each of the first lifter 2A and the second lifter 2B circulates the plurality of lift tables 20 is determined in one direction in advance.

[0038] In this embodiment, the first lifter 2A is set for lifting the carrier vehicle 1. The first lifter 2A is configured to place the carrier vehicle 1 only on the lift table 20 in the ascending path of the annular path Rc. The first lifter 2A receives the carrier vehicle 1 from the first straight path R1 in the ascending path of the annular path Rc and delivers the carrier vehicle 1 to the second straight path R2 in the ascending path.

[0039] In this embodiment, the second lifter 2B is set for lowering the carrier vehicle 1. The second lifter 2B is configured to place the carrier vehicle 1 only on the lift table 20 in the descending path of the annular path Rc. The second lifter 2B receives the carrier vehicle 1 from the second straight path R2 in the descending path of the annular path Rc and delivers the carrier vehicle 1 to the first straight path R1 in the descending path.

[0040] As described above, in this embodiment, the work area WA (article receiving area) where the carrier vehicle 1 receives the article G and the sorting area SA (article discharging area) where the carrier vehicle 1 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 carrier vehicle 1 exits from the entrance / exit 20E (specifically, the exit) of the second lifter 2B for lowering to the first-floor traveling floor F and receives the article G in the work area WA. Then, the carrier vehicle 1 travels straight along the first straight path R1 in the state of holding the article G toward the first side X1 of the straight path and discharges the article G in the sorting area SA. Further thereafter, the carrier vehicle 1 enters the first lifter 2A from the entrance / exit 20E (specifically, the entrance) of the first lifter 2A for lifting on the first-floor traveling floor F and heads toward the second-floor traveling floor F. The carrier vehicle 1 exits from the entrance / exit 20E (specifically, the exit) of the first lifter 2A for lifting 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 carrier vehicle 1 enters the second lifter 2B for lowering and heads toward the first-floor traveling floor F. In this way, the carrier vehicle 1 circulates between the first-floor traveling floor F and the second-floor traveling floor F.

[0041] In this way, in the configuration where the work area WA (article receiving area) and the sorting area SA (article discharging area) are provided on the same floor traveling floor F, the transport vehicle 1 completes the transport work of the article G on the same floor. Therefore, basically, the transport vehicle 1 does not get on the lift 2 while holding the article G. However, it does not exclude the mode in which the transport vehicle 1 gets on the lift 2 while holding the article G. For example, when the work area WA (article receiving area) and the sorting area SA (article discharging area) are provided on traveling floors F of different floors, the transport vehicle 1 may get on the lift 2 while holding the article G.

[0042] Figures 4 and 5 show the state in which the transport vehicle 1 is placed on the lift table 20. (a) is a plan view and (b) is a view in the traveling direction Dx (described later) along the traveling direction Dx. As also shown in Figure 6, the transport vehicle 1 travels along the straight path R and enters the lift 2 and is placed on the lift table 20. Hereinafter, the direction in which the transport vehicle 1 travels when passing through the entrance / exit 20E of the lift table 20 is defined as the "traveling direction Dx", and the direction orthogonal to the traveling direction Dx in the vertical direction view is defined as the "orthogonal direction Dy". In this example, the traveling direction Dx corresponds to the straight path direction X. The orthogonal direction Dy corresponds to the path width direction Y.

[0043] As shown in Figures 4 and 5, the transport vehicle 1 includes a cart body 10, a plurality of wheels 11, and a battery 12 (see Figure 3). In this embodiment, the transport vehicle 1 is configured to operate using the electric power stored in the battery 12.

[0044] In this embodiment, the transport vehicle 1 includes a support base 10a attached to the cart body 10. The support base 10a is configured to support the article G or the container C containing the article G. The support base 10a is attached to the upper end of the cart body 10.

[0045] In this embodiment, the plurality of wheels 11 include drive wheels 11a and driven wheels 11b. The drive wheels 11a and the driven wheels 11b are attached to the bottom of the cart body 10.

[0046] The drive wheels 11a are driven by a motor (not shown). In this example, a pair of drive wheels 11a are attached to the carriage body 10. Each of the pair of drive wheels 11a is driven by a separate motor and rotates independently. For example, when one of the pair of drive wheels 11a arranged spaced apart in the wheel rotation axis direction rotates in the forward rotation direction and the other rotates in the reverse rotation direction, the turning operation of the transport vehicle 1 is realized.

