Transport vehicle

Abstract

To realize a carrier that does not easily topple due to shaking of an earthquake, or the like.SOLUTION: A toppling prevention device 13 includes: a shaking occurrence information acquisition part Cb that acquires shaking occurrence information indicating that shaking of a traveling surface where a traveling body 1 travels is equal to or greater than a predetermined reference value; a support arm 14 supported by the traveling body 1; and an arm drive device 15 configured to drive the support arm 14. The support arm 14 is configured to be able to be changeable between a protruding state where the support arm protrudes outward from the traveling body 1 in a vehicle width direction W to be grounded on a travel surface outside the traveling body 1 in the vehicle width direction W and a retracted state where the support arm is retracted within a width dimension Sw of traveling body 1. When the shaking occurrence information acquisition part Cb acquires the shaking occurrence information, the arm drive device 15 executes an arm protrusion operation that changes the support arm 14 from the retreated state to the protruding state.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to a transport vehicle for transporting articles. [Background technology]

[0002] In recent years, earthquake countermeasures have been implemented in various fields, including automated warehouses that automatically store, keep, and transport goods.

[0003] As one of the earthquake countermeasures, for example, in an automated warehouse disclosed in Japanese Patent No. 6313087 (Patent Document 1), when earthquake information is received, the platform (28) of the stacker crane (10) is moved to a retracted position set at the top of the rack (4). In this way, the automated warehouse disclosed in Patent Document 1 prevents the platform (28) from being damaged by cargo (W) falling from the rack (4) when an earthquake occurs. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6313087 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-described stacker crane (10), the lower carriage (26) and the upper carriage (32) are guided by rails (12, 36), respectively, so that the stacker crane (10) is unlikely to tip over due to earthquake tremors, etc. However, even in the case of a transport vehicle that transports articles in a transport facility that does not have rails to guide the upper part, if the vertical dimension of the transport vehicle is large, the transport vehicle may tip over due to earthquake tremors, etc.

[0006] Therefore, it is desirable to develop a transport vehicle that is less likely to tip over even when subjected to earthquake shaking or the like. [Means for solving the problem]

[0007] A transport vehicle for transporting items, a traveling body that travels along a travel path; a transfer device that transfers the article; a tip-over prevention device for preventing tip-over; Equipped with The transfer device is a mast fixed to the traveling body and arranged along the vertical direction; a lifting body that moves up and down along the mast; a transfer machine supported on the lifting body; Equipped with The direction in which the running body travels is defined as the vehicle body longitudinal direction, the direction perpendicular to the vehicle body longitudinal direction when viewed in the up-down direction is defined as the vehicle body width direction, the dimension of the running body in the vehicle body longitudinal direction is defined as the length dimension, the dimension of the running body in the vehicle body width direction is defined as the width dimension, and the height from the bottom end of the running body to the top end of the mast is defined as the height dimension, the length dimension and the height dimension are greater than the width dimension, The fall prevention device is a vibration generation information acquisition unit that acquires vibration generation information indicating that vibration of a running surface on which the running object runs is equal to or greater than a predetermined reference value; a support arm supported on the traveling body; an arm driving device that drives the support arm; Equipped with the support arm is configured to be changeable between a protruding state in which it protrudes outward from the running body in the vehicle body width direction and contacts the running surface outside the running body in the vehicle body width direction, and a stored state in which it is accommodated inside the width dimension of the running body, When the vibration generation information acquisition unit acquires the vibration generation information, the arm driving device executes an arm extension operation to change the support arm from the housed state to the extended state.

[0008] If the length and height of a transport vehicle are greater than its width, the transport vehicle is likely to tilt significantly in the width direction or tip over when vibrations occur on the running surface due to an earthquake or other factors. However, with this configuration, when vibration occurrence information is acquired, the support arms can be extended and placed on the traveling surface outside the traveling body. Therefore, even if vibration occurs on the traveling surface, the transport vehicle can be prevented from tilting significantly in the vehicle width direction, and ultimately from tipping over. In other words, with this configuration, a transport vehicle that is less likely to tip over even due to shaking caused by an earthquake or the like can be realized.

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

[0010] [Figure 1] Plan view of a transport facility equipped with transport vehicles [Figure 2] A plan view showing each area in which the moving body moves. [Figure 3] Front view of container shelf [Figure 4] View of the transport vehicle from the width direction [Figure 5] An explanatory diagram showing the structure of the running body [Figure 6] An explanatory diagram showing the structure of the running body [Figure 7] FIG. 10 is a plan view showing the first and second positions of the transfer device; [Figure 8] FIG. 10 is an explanatory diagram showing the scooping operation of the container relative to the shelf portion. [Figure 9] An explanatory diagram of the case where the scooping and unloading of containers are performed in parallel in a stacked area. [Figure 10] 10A and 10B are plan views showing the support arm in the extended state and the retracted state; [Figure 11] An explanatory diagram showing the structure in which a tilted transport vehicle is supported by a container shelf [Figure 12] An explanatory diagram showing the operation of the lifting body under low center of gravity control. [Figure 13]FIG. 10 is an explanatory diagram showing the timing for starting the low center of gravity control; [Figure 14] 10 is a flowchart showing a processing procedure when performing a center-of-gravity lowering control. [Figure 15] FIG. 10 is an explanatory diagram showing the structure of a traveling body according to another embodiment; [Figure 16] FIG. 10 is an explanatory diagram showing the structure of a tip-over prevention device according to another embodiment; [Figure 17] FIG. 10 is an explanatory diagram showing the structure of a tip-over prevention device according to another embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0011] The transport vehicle is configured to transport items. An embodiment of the transport vehicle will be described below, taking as an example a case where the transport vehicle is provided in a transport facility that transports containers. In this embodiment, the transport vehicle transports containers by traveling along the front of a container shelf that stores the containers. That is, in this embodiment, the containers correspond to "items," and the container shelves that store the containers correspond to "storage shelves."

[0012] 1, the transport facility F includes a container shelf 8 for storing containers 70 (see FIG. 3), a loading / unloading section 9 for loading and unloading the containers 70, and a host controller H for managing the entire facility. A transport vehicle 100 transports the containers 70 that have been loaded by the loading / unloading section 9 to the container shelf 8, or transports the containers 70 stored on the container shelf 8 to the loading / unloading section 9 for unloading.