[0047] The driven wheels 11b are attached to the carriage body 10 in such a manner that the direction along their rotation axes can change. For example, the driven wheels 11b are configured using caster wheels. In the illustrated example, a pair of driven wheels 11b are attached to the carriage body 10.

[0048] The lifter 2 includes a lift table 20 on which the transport vehicle 1 can enter and exit each of the plurality of running floors F and on which the entered transport vehicle 1 can be placed, and a gate 24 provided at the entrance / exit 20E of the lift table 20.

[0049] In this embodiment, the lift table 20 includes a pair of side wall portions 21, a rear wall portion 22, and a bottom portion 23. The transport vehicle 1 that enters the lift table 20 is placed on the bottom portion 23 in the lift table 20. The bottom portion 23 is formed in a plate shape and has a placement surface 23f on which the transport vehicle 1 is placed.

[0050] The pair of side wall portions 21 are provided so as to extend upward from both edges in the orthogonal direction Dy in the bottom portion 23. The rear wall portion 22 is provided so as to extend upward from the edge on the side opposite to the entrance / exit 20E (the opposite side in the passing direction Dx) in the bottom portion 23.

[0051] The gate 24 includes a pair of gate pieces 240 arranged spaced apart in the orthogonal direction Dy. The pair of gate pieces 240 are supported by the lift table 20 in a state where the interval in the orthogonal direction Dy is fixed.

[0052] In this embodiment, gate pieces 240 are fixed to each of a pair of lateral wall portions 21. Each of the pair of gate pieces 240 protrudes inward in the orthogonal direction Dy from the lateral wall portion 21 to which it is fixed.

[0053] In this embodiment, the vertical arrangement positions of the pair of gate pieces 240 are within the vertical arrangement region of the carriage body 10 in a state where the carrier vehicle 1 is placed on the lift table 20. Specifically, the vertical arrangement positions of the pair of gate pieces 240 are between the support base 10a and the wheels 11 in the vertical direction in the carriage body 10. That is, the pair of gate pieces 240 are arranged above the wheels 11 and below the support base 10a. In the illustrated example, the pair of gate pieces 240 are arranged at the same height as each other. However, the pair of gate pieces 240 may be arranged at different heights from each other without being limited to such a configuration.

[0054] Let the interval in the orthogonal direction Dy between the pair of gate pieces 240 be the gate interval L24, the dimension along the traveling direction of the carrier vehicle 1 be the front-rear dimension L1 (see FIG. 5), and the dimension along the direction orthogonal to the traveling direction of the carrier vehicle 1 in a top view be the lateral dimension L2 (see FIG. 4). The front-rear dimension L1 is the dimension of the carriage body 10 and is the dimension from the front end portion to the rear end portion of the carriage body 10 with the traveling direction as a reference. The lateral dimension L2 is the dimension from the left end portion to the right end portion of the carriage body 10 with the traveling direction as a reference.

[0055] Also, let the attitude of the carrier vehicle 1 in which the traveling direction of the carrier vehicle 1 is along the passing direction Dx be the passing attitude Ax, and the attitude of the carrier vehicle 1 in which the traveling direction of the carrier vehicle 1 is along the orthogonal direction Dy be the lateral attitude Ay.

[0056] As shown in FIG. 4, the gate interval L24 is wider than the lateral width dimension L2 of the carrier 1. Thereby, when the carrier 1 enters the lift table 20 in the passing posture Ax, the carriage body 10 and the pair of gate pieces 240 can be prevented from contacting each other. Therefore, the carrier 1 can smoothly enter and exit the lift table 20 without contacting the pair of gate pieces 240 by traveling along the passing direction Dx through the entrance / exit 20E of the lift table 20.

[0057] As shown in FIG. 5, the gate interval L24 is narrower than the front-rear dimension L1 of the carrier 1. Thereby, in a state where the carrier 1 is placed on the lift table 20 in the lateral posture Ay, the pair of gate pieces 240 are arranged so as to overlap the carriage body 10 in the view of the passing direction Dx. Therefore, when the carrier 1 enters the lift table 20, the exit from the lift table 20 in the lateral posture Ay is blocked by the pair of gate pieces 240. Therefore, even when a relatively large vibration occurs in the lift table 20 during lifting and lowering, the fall of the carrier 1 from the lift table 20 can be avoided.

[0058] Here, as described above, the vertical arrangement position of the pair of gate pieces 240 is between the support base 10a and the wheels 11 in the carriage body 10 in the vertical direction. Therefore, even if the dimension of the support base 10a is larger than the dimension of the carriage body 10 (front-rear dimension L1 or lateral width dimension L2), it is possible to avoid the support base 10a from contacting the pair of gate pieces 240. Further, even when the wheels 11 are arranged so as to protrude from the carriage body 10, for example, it is possible to avoid the wheels 11 from contacting the pair of gate pieces 240. That is, the pair of gate pieces 240 can contact only the carriage body 10 in a state where the carrier 1 is in the lateral posture Ay. With such a configuration, it is possible to design the structure of the support base 10a and the arrangement position of the wheels 11 in the carrier 1 with a high degree of freedom.

[0059] In this embodiment, a first rolling restriction portion 31 for restricting the rolling of the wheels 11 of the carrier vehicle 1 in the horizontal posture Ay (see FIG. 5) is provided on the mounting surface 23f of the lifting platform 20 on which the carrier vehicle 1 is placed. In this example, the first rolling restriction portion 31 restricts the rolling of the drive wheels 11a among the plurality of wheels 11.

[0060] In this embodiment, the number of first rolling restriction portions 31 corresponding to the number of drive wheels 11a is provided. As described above, the carrier vehicle 1 includes a pair of drive wheels 11a. Therefore, in this embodiment, a pair of first rolling restriction portions 31 are provided. The pair of first rolling restriction portions 31 are arranged at positions corresponding to the positions of the pair of drive wheels 11a in a state where the carrier vehicle 1 is in the horizontal posture Ay within the lifting platform 20. The pair of first rolling restriction portions 31 have the same structure as each other.

[0061] As shown in FIG. 5(b), the first rolling restriction portion 31 includes a pair of first contact portions 31a that contact portions displaced from the lowermost point of the wheel outer shape in the circumferential direction on both sides of the wheel 11 (drive wheel 11a). The pair of first contact portions 31a are arranged to be separated from each other in the orthogonal direction Dy. Thereby, in a state where the carrier vehicle 1 is in the horizontal posture Ay, the pair of first contact portions 31a contact portions displaced from the lowermost point of the wheel outer shape in the circumferential direction on both sides of the drive wheel 11a.

[0062] In this embodiment, each of the pair of first contact portions 31a protrudes upward from the mounting surface 23f. Each of the pair of first contact portions 31a extends in the passing direction Dx. In this embodiment, the first rolling restriction portion 31 includes a first connecting portion 31b that connects the pair of first contact portions 31a. The first connecting portion 31b connects the ends in the passing direction Dx of each of the pair of first contact portions 31a. Therefore, in this example, the first rolling restriction portion 31 is formed in a roughly U shape in a top-down view. The wheels 11 of the carrier vehicle 1 in the horizontal posture Ay are fitted into such a first rolling restriction portion 31.

[0063] When a pair of first contact portions 31a contact the wheel 11, the rolling of the wheel 11 is restricted. However, when the wheel 11 is operated with a driving force applied, it is possible to roll over the pair of first contact portions 31a. That is, the pair of first contact portions 31a restricts the unintentional rolling of the wheel 11 when the carrier 1 in the lateral attitude Ay is stopped. Also, in the present embodiment, since the first connecting portion 31b is disposed at a position where it can contact the side surface of the wheel 11, the movement of the carrier 1 in the lateral attitude Ay in the passing direction Dx can also be restricted by the first rolling restriction portion 31.

[0064] FIG. 6 is an explanatory view of the case where the carrier 1 moves on the traveling floors F of different floors. Specifically, FIG. 6 shows the state where the carrier 1 is moved from the traveling floor F on the first floor to the traveling floor F on the second floor by the first lifter 2A. In FIG. 6, the structure around the first lifter 2A is shown, but the structure around the second lifter 2B is the same as this. Therefore, the illustration of the structure around the second lifter 2B is omitted.

[0065] As shown in FIG. 6, a plurality of position information holding portions In are arranged side by side along the straight-ahead path direction X in the first straight-ahead path R1 and the second straight-ahead path R2. A position information holding portion In is also provided on the mounting surface 23f on which the carrier 1 is mounted in the lift table 20 of the lifter 2. The carrier 1 travels while sequentially reading the position information holding portions In in the first straight-ahead path R1 or the second straight-ahead path R2. Then, the carrier 1 enters or exits the lifter 2 through the plurality of position information holding portions In.