[0013] In this embodiment, multiple container shelves 8 are arranged parallel to one another at a specified interval. Each of the multiple container shelves 8 has at least an open front surface, through which containers 70 are loaded and unloaded. A portion of the travel path R of the traveling body 1 (transport vehicle 100) is set between a pair of adjacent container shelves 8 whose front surfaces face each other. In other words, adjacent pairs of container shelves 8 are arranged parallel to one another at an interval, and a portion of the travel path R is set to pass between the pair of container shelves 8. Furthermore, the container shelf 8 located at the extreme end of the multiple container shelves 8 provided in the transport equipment F is arranged with its front surface facing outward, and a portion of the travel path R is also set in an area along the front surface of the end container shelf 8. Furthermore, the transport equipment F is provided with multiple loading / unloading sections 9, and a portion of the travel path R is also set in an area passing through each of the multiple loading / unloading sections 9.

[0014] The travel path R includes an intra-shelf path Ra extending between a pair of container shelves 8 along the front faces of the container shelves 8 in the extension direction of the container shelves 8; an edge path Rc extending along the front face of the container shelf 8 arranged at the farthest end of the multiple container shelves 8 in the extension direction of the container shelf 8; and an extra-shelf path Rb set outside the arrangement area of the container shelves 8. The intra-shelf path Ra is set corresponding to each of the multiple container shelves 8. In this embodiment, a portion of the travel path R set in the area between a pair of adjacent container shelves 8 whose front faces face each other corresponds to the intra-shelf path Ra. Furthermore, a portion of the travel path R set in the area along the front face of a container shelf 8 arranged with its front face facing outward corresponds to the edge path Rc. Furthermore, the extra-shelf path Rb is set to connect the multiple intra-shelf paths Ra. Furthermore, the extra-shelf path Rb is also set to pass through each of the multiple loading / unloading sections 9. In this embodiment, the portion of the travel path R other than the intra-shelf path Ra and the edge path Rc corresponds to the extra-shelf path Rb.

[0015] As shown in Fig. 2, the conveying equipment F has an inter-shelf area IA, an end area EA, and an outer area OA where the traveling body 1 travels. In this embodiment, the conveying equipment F also has a direction change area DA. In this embodiment, the end area EA and the outer area OA correspond to the "outer area."

[0016] The inter-shelf area IA is an area set between a pair of container shelves 8 along the front of each container shelf 8. The entire inter-shelf area IA faces the front of the container shelf 8 corresponding to that inter-shelf area IA. In other words, the inter-shelf area IA extends in the extension direction of the container shelf 8 along the front of the container shelf 8 corresponding to that inter-shelf area IA. The dimension of the inter-shelf area IA in the extension direction is equal to the dimension of the container shelf 8 in the extension direction.

[0017] The inter-shelf area IA is an area through which the intra-shelf path Ra (see FIG. 1) passes, and is an area where the traveling body 1 traveling on the intra-shelf path Ra faces the front of the container shelf 8.

[0018] The end area EA is an area set along the front of the container shelf 8 that is located at the end of the multiple container shelves 8. The entire end area EA faces the front of the container shelf 8 that corresponds to that end area EA. In other words, the end area EA extends along the front of the container shelf 8 that corresponds to that end area EA in the extension direction of that container shelf 8. The dimension of the end area EA in the extension direction is equal to the dimension of the container shelf 8 in the extension direction.

[0019] The end area EA is an area through which the end path Rc (see FIG. 1) passes, and is an area where the traveling body 1 traveling on the end path Rc faces the front of the container shelf 8.

[0020] The external area OA is an area other than the inter-shelf area IA and the end area EA within the conveying equipment F. The external area OA is an area through which the off-shelf path Rb passes. In this embodiment, direction change areas DA are set at multiple locations in the external area OA. The direction change areas DA are areas where the traveling body 1 changes its direction of travel. Some of the multiple direction change areas DA are set at locations where multiple traveling paths R (off-shelf paths Rb) intersect. As will be described in detail later, the traveling body 1 in this embodiment changes its direction of travel in the direction change area DA by rotating on the spot around an axis along the vertical direction.

[0021] [Container shelf] 3, the container shelf 8 has multiple vertically arranged shelf sections 80 for storing containers 70. In this embodiment, the container shelf 8 has multiple beam members 82 extending horizontally along the front surface of the container shelf 8, and multiple support members 81 extending vertically and connected to each of the multiple beam members 82. In other words, the container shelf 8 is configured with a support frame that combines multiple support members 81 and multiple beam members 82.

[0022] The beam members 82 are arranged spaced apart from one another in the vertical direction. A mounting member 83 for placing a container 70 is connected to each of the beam members 82. In this example, the container 70 is stored in the shelf section 80 by being placed on the pair of mounting members 83. In addition, multiple pairs of mounting members 83 are arranged on the shelf section 80, so that one shelf section 80 can store multiple containers 70. In this example, the area between a pair of support members 81 adjacent in the width direction (left-right direction) when viewed from the front as shown in FIG. 3 and between a pair of beam members 82 adjacent in the vertical direction corresponds to the opening of the container shelf 8.

[0023] In this embodiment, a target portion 82T serving as a target for storing the container 70 at a reference position 80P for storing the container 70 on the shelf portion 80 is provided. In this example, the target portion 82T is provided on the beam member 82. One target portion 82T is provided for each pair of mounting members 83. In the example shown, the target portion 82T is configured by a hole formed in the beam member 82.

[0024] 〔container〕 The container 70 is an object to be transported by the transport vehicle 100. Although detailed illustration is omitted, the container 70 is formed in a box shape with an opening that opens upward. In this example, the outer shape of the container when viewed from above is rectangular. The container 70 is capable of containing a specified amount of objects. The objects to be contained include, for example, various commodities such as food and household goods, or parts and work-in-progress used in factory production lines, etc.

[0025] In this embodiment, the container 70 is configured so that it can be stacked on another container 70 while containing an object therein. That is, the containers 70 are configured so that they can be stacked vertically (see FIG. 4). In this example, the bottom of the container 70 fits into the opening of the other container 70 from above, thereby stacking the two containers 70 vertically.

[0026] [Transport vehicle] 4, the transport vehicle 100 includes a traveling body 1 that travels along a specified travel route R, a transfer device 4 that transfers containers 70, an anti-tip device 13 that prevents the transport vehicle 100 from tipping over, and a control unit C that controls the transfer device 4 and the anti-tip device 13. In this embodiment, the transport vehicle 100 includes a container group support unit 2 that supports multiple containers 70 as a stacked container group 7 within a specified stacking area 2A, and a lifting device 3 that lifts the containers 70 of the container group 7 supported by the container group support unit 2. The control unit C controls the transfer device 4 and the anti-tip device 13, as well as the traveling body 1, the container group support unit 2, and the lifting device 3.