[0066] In the first straight path R1 and the second straight path R2, there is no space where two or more carrier vehicles 1 can run in parallel in the path width direction Y, at least in the vicinity of the elevator 2. That is, in the first straight path R1 and the second straight path R2 near the elevator 2, there is only enough space for one carrier vehicle 1 to run. Therefore, the carrier vehicle 1 that has entered the elevator 2 to move to different running floors F needs to exit the elevator 2 in the direction opposite to the entering direction on the arrival floor. However, as described above, there is no space in the first straight path R1 and the second straight path R2 near the elevator 2 to change the direction in advance before entering the elevator 2.

[0067] Therefore, in the article conveying facility 100 according to the present disclosure, the carrier vehicle 1 is configured to turn within the elevator 2 to change the direction.

[0068] In this embodiment, the carrier vehicle 1 enters the lift table 20 in the passing posture Ax (see Fig. 6(a)). Then, after the carrier vehicle 1 enters the lift table 20 and before the lift table 20 starts the lifting operation, it turns 90° to become the lateral posture Ay (see Fig. 6(b)). The carrier vehicle 1 maintains the lateral posture Ay during the lifting operation of the lift table 20. Then, after the lifting of the lift table 20 stops and before exiting the lift table 20, the carrier vehicle 1 turns 90° from the lateral posture Ay to become the passing posture (see Fig. 6(c)). Thereby, the carrier vehicle 1 can smoothly exit the lift table 20 on the arrival floor. Also, the carrier vehicle 1 is in the lateral posture Ay during the lifting by the elevator 2. Therefore, even when a relatively large vibration occurs in the lift table 20 during lifting, the pair of gate pieces 240 contacts the carrier vehicle 1, so that the carrier vehicle 1 can be prevented from falling from the lift table 20.

[0069] By utilizing the fact that the pair of gate pieces 240 can prevent the carrier vehicle 1 from falling from the lift table 20, for example, the lift table 20 can be used as a waiting place for the carrier vehicle 1. In the present embodiment, when the carrier vehicle 1 enters the lift table 20 in a state where the remaining amount of power stored in the battery 12 (see FIG. 3) is equal to or less than a predetermined set value, it waits on the lift table 20 in a lateral posture Ay without exiting the lift table 20. That is, in this example, a part of the plurality of lift tables 20 in the lifter 2 functions as a storage unit for temporarily storing the carrier vehicle 1. In this case, for example, the control device M (see FIG. 1) designates one of the plurality of lift tables 20 in the lifter 2 for a specific carrier vehicle 1 to be stored and issues a standby command to wait on the designated lift table 20. Note that the above set value is appropriately set based on the capabilities of the carrier vehicle 1 and the like. As described above, in the present embodiment, the first rolling restriction unit 31 can restrict the rolling of the wheels 11 (drive wheels 11a) of the carrier vehicle 1 in the lateral posture Ay. Therefore, even when the carrier vehicle 1 is configured such that no braking force is applied to the wheels 11 (drive wheels 11a) when power is not supplied from the battery 12, even if the battery runs out on the lift table 20, it is easy to avoid the carrier vehicle 1 from falling from the lift table 20.

[0070] According to the article conveying facility 100 described above, it is possible to prevent the carrier vehicle 1 during lifting from falling from the lifter 2 without interfering with the smooth entry and exit of the carrier vehicle 1 to and from the lifter 2.

[0071] 〔Other Embodiments〕 Next, other embodiments of the article conveying facility will be described.

[0072] (1) In the above-described embodiment, an example has been described in which the first rolling restriction portion 31 that restricts the rolling of the wheels 11 of the carrier vehicle 1 in the lateral posture Ay is provided on the mounting surface 23f of the lift table 20 on which the carrier vehicle 1 is mounted. However, the present invention is not limited to such an example. For example, as shown in FIG. 7, a second rolling restriction portion 32 that restricts the rolling of the wheels 11 of the carrier vehicle 1 in the passing posture Ax may be provided on the mounting surface 23f of the lift table 20 on which the carrier vehicle 1 is mounted. That is, the second rolling restriction portion 32 restricts the rolling of the wheels 11 of the carrier vehicle 1 in the passing posture Ax, rather than in the lateral posture Ay. In the illustrated example, the second rolling restriction portion 32 has the same configuration as the first rolling restriction portion 31. That is, the second rolling restriction portion 32 includes a pair of second contact portions 32a that come into contact with the wheels 11 (drive wheels 11a) of the carrier vehicle 1 in the passing posture Ax, and a second connecting portion 32b that connects the pair of second contact portions 32a. The second rolling restriction portion 32 is formed in a square U shape when viewed in the vertical direction. The wheels 11 of the carrier vehicle 1 in the passing posture Ax are fitted into the second rolling restriction portion 32. With such a configuration, even when the carrier vehicle 1 is in the passing posture Ax instead of the lateral posture Ay within the lift table 20, the rolling of the wheels 11 can be restricted by the second rolling restriction portion 32. Therefore, the possibility that the carrier vehicle 1 falls from the lift table 20 due to vibration or the like of the lift table 20 can be reduced. Although detailed illustration is omitted, both the first rolling restriction portion 31 and the second rolling restriction portion 32 may be provided on the mounting surface 23f of the lift table 20 on which the carrier vehicle 1 is mounted.

[0073] (2) In the above-described embodiment, an example in which a pair of first contact portions 31a provided in the first rolling restriction portion 31 protrude upward from the mounting surface 23f has been described. However, the present invention is not limited to such an example. For example, as shown in FIG. 8, the first rolling restriction portion 31 may include a recess 310 that is recessed downward from the mounting surface 23f on which the carrier vehicle 1 in the lifting platform 20 is mounted. In this case, the drive wheels 11a of the carrier vehicle 1 are fitted into the recess 310, and the edge of the recess 310 contacts the drive wheels 11a. That is, the edge of the recess 310 corresponds to the first contact portion 31a. Even with such a configuration, the rolling of the wheels 11 of the carrier vehicle 1 can be restricted. If the wheels 11 to be fitted into the recess 310 are biased downward by a suspension or the like, the fitting of the wheels 11 into the recess 310 becomes easier. Alternatively, by providing the above-described recesses corresponding to all the wheels 11 provided in the carrier vehicle 1, the entire carrier vehicle 1 can be sunk, so that the fitting of the target wheels 11 into the recess 310 can be easily realized. The above has described a modification example of the first rolling restriction portion 31, but the same modification example can also be applied to the second rolling restriction portion 32.

[0074] (3) In the above-described embodiment, an example in which the carrier vehicle 1 turns 90° and assumes a lateral posture Ay after entering the lifting platform 20 and before the lifting platform 20 starts its lifting operation, and maintains the lateral posture Ay during the lifting operation of the lifting platform 20 has been described. However, without being limited to such an example, during the lifting operation of the lifting platform 20, the carrier vehicle 1 only needs to be in a posture such that the carriage body 10 overlaps with the pair of gate pieces 240 in the traveling direction Dx view.

[0075] (4) In the above-described embodiment, an example in which the first rolling restriction portion 31 that restricts the rolling of the wheels 11 of the carrier vehicle 1 in the lateral posture Ay is provided on the mounting surface 23f on which the carrier vehicle 1 in the lifting platform 20 is mounted has been described. However, the first rolling restriction portion 31 is not an essential configuration, and the first rolling restriction portion 31 may not be provided on the mounting surface 23f.

[0076] (5) In the above-described embodiment, an example in which the position information holding unit In is also provided on the mounting surface 23f of the lift truck 1 on the lift table 20 of the lifter 2 has been described. However, the position information holding unit In may not be provided on the mounting surface 23f.

[0077] (6) In the above-described embodiment, an example in which each of the first lifter 2A and the second lifter 2B is configured to circulate a plurality of lift tables 20 along a predetermined annular path Rc has been described. However, without being limited to such an example, at least one of the first lifter 2A and the second lifter 2B may be configured to reciprocate the single or plural lift tables 20 by a single lifting path.

[0078] (7) Note that the configurations disclosed in the above-described embodiments can 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 illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the gist of the present disclosure.

[0079] 〔Outline of the above embodiment〕 Hereinafter, the article conveying facility described above will be described.