[0027] The container group support unit 2, lifting device 3, transfer device 4, and tip-over prevention device 13 are mounted on a running body 1. If the direction in which the running body 1 travels is defined as the "vehicle body longitudinal direction L," the container group support unit 2 and transfer device 4 are arranged side by side in the vehicle body longitudinal direction L on the running body 1. Note that, hereinafter, the direction perpendicular to the vehicle body longitudinal direction L when viewed from the up-down direction is defined as the "vehicle body width direction W."

[0028] Also, as shown in Figures 4 and 6, when the dimension of the running body 1 in the fore-and-aft direction L of the vehicle body is defined as the length dimension Sl, the dimension of the running body 1 in the width direction W of the vehicle body is defined as the width dimension Sw, and the height dimension Sh is defined as the height from the lower end of the running body 1 to the upper ends of a pair of transfer masts 40 (first masts) described later, the length dimension Sl and height dimension Sh are larger than the width dimension Sw.

[0029] The control unit C controls each functional unit of the transport vehicle 100. In this example, the control unit C controls the traveling body 1, the container group support unit 2, the lifting device 3, the transfer device 4, the tip-over prevention device 13, and the swivel device 5, which will be described later. The operation for transporting and transferring the container 70 is realized by the control of each functional unit by the control unit C. The control unit C includes, for example, a processor such as a microcomputer, peripheral circuits such as a memory, etc. Then, each function is realized by cooperation between this hardware and a program executed on a processor of a computer or the like.

[0030] [Traveling vehicle] The traveling body 1 is configured to travel along a specified traveling path R (see FIG. 1) and is configured to be able to travel in the inter-shelf area IA, the end area EA, and the outer area OA (see FIG. 2). In this embodiment, the traveling body 1 is configured to travel along the intra-shelf path Ra, the end path Rc, and the outer-shelf path Rb. The traveling body 1 is located in the inter-shelf area IA when traveling or stopped along the intra-shelf path Ra, is located in the end area EA when traveling or stopped along the end path Rc, and is located in the outer area OA when traveling or stopped along the outer-shelf path Rb. When the traveling body 1 is at the boundary between the inter-shelf area IA or the end area EA and the outer area OA, a part of the traveling body 1 is located in the inter-shelf area IA or the end area EA, and another part of the traveling body 1 is located in the outer area OA. In this embodiment, the traveling body 1 is configured to travel on the floor surface.

[0031] The running body 1 includes a running main body 10, a plurality of running wheels 11 connected to the running main body 10, and a wheel drive source 11M that drives at least one of the plurality of running wheels 11. The wheel drive source 11M includes a motor (not shown). The wheel drive source 11M drives the running wheels 11, thereby imparting a propulsive force to the running body 1.

[0032] In this embodiment, the multiple running wheels 11 include drive wheels 11a and driven wheels 11b. The drive wheels 11a are driven by a wheel drive source 11M. The driven wheels 11b rotate as the running main body 10 moves or changes its posture. That is, the running body 1 includes the drive wheels 11a, the wheel drive source 11M that drives the drive wheels 11a to rotate, and the driven wheels 11b.

[0033] 5 and 6, in this embodiment, a pair of drive wheels 11a are arranged spaced apart in the vehicle width direction W in a central region 10Am of the traveling main body 10 in the vehicle front-rear direction L. The central region 10Am is an area that is arranged in the center of the vehicle front-rear direction L among areas formed by dividing the dimension (length dimension) of the traveling main body 10 in the vehicle front-rear direction L into three equal parts. In this example, a pair of wheel drive sources 11M are arranged in the central region 10Am of the traveling main body 10.

[0034] In this embodiment, each of the pair of drive wheels 11a is rotatably supported on the traveling body 10 so that its rotation axis is aligned with the vehicle width direction W. That is, in this example, two drive wheels 11a are supported on the traveling body 10. Each rotation axis of the pair of drive wheels 11a is supported on the traveling body 10 via a suspension mechanism 12 in a state where it has elasticity in the vertical direction. That is, the position of the rotation axis of the pair of drive wheels 11a can fluctuate in the vertical direction. The pair of drive wheels 11a are each driven by a separate wheel drive source 11M.

[0035] A driven wheel 11b is provided on each side of the pair of drive wheels 11a in the vehicle body longitudinal direction L. That is, in this example, four driven wheels 11b are supported by the traveling body 10. Each driven wheel 11b is supported by the traveling body 10 so as to be rotatable around an axis along the vertical direction. That is, the direction along which the rotation axis of the driven wheel 11b runs can be changed within a horizontal plane. The rotation axis of each driven wheel 11b is supported with its relative position in the vertical direction fixed with respect to the traveling body 10. In this example, each driven wheel 11b is configured as a caster.

[0036] That is, in this embodiment, the length dimension Sl is the length dimension of the traveling main body 10 in the front-rear direction of the vehicle body (see FIG. 4), and the width dimension Sw is the dimension of the traveling main body 10 in the width direction of the vehicle body (see FIG. 6).

[0037] With the above-described configuration, the running object 1 can rotate around an axis that runs vertically on the spot. Specifically, the pair of drive wheels 11a are driven to rotate in opposite directions, causing the running object 1 to rotate around an axis that runs vertically on the spot. This allows the running object 1 to change its direction of travel within a relatively narrow area. In this embodiment, the running object 1 is configured to change its direction of travel within a direction change area DA (see FIG. 2). Note that the direction of travel of the running object 1 can be changed by stopping the rotation of one of the pair of drive wheels 11a and rotating the other, or by rotating the pair of drive wheels 11a in the same direction but at different rotational speeds.

[0038] [Container group support part] As shown in FIG. 4, the container group support section 2 is mounted on a traveling body 1. The container group support section 2 is configured to be able to support a plurality of containers 70 as a stacked container group 7. A stacking area 2A in which the container group 7 is arranged is defined above the container group support section 2. The stacking area 2A is a three-dimensional virtual area extending upward from the container group support section 2. In this example, the container group support section 2 is configured as a conveyor that can move the container group 7 while the container group 7 is placed thereon. In this example, the container group support section 2 is capable of moving the container group 7 along the vehicle width direction W. The conveyor that constitutes the container group support section 2 may be a well-known conveyor such as a roller conveyor, chain conveyor, or belt conveyor.