[0080] An article conveying facility including a plurality of running floors arranged in the vertical direction and a lift truck running on the running floors, comprising a lifter for raising and lowering the lift truck across the plurality of running floors, the lifter includes a lift table on which the lift truck can enter and exit each of the plurality of running floors and can place the entered lift truck, and a gate provided at the entrance and exit of the lift table, when the lift truck passes through the entrance and exit, the running direction is defined as the passing direction, and the direction orthogonal to the passing direction in the vertical view is defined as the orthogonal direction, the gate includes a pair of gate pieces arranged apart from each other in the orthogonal direction, The pair of gate pieces are supported by the lift platform with the interval in the orthogonal direction fixed. The transport vehicle is configured to perform a straight-ahead running and a turning operation of turning around the vertical axis on the spot to change the direction. Taking the interval in the orthogonal direction between the pair of gate pieces as the gate interval, the dimension along the running direction of the transport vehicle as the front-rear dimension, and the dimension along the direction orthogonal to the running direction of the transport vehicle in a top-bottom view as the lateral dimension, the gate interval is narrower than the front-rear dimension and wider than the lateral dimension.

[0081] According to this configuration, the interval in the orthogonal direction (gate interval) between the pair of gate pieces is wider than the lateral dimension of the transport vehicle. Therefore, the transport vehicle can smoothly enter and exit the lift platform without contacting the pair of gate pieces by running along the passing direction at the entrance and exit of the lift platform. Also, according to this configuration, the interval in the orthogonal direction (gate interval) between the pair of gate pieces is narrower than the front-rear dimension of the transport vehicle. Therefore, when the transport vehicle enters the lift platform, for example, when the front and rear of the transport vehicle are in a posture along the orthogonal direction, the exit from the lift platform in that posture is blocked by the pair of gate pieces. Therefore, even when a relatively large vibration occurs in the lift platform during lifting and lowering, the fall of the transport vehicle from the lift platform can be avoided. As described above, according to this configuration, it is possible to avoid the transport vehicle falling from the lift during lifting and lowering without hindering the smooth entry and exit of the transport vehicle to and from the lift.

[0082] Taking the posture of the transport vehicle in which the running direction is along the passing direction as the passing posture, and the posture of the transport vehicle in which the running direction is along the orthogonal direction as the lateral posture, the transport vehicle turns 90° after entering the lift platform and before the lift platform starts the lifting and lowering operation to become the lateral posture. maintains the lateral posture during the lifting and lowering operation of the lift platform. It is preferable that the transport vehicle turns 90° from the lateral posture after the lifting and lowering of the lift platform stops and before exiting the lift platform to become the passing posture.

[0083] According to this configuration, when the lifting platform is in a lateral posture during the lifting and lowering operation, even if a relatively large vibration occurs in the lifting platform, the pair of gate pieces can prevent the carrier vehicle from falling from the lifting platform by contacting the carrier vehicle. Further, when the carrier vehicle exits from the lifting platform, it can smoothly exit from the lifting platform without contacting the pair of gate pieces by assuming a passing posture.

[0084] The carrier vehicle is configured to operate using the electric power stored in the battery. It is preferable that when the carrier vehicle enters the lifting platform in a state where the remaining amount of the electric power stored in the battery is equal to or less than a predetermined set value, the carrier vehicle waits on the lifting platform in the lateral posture without exiting from the lifting platform.

[0085] According to this configuration, when the remaining amount of the electric power stored in the battery decreases, the lifting platform can be used as a waiting place for the carrier vehicle. And since the carrier vehicle assumes a lateral posture during waiting on the lifting platform, it is possible to avoid the carrier vehicle falling from the lifting platform during waiting.

[0086] It is preferable that a first rolling restriction portion for restricting the rolling of the wheels of the carrier vehicle in the lateral posture is provided on the mounting surface of the lifting platform on which the carrier vehicle is mounted.

[0087] According to this configuration, when the carrier vehicle is in a lateral posture on the lifting platform, the rolling of the wheels of the carrier vehicle can be restricted by the first rolling restriction portion. Therefore, even when vibration occurs in the lifting platform during lifting and lowering, it is easy to prevent the carrier vehicle from moving, and as a result, it is easier to further avoid the carrier vehicle falling from the lifting platform.

[0088] It is preferable that a second rolling restriction portion for restricting the rolling of the wheels of the carrier vehicle in the passing posture is provided on the mounting surface of the lifting platform on which the carrier vehicle is mounted.

[0089] According to this configuration, in a state where the carrier vehicle is in a passing posture on the lift table, the rolling of the wheels of the carrier vehicle can be restricted by the second rolling restriction unit. Therefore, even if vibration occurs in the lift table in a state where the carrier vehicle is in a passing posture during the lifting operation of the lift table, it is easy to prevent the carrier vehicle from moving. As a result, it is easy to avoid the carrier vehicle from falling off the lift table.

[0090] The carrier vehicle is configured to travel on the traveling floor while reading the position information held by a plurality of position information holding units provided on the traveling floor, and to perform the turning operation at a position corresponding to the position information holding unit. It is preferable that the position information holding unit is also provided on the mounting surface of the lift table of the lifter on which the carrier vehicle is mounted.

[0091] According to this configuration, the turning position of the carrier vehicle on the lift table can be set based on the arrangement position of the position information holding unit. Therefore, when the carrier vehicle performs a turning operation on the lift table, it is easy to prevent interference with a pair of gate pieces or other members.

Industrial Applicability

[0092] 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 floors.

Explanation of Reference Numerals

[0093] 100: Article conveying facility 1: Carrier vehicle 11: Wheels 12: Battery 2: Lifter 20: Lift table 20E: Entrance / exit 23f: Mounting surface 24: Gate 240: Gate piece 31: First rolling restriction unit 32: Second rolling restriction unit F: Traveling floor In: Position information holding unit G: Article Ax: Passing posture Ay: Lateral posture Dx: Passing direction Dy: Orthogonal direction L1: Front - rear dimension L2: Width dimension L24: Gate interval

Claims

1. An article conveying facility comprising a plurality of running floors arranged vertically, and a carrier for running on the running floors, comprising a lifter for raising and lowering the carrier across the plurality of running floors, the lifter comprising a lift platform on which the carrier can enter and exit each of the plurality of running floors and can be placed when entered, and a gate provided at an entrance and exit of the lift platform, with the direction in which the carrier travels when passing through the entrance and exit being defined as the passing direction, and the direction orthogonal to the passing direction in a top-down view being defined as the orthogonal direction, the gate comprising a pair of gate pieces arranged spaced apart in the orthogonal direction, the pair of gate pieces being supported by the lift platform with the interval in the orthogonal direction fixed, the carrier being configured to perform straight running and to perform a turning operation of turning about a vertical axis on the spot to change direction, with the interval in the orthogonal direction between the pair of gate pieces being defined as the gate interval, the dimension along the running direction of the carrier being defined as the front-rear dimension, and the dimension along the direction orthogonal to the running direction of the carrier in a top-down view being defined as the lateral dimension, the gate interval being narrower than the front-rear dimension and wider than the lateral dimension, an article conveying facility.

2. With the attitude of the carrier in which the running direction is along the passing direction being defined as the passing attitude, and the attitude of the carrier in which the running direction is along the orthogonal direction being defined as the lateral attitude, the carrier turns 90° after entering the lift platform and before the lift platform starts its lifting and lowering operation to assume the lateral attitude, maintains the lateral attitude during the lifting and lowering operation of the lift platform, turns 90° from the lateral attitude after the lifting and lowering of the lift platform stops and before exiting the lift platform to assume the passing attitude, the article conveying facility according to Claim 1.

3. The carrier is configured to operate using electric power stored in a battery, when the carrier enters the lift platform in a state where the remaining amount of the electric power stored in the battery is equal to or less than a predetermined set value, the carrier waits on the lift platform in the lateral attitude without exiting the lift platform, the article conveying facility according to Claim 2.

4. A first rolling regulation part for regulating the rolling of the wheels of the carrier in the lateral attitude is provided on the placement surface of the lift platform on which the carrier is placed, the article conveying facility according to Claim 2.

5. The article conveyance facility according to claim 2, wherein a second rolling restriction portion for restricting rolling of wheels of the carrier in the passing posture is provided on a mounting surface of the lifting platform on which the carrier is mounted.

6. The carrier is configured to travel on the traveling floor while reading position information held by a plurality of position information holding portions provided on the traveling floor, and to perform the turning operation at a position corresponding to the position information holding portion. The article conveyance facility according to any one of claims 1 to 5, wherein the position information holding portion is also provided on a mounting surface of the lifting platform of the lifter on which the carrier is mounted.

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