[0039] A container group 7, in which multiple containers 70 are stacked, is carried into the carry-in / out section 9 (see FIGS. 1 and 2). With the traveling body 1 adjacent to the carry-in / out section 9, the container group support section 2 receives the container group 7 from the carry-in / out section 9 or delivers the container group 7 to the carry-in / out section 9. In other words, the container group support section 2 is configured to deliver the container group 7 to and from the carry-in / out section 9. Although detailed illustration is omitted, in this example, the carry-in / out section 9 is adjacent to a picking area where items, such as commodities, are removed from the containers 70. When the container group 7 is delivered from the container group support section 2 to the carry-in / out section 9, the items are removed from the containers 70 in a picking area adjacent to the carry-in / out section 9. After some or all of the items contained in the containers 70 have been removed, the containers 70 are delivered from the carry-in / out section 9 to the container group support section 2 (transport vehicle 100) and transported again to the container shelf 8. However, the loading / unloading section 9 does not have to be adjacent to the picking area, and may be adjacent to other equipment or a work area. Also, for example, the loading / unloading section 9 may be configured to transport the container group 7 delivered from the container group support section 2 to the outside of the transport equipment F.

[0040] [Lifting device] The lifting device 3 is mounted on the traveling body 1. The lifting device 3 is configured to lift the containers 70 of the container group 7 supported by the container group support portion 2, in other words, the containers 70 of the container group 7 arranged in the stacking area 2A.

[0041] The lifting device 3 includes a lifting mast 30 erected above the running body 1, a lifting body 30B connected to the lifting mast 30, and a lifting body drive unit 30M that raises and lowers the lifting body 30B along the lifting mast 30. Although detailed illustration is omitted, the lifting body drive unit 30M includes, for example, an endless body such as a belt connected to the lifting body 30B, a rotating body around which the endless body is wound, and a motor that rotates and drives the rotating body.

[0042] Here, the lifting mast 30 is a mast that is not involved in the transfer of the container 70. In other words, the lifting mast 30 is a mast that is not provided with a transfer means such as the transfer machine B described below. To distinguish it from the transfer mast 40 described below, the transfer mast 40 is referred to as the "first mast," and the mast that is not involved in the transfer of the container 70 (the lifting mast 30 in this example) can be referred to as the "second mast." That is, in this example, the first mast and the second mast are fixed to the traveling body 1, and the first mast and the second mast are arranged spaced apart in the fore-and-aft direction L of the vehicle body.

[0043] The lifting device 3 includes a first lifting mechanism 31 that lifts a container 70 of any height among the group of containers 7 stacked in the stacking area 2A relative to the adjacent container 70 below that container 70, and a second lifting mechanism 32 that lifts a container 70 below the container 70 lifted by the first lifting mechanism 31 relative to the adjacent container 70 below that container 70. In this embodiment, the first lifting mechanism 31 and the second lifting mechanism 32 are arranged spaced apart in the vertical direction. This makes it possible to form a vertical space between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32, as shown in FIG. 9, for example. Furthermore, it is possible to form a vertical space below the container 70 lifted by the second lifting mechanism 32.

[0044] When a space is formed vertically between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32, it is possible to unload another container 70 into that space. That is, it is possible to stack another container 70 on top of the container 70 lifted by the second lifting mechanism 32 by the transfer device 4. Figure 9 shows an example of a case where a container 70 (a container marked with the letter "α" in Figure 9) held by the transfer device 4 is unloaded into the space formed vertically between the container 70 lifted by the first lifting mechanism 31 (a container marked with the number "5" in Figure 9) and the container 70 lifted by the second lifting mechanism 32 (a container marked with the number "4" in Figure 9).

[0045] Furthermore, when a vertical space is formed below the container 70 lifted by the second lifting mechanism 32, the space can be used to scoop up a container 70 positioned below the container 70 lifted by the second lifting mechanism 32. Figure 9 shows an example of scooping up a container 70 (the container marked with the number "3" in Figure 9) positioned below the container 70 (the container marked with the number "4" in Figure 9) lifted by the second lifting mechanism 32. The operations of unloading and scooping the container 70 from the stacking area 2A will be described later.

[0046] [Transfer device] As shown in FIG. 4, the transfer device 4 is mounted on the traveling body 1. The transfer device 4 is configured to transfer a container 70 to a transfer target location T. The transfer device 4 is configured to perform a unloading operation to transfer the container 70 to the transfer target location T, and a scooping operation to transfer the container 70 from the transfer target location T. In this specification, the transfer of the container 70 from the transfer target location T to the transfer device 4 is referred to as "scooping," and "scooping" is not limited to a specific transfer operation. In this embodiment, the transfer target location T includes the stacking area 2A and the shelf portion 80 of the container shelf 8.

[0047] Here, the movement direction of the container 70 transferred by the transfer device 4 is referred to as the "transfer direction X." One side in the transfer direction X is referred to as the "transfer direction unloading side X1," and the other side is referred to as the "transfer direction scooping side X2." In this example, the transfer direction X is a direction along the horizontal direction. The transfer direction unloading side X1 is the side along which the container 70 moves in the transfer direction X when unloading the container 70. The transfer direction scooping side X2 is the side along which the container 70 moves in the transfer direction X when scooping the container 70.

[0048] In this embodiment, the transport vehicle 100 is equipped with a turning device 5 that turns the transfer device 4 about an axis that runs along the vertical direction. As shown in Fig. 7, the turning device 5 is configured to turn the transfer device 4 about an axis that runs along the vertical direction, and change the orientation of the transfer device 4 between a first position P1 in which the unloading side X1 in the transfer direction faces the stacking area 2A, and a second position P2 in which the unloading side X1 in the transfer direction faces the container shelf 8. In this way, in this embodiment, the transfer direction X can be changed within a horizontal plane by the turning device 5.

[0049] In this embodiment, the transfer device 4 changes its posture depending on the position of the transfer target location T. Specifically, the transfer device 4 takes a first posture P1 when the transfer target location T is the stacking area 2A, and takes a second posture P2 when the transfer target location T is a container shelf 8 (shelf section 80). As shown in FIG. 4, in this example, the swivel device 5 includes a swivel base 50 that supports the transfer device 4, a swivel shaft 51 that rotatably supports the swivel base 50 with respect to the transfer lifting body 40B, and a swivel drive unit (not shown) that drives the swivel shaft 51.

[0050] As shown in FIG. 4, the transfer device 4 includes a transfer mast 40 fixed to the traveling body 1 and arranged along the vertical direction, a transfer lift 40B that moves up and down along the transfer mast 40, a holding unit A connected to the transfer lift 40B and holding a container 70, and a transfer machine B that transfers the container 70. The transfer device 4 also includes a transfer lift drive unit 40M that moves the transfer lift 40B up and down along the transfer mast 40. This allows the transfer device 4 to move the holding unit A and the transfer machine B in the vertical direction, thereby transferring the container 70 to each of the multiple shelf units 80 (see FIG. 3). In this example, the control unit C that controls the transfer device 4 is configured to perform elevation control to raise and lower the transfer lift 40B to transfer the container 70 to the container shelf 8 when the traveling body 1 is in the inter-shelf area IA or the end area EA (see FIG. 2). In this embodiment, the transfer mast 40 corresponds to the "mast", and the transfer lift 40B corresponds to the "lift".

[0051] In this embodiment, a pair of transfer masts 40 are fixed to the traveling body 1 at a distance in the vehicle width direction W (see also FIG. 11). The transfer lifting body 40B is supported so as to be able to move up and down relative to the pair of transfer masts 40. As mentioned above, the transfer masts 40 can be referred to as the "first mast." The masts other than the transfer masts 40 (in this example, the lifting masts 30 provided in the lifting device 3) can be referred to as the "second mast."

[0052] That is, in this embodiment, the height dimension is the height from the running surface on which the running body 1 runs to the top end of the transfer mast 40 (see FIG. 4).

[0053] The holding part A is connected to the transfer lift body 40B and is configured to be able to hold a container 70. In this embodiment, the holding part A includes a first holding part 41A and a second holding part 42A that is disposed below the first holding part 41A. The first holding part 41A and the second holding part 42A are each configured to be able to hold a container 70 independently.

[0054] In this embodiment, the transfer device 4 includes a holding connector 43 that connects the first holding part 41A and the second holding part 42A in the vertical direction. The holding connector 43 connects the first holding part 41A and the second holding part 42A so that the distance between them in the vertical direction is constant.

[0055] The transfer machine B is configured to be able to transfer the container 70 to both the shelf section 80 and the stacking area 2A. When the shelf section 80 is the transfer target location T, the transfer machine B transfers the container 70 between the holding section A and the shelf section 80. When the stacking area 2A is the transfer target location T, the transfer machine B transfers the container 70 between the holding section A and the stacking area 2A. In this example, the transfer machine B transfers the container 70 to the stacking area 2A in the first position P1, and transfers the container 70 to the shelf section 80 in the second position P2 (see FIG. 7).

[0056] 4, in this embodiment, the transfer machine B includes a first transfer machine 41B and a second transfer machine 42B disposed below the first transfer machine 41B. The first transfer machine 41B transfers the container 70 between the first holding unit 41A and the transfer target location T. The second transfer machine 42B transfers the container 70 between the second holding unit 42A and the transfer target location T.

[0057] 8 shows the scooping (transferring) operation of the container 70 relative to the shelf section 80, illustrating the case where the first transfer machine 41B scoops up the container 70 stored on the shelf section 80 to the first holder 41A. In this case, the control section C (see FIG. 4) aligns the position of the first transfer machine 41B with the reference position 80P (see FIG. 3) of the shelf section 80, and then retracts the container 70 toward the scooping side X2 in the transfer direction. In this embodiment, the reference position 80P of the shelf section 80 is detected by a reference position detection sensor Se1 provided in the transfer device 4.

[0058] Although not shown, when performing an unloading operation (transferring operation) of a container 70 on the shelf section 80, if the control section C (see FIG. 4) determines that no other container 70 is stored on the shelf section 80 onto which the container 70 is to be unloaded, the control section C presses the container 70 toward the unloading side X1 in the transfer direction. In this embodiment, the container 70 stored on the shelf section 80 is detected by a storage container detection sensor Se2 provided in the transfer device 4.

[0059] As described above, in this embodiment, the lifting device 3 can form spaces between the multiple containers 70 stacked in the stacking area 2A in the vertical direction. The transfer device 4 then uses these spaces to transfer the containers 70 to the stacking area 2A. In this embodiment, the transfer device 4 is configured to perform scooping and unloading operations on the containers 70 in the stacking area 2A. In detail, the transfer device 4 is configured to perform parallel operations of scooping and unloading the containers 70 in the stacking area 2A in parallel (see FIG. 9).

[0060] 9 shows an example of parallel operation when five tiers of containers 70 are stacked in the stacking area 2A as a container group 7. In this example, the lifting device 3 utilizes the space formed vertically between the fifth tier container 70 (container marked with the number "5" in FIG. 9) and the fourth tier container 70 (container marked with the number "4" in FIG. 9) to press the container 70 to be unloaded (container marked with the letter "α" in FIG. 9) onto the fourth tier container 70 (container "4") by the first transfer machine 41B toward the unloading side X1 in the transfer direction, thereby unloading the container to be unloaded (container "α"). In parallel with this, the second transfer machine 42B utilizes the space formed below the fourth-tier container 70 (container "4") by the lifting device 3 to pull the third-tier container 70 (container marked with the number "3" in FIG. 9) toward the transfer direction scooping side X2 and scoop up the container 70 (container "3"). That is, in this example, some of the containers 70 (container "3") among the multiple containers 70 arranged in the stacking area 2A are replaced with new containers 70 (container "α").

[0061] [Anti-tip device] 4, 5, and 6, the tip-over prevention device 13 is mounted on the traveling body 1. The tip-over prevention device 13 is configured to prevent the transport vehicle 100 from tipping over.

[0062] The fall prevention device 13 includes a support arm 14 supported by the running body 1, an arm driving device 15 that drives the support arm 14, and a vibration generation information acquisition unit Cb (see Figure 4) that acquires vibration generation information indicating that the vibration of the running surface on which the running body 1 runs is equal to or greater than a predetermined reference value.

[0063] The support arm 14 includes an arm body 14a and a support wheel 14b that is supported by the arm body 14a and is arranged so as to come into contact with the traveling surface. The support arm 14 is also arranged near the drive wheel 11a that is arranged in the central region 10Am of the traveling body 10. That is, the support arm 14 is arranged in a position closer to the drive wheel 11a than the driven wheel 11b in the vehicle body longitudinal direction L. In this embodiment, a pair of arm bodies 14a are supported on both sides of the traveling body 10 in the vehicle body width direction W. That is, in this embodiment, the traveling body 1 includes a support arm 14 on both sides in the vehicle body width direction W.

[0064] Each arm body 14a is supported by the traveling body 10 so as to be swingable about an axis that runs along the vertical direction. That is, each support arm 14 is supported by the traveling body 1 so as to be swingable about an axis that runs along the vertical direction. As shown in Figures 5 and 6, in this embodiment, each arm body 14a is a long member, and one end side is pivotally supported by an arm attachment part 1a that extends horizontally from the side surface of the traveling body 10. Each arm body 14a is swingable about the rotation axis of one end side.

[0065] The support wheel 14b is provided on the other end of the arm body 14a. The support wheel 14b is supported on the arm body 14a so as to be rotatable about an axis extending in the vertical direction. In other words, the direction along which the rotation axis of the support wheel 14b extends can be changed within a horizontal plane. In this example, the support wheel 14b is configured as a caster.

[0066] The support arms 14 are configured to be changeable between a protruding state in which they protrude outward from the travel unit 1 in the vehicle width direction W and contact the travel surface outside the travel unit 1 in the vehicle width direction W, and a stowed state in which they fit within the width dimension Sw of the travel unit 1. As shown in FIG. 10 , in this embodiment, the protruding state is when each arm body 14a swings around the rotation axis at one end and moves away from the side of the travel unit 10, with the longitudinal direction of each arm body 14a aligned along the vehicle width direction W. On the other hand, the stowed state is when each arm body 14a is close to the side of the travel unit 10 and the longitudinal direction of each arm body 14a aligned along the vehicle front-rear direction L. Note that in this example, the protruding state and the stowed state of the support arms 14 can be changed with the support wheels 14b in contact with the travel surface.

[0067] In this embodiment, the arm driving device 15 includes a rotating body as a power transmission mechanism provided at one end of the arm body 14a, and a motor 15a as a drive source for driving the rotating body to rotate. The driving of the motor 15a is controlled by the control unit C.

[0068] When the vibration generation information acquisition unit Cb acquires vibration generation information, the arm driving device 15 performs an arm extension operation to change the support arm 14 from the retracted state to the extended state. In this embodiment, when the vibration generation information acquisition unit Cb acquires vibration generation information, the control unit C controls the driving of the motor 15a to perform the arm extension operation of the support arm 14. In this example, the vibration generation information acquisition unit Cb is configured to acquire vibration generation information transmitted from a higher-level controller H. In this case, the higher-level controller H is configured to be able to receive information related to the generation of vibration, such as the occurrence status of an earthquake, from the outside, and transmits vibration generation information to the vibration generation information acquisition unit Cb based on the received information. Furthermore, when the vibration generation information acquisition unit Cb does not acquire vibration generation information, the arm driving device 15 maintains the retracted state of the support arm 14. In other words, when the vibration generation information acquisition unit Cb does not acquire vibration generation information, the arm driving device 15 does not perform the arm extension operation.

[0069] Furthermore, the arm driving device 15 is configured not to perform the arm extending operation while the traveling body 1 is in the inter-shelf area IA, in other words, while the traveling body 1 is traveling or stopped on the intra-shelf path Ra (see FIG. 1). In other words, when the traveling body 1 is in the inter-shelf area IA, the arm driving device 15 prohibits the execution of the arm extending operation in the inter-shelf area IA. Conversely, when the traveling body 1 is in the end area EA or the outer area OA, the arm driving device 15 allows the execution of the arm extending operation.

[0070] In this embodiment, when the vibration generation information acquisition unit Cb acquires vibration generation information, if the running body 1 is in the end area EA or the outer area OA, it controls the driving of the motor 15a to perform an arm extension operation, thereby changing the support arm 14 from the stored state to the extended state (see Figure 10).

[0071] In this embodiment, the transport vehicle 100 is equipped with a position information acquisition unit Ca (see FIG. 4) that acquires current position information of the transport vehicle 1. In this example, the control unit C determines whether the transport vehicle 1 is in an inter-shelf area IA, an edge area EA, or an outer area OA based on the position information acquired by the position information acquisition unit Ca. In this example, the position information acquisition unit Ca is configured to acquire current position information of the transport vehicle 1 transmitted from a host controller H that manages the entire facility. In this case, the host controller H is aware of the positions of the transport vehicles 1 (transport vehicles 100) present throughout the entire facility, and transmits current position information of the transport vehicle 1 (transport vehicle 100) to the position information acquisition unit Ca.

[0072] In recent years, earthquake countermeasures have been progressing in various fields. The transport vehicle 100 according to the present disclosure is configured to be less likely to tip over even when violent shaking occurs during an earthquake or the like. In this embodiment, three anti-tip measures are taken to prevent the transport vehicle 100 from tipping over, regardless of whether the traveling body 1 (transport vehicle 100) is in the inter-shelf area IA, the end area EA, or the outer area OA (see FIG. 2). These will be explained in detail below.

[0073] [First fall prevention measure] First, the first tip-over prevention measure will be described. In this embodiment, when a strong shaking occurs during an earthquake or the like and the vibration of the running surface on which the running object 1 runs exceeds a predetermined reference value, the upper controller H transmits vibration generation information to the vibration generation information acquisition unit Cb of the control unit C.

[0074] When the vibration generation information acquisition unit Cb acquires the vibration generation information, the control unit C determines whether the running body 1 is in the inter-shelf area IA, the end area EA, or the external area OA, in other words, whether the running body 1 is running or stopped on the intra-shelf path Ra, the end path Rc, or the extra-shelf path Rb, based on the position information acquired by the position information acquisition unit Ca.

[0075] When it is determined that the traveling object 1 is in the external area OA, the control unit C controls the driving of the motor 15a, and the pair of support arms 14 are converted from the housed state to the extended state (see FIG. 10). That is, when the traveling object 1 is in the external area OA, the arm extension operation is performed for both of the pair of support arms 14.

[0076] As a result, the support wheels 14b of the pair of support arms 14 are in contact with the traveling surface outside the traveling body 1 in the vehicle width direction W. This prevents the transport vehicle 100 from tilting significantly to either side in the vehicle width direction W, thereby preventing the transport vehicle 100 from tipping over.

[0077] When it is determined that the traveling body 1 is in the end area EA, the control unit C controls the driving of the motor 15a, and of the pair of support arms 14, only the support arm 14 provided on the side facing the front of the container shelf 8 is converted from the stored state to the extended state. In other words, when the traveling body 1 is in the end area EA, the arm extension operation is performed for only one of the pair of support arms 14.

[0078] As a result, the support wheel 14b of one support arm 14 comes into contact with the traveling surface outside the traveling body 1 in the vehicle width direction W. This prevents the transport vehicle 100 from tilting significantly to the side opposite the front of the container shelf 8 in the vehicle width direction W. In addition, the container shelf 8 can prevent the transport vehicle 100 from tilting to the side opposite the front of the container shelf 8 in the vehicle width direction W, as will be described later.

[0079] When it is determined that the traveling body 1 is in the inter-shelf area IA, the execution of the arm extension operation is prohibited for both of the pair of support arms 14. In this case, as will be described later, the tilt of the transport vehicle 100 in the vehicle body width direction W can be regulated by the container shelves 8, so that the transport vehicle 100 can be prevented from tipping over even without performing the arm discharge operation in the inter-shelf area IA. Note that in this example, when the execution of the arm extension operation is prohibited, the control unit C executes the arm extension operation for both of the pair of support arms 14 at the timing when the traveling position of the transport vehicle 100 changes from the inter-shelf area IA to the outer area OA, and the pair of support arms 14 are converted from the stored state to the extended state.

[0080] As described above, by taking the first tipping prevention measure, the transport vehicle 100 in the end area EA and the outer area OA can be made less likely to tip over.

[0081] [Second fall prevention measure] Next, the second tip-prevention measure will be described. As shown in Fig. 11, in this embodiment, the container shelf 8 is provided with a target beam member 820 that extends horizontally along the front surface of the container shelf 8. The target beam member 820 is provided on each container shelf 8. The target beam member 820 is one of the multiple beam members 82 on each container shelf 8. In this example, the target beam member 820 is the beam member 82 that is arranged at the top of the multiple beam members 82.

[0082] In this embodiment, a guided member 6 that protrudes outward from the transfer mast 40 in the vehicle width direction W is fixed to the transfer mast 40 at a height position corresponding to the target beam member 820. The guided member 6 is positioned so that it will come into contact with the target beam member 820 when the transport vehicle 100 in the inter-shelf area IA tilts toward the vehicle width direction W.

[0083] Here, the guided member 6 is placed at a height equal to or higher than the height at which the target beam member 820 is installed. In this embodiment, the placement height at which the guided member 6 is placed is set according to the separation distance DL in the vehicle body width direction W between the guided member 6 and the target beam member 820 when the traveling body 1 is in the inter-shelf area IA, in other words, when the traveling body 1 is traveling or stopped on the intra-shelf path Ra (see FIG. 1). In this example, this separation distance DL is basically within a certain range regardless of the position of the traveling body 1 in the inter-shelf area IA. In other words, the intra-shelf path Ra (travel path R) is set so that the separation distance DL is a value within a certain range regardless of the position of the traveling body 1 in the inter-shelf area IA.

[0084] As shown in the right diagram of FIG. 11 , the position of the guided member 6 decreases as the transport vehicle 100 tilts toward the vehicle body width direction W. As the separation distance DL increases, the inclination of the transport vehicle 100 increases, and the position of the guided member 6 decreases. Therefore, it is preferable that the guided member 6 be positioned higher than the height at which the target beam member 820 is installed as the separation distance DL increases, and be positioned closer to the height at which the target beam member 820 is installed as the separation distance DL decreases. This allows the guided member 6 to properly abut against the target beam member 820 when the transport vehicle 100 in the inter-shelf area IA tilts toward the vehicle body width direction W. Furthermore, with the above-described configuration, the transport vehicle 100 can be supported by the target beam member 820 (container shelf 8), making it less likely for the transport vehicle 100 to tip over in the inter-shelf area IA. Note that in the description of this embodiment, the "height of the target beam member 820" refers to the height from the floor surface based on the vertical center position of the target beam member 820. Similarly, the "arrangement height of the guided member 6" is the height from the floor surface with the center position of the guided member 6 in the up-down direction as the reference.

[0085] The amount of protrusion of the guided member 6 from the transfer mast 40 in the vehicle body width direction W is set to a size such that when the transport vehicle 100 in the inter-shelf area IA tilts toward the vehicle body width direction W, the guided member 6 will first abut against the target beam member 820. In other words, the amount of protrusion of the guided member 6 in the vehicle body width direction W is set so that, among the portions of the transport vehicle 100 facing the container shelf 8 in a state in which the transport vehicle 100 is tilted toward the vehicle body width direction W, the protruding end portion (abutment surface) of the guided member 6 in the vehicle body width direction W is located closest to the container shelf 8. This protrusion amount is preferably set according to the height at which the guided member 6 is fixed to the transfer mast 40. In other words, the amount of displacement of the transfer mast 40 in the vehicle body width direction W due to the tilt of the transport vehicle 100 increases as it moves upward. Therefore, the amount of protrusion of the guided member 6 in the vehicle body width direction W can be reduced as the position at which the guided member 6 is fixed to the transfer mast 40 increases. Conversely, the lower the position at which the guided member 6 is fixed to the transfer mast 40, the greater the distance must be. Furthermore, when, for example, other members are provided on the transfer mast 40 around the guided member 6, the amount of protrusion of the guided member 6 in the vehicle body width direction W is preferably set to a value such that the protruding end (contact surface) of the guided member 6 in the vehicle body width direction W is positioned further outward in the vehicle body width direction W than the other members. This allows the guided member 6 to first abut against the target beam member 820 when the transport vehicle 100 in the inter-shelf area IA tilts toward the vehicle body width direction W.

[0086] In this embodiment, a guided member 6 is provided on each of the pair of transfer masts 40 so as to protrude outward in the vehicle body width direction W. As a result, even if the transport vehicle 100 tilts to either side in the vehicle body width direction W when the traveling body 1 is between the pair of container shelves 8, the transport vehicle 100 can be supported by either of the pair of container shelves 8.

[0087] In this embodiment, each of the pair of lifting masts 30 (see FIG. 4) is also provided with a guided member 6 that protrudes outward in the vehicle body width direction W. In other words, in this embodiment, the first mast (transfer mast 40) and the second mast (lifting mast 30) that is disposed spaced apart from the first mast in the vehicle body fore-and-aft direction L are each provided with a guided member 6. This allows the container shelves 8 to support the transport vehicle 100 with high stability when the transport vehicle 100 in the inter-shelf area IA tilts toward the vehicle body width direction W.

[0088] With the above-described configuration, the transport vehicle 100 in the inter-shelf area IA can be made less likely to tip over.

[0089] [Third fall prevention measure] Next, a third tipping prevention measure will be described. As shown in FIG. 12, the control unit C (see FIG. 4) is configured to be able to execute a center-of-gravity lowering control that controls the position of the transfer lift body 40B so that it is located within a lower range UR that is set below the center of the liftable range VR. The control unit C executes the center-of-gravity lowering control by controlling the transfer device 4. Specifically, the control unit C executes the center-of-gravity lowering control by controlling the transfer lift body driving unit 40M (see FIG. 4). By executing this center-of-gravity lowering control, the center of gravity of the entire transport vehicle 100 can be lowered, making the transport vehicle 100 less likely to tip over. In this embodiment, the control unit C positions the transfer lift body 40B at the bottom of the liftable range VR in the center-of-gravity lowering control. This makes it even more difficult for the transport vehicle 100 to tip over. In this embodiment, a guided member 6 is provided on the transfer mast 40, and the upper limit position of the liftable range VR of the transfer lift body 40B is set so that the transfer lift body 40B does not interfere with the guided member 6.

[0090] The control unit C determines whether the traveling body 1 is in the inter-shelf area IA, the edge area EA, or the outer area OA (see FIG. 2), and executes center-of-gravity lowering control in at least a portion of the outer area OA. In the outer area OA, there are few structures, such as container shelves 8, that can support the transport vehicle 100 when the traveling body 1 is in the inter-shelf area IA or the edge area EA. However, as described above, by executing center-of-gravity lowering control in at least a portion of the outer area OA, the center of gravity of the entire transport vehicle 100 can be lowered when the transport vehicle 100 is in the outer area OA, making it less likely for the transport vehicle 100 to tip over when in the outer area OA. When the traveling body 1 is in the edge area EA, the container shelves 8 are present only on one side of the traveling body 1 in the vehicle body width direction W. Therefore, when the traveling body 1 is in the edge area EA, there are fewer structures that can support the transport vehicle 100 than when the traveling body 1 is in the inter-shelf area IA. Therefore, it is preferable to execute center-of-gravity lowering control in at least a portion of the edge area EA.

[0091] As shown in FIG. 13 , in this embodiment, the stop position of the traveling body 1 when transferring a container 70 between the container shelf 8 by the transfer machine B is set as the transfer stop position SP. The control unit C starts the center-of-gravity lowering control after completing the transfer of the container 70 at the last transfer stop position SP along the traveling path R of the traveling body 1 before it exits the inter-shelf area IA or the end area EA into the external area OA and before the traveling body 1 exits the external area OA. The control unit C then maintains the state in which the center-of-gravity lowering control is being executed while the traveling body 1 is in the external area OA. In this example, when the transfer machine B transfers the next container 70, the control unit C maintains the state in which the center-of-gravity lowering control is being executed after the traveling body 1 exits the external area OA, while the traveling body 1 is in the external area OA, and from when the traveling body 1 enters the inter-shelf area IA or the end area EA until the next transfer is executed.

[0092] Next, a processing procedure when the center-of-gravity lowering control is executed will be described with reference to the flowchart of FIG.

[0093] 14, the control unit C determines whether the route on which the traveling object 1 is currently traveling is a route from the inter-shelf area IA or the end area EA to the outer area OA (step #1). The route on which the traveling object 1 is traveling is included, for example, in a transport command transmitted from the upper controller H. In this case, the control unit C determines the route based on the transport command.

[0094] If the control unit C determines that the route on which the traveling body 1 is currently traveling is not a route from the inter-shelf area IA or the end area EA to the external area OA (step #1: No), the control unit C ends the routine. If the control unit C determines that the route on which the traveling body 1 is currently traveling is a route from the inter-shelf area IA or the end area EA to the external area OA (step #1: Yes), the control unit C determines whether the final transfer in the inter-shelf area IA or the end area EA has been completed (step #2).

[0095] If the control unit C determines that the final transfer in the inter-shelf area IA or the end area EA has not been completed (Step #2: No), it repeats the processing of Step #2. If the control unit C determines that the final transfer in the inter-shelf area IA or the end area EA has been completed (Step #2: Yes), it executes the center-of-gravity lowering control (Step #3). Then, after the traveling body 1 leaves the outer area OA, the control unit C continues to execute the center-of-gravity lowering control until it enters the inter-shelf area IA or the end area EA and the transfer machine B transfers the next container 70 (Step #4).

[0096] With the above-described configuration, the transport vehicle 100 in the external area OA can be made less likely to tip over. As described above, in this embodiment, the running body 1 is configured to change its traveling direction by rotating on the spot around the vertical axis in the direction change area DA. When the running body 1 changes its traveling direction in this manner, centrifugal force is likely to act on the transport vehicle 100. However, in the direction change area DA (external area OA) where the running body 1 changes its traveling direction, the center of gravity of the entire transport vehicle 100 is lowered by executing the center of gravity lowering control, so that the transport vehicle 100 can be made less likely to tip over even when the running body 1 changes its traveling direction.

[0097] Other Embodiments Next, other embodiments of the transport vehicle will be described.

[0098] (1) In the above embodiment, the vibration generation information acquisition unit Cb acquires the vibration generation information from the host controller H, but the present invention is not limited to this. For example, the transport vehicle 100 may be equipped with a vibration sensor, and the vibration generation information may be acquired based on the detection value of the vibration sensor.

[0099] (2) In the above embodiment, the support arm 14 is supported by the running body 1, but this is not limiting. For example, the support arm 14 may be supported by the running body 1 via another member, such as a mounting member fixed to the running body 1.

[0100] (3) In the above embodiment, the arm driving device 15 performs the arm extension operation using the power of the motor 15a. However, the present invention is not limited to this. For example, the present invention may be configured to include a biasing means (e.g., a spring) that biases the support arm 14 to the extended state, and a locking means that locks the movement of the support arm 14 that is in the retracted state against the biasing force of the biasing means and unlocks the lock when the vibration generation information acquisition unit Cb acquires vibration generation information. In this case, when the vibration generation information acquisition unit Cb acquires vibration generation information, the lock on the support arm 14 is released, and the biasing force changes the support arm 14 from the retracted state to the extended state.

[0101] (4) In the above embodiment, the running body 1 is provided with the support arms 14 on both sides in the vehicle width direction W, but this is not limiting. For example, the running body 1 may be provided with the support arm 14 on only one side in the vehicle width direction W.

[0102] (5) In the above embodiment, the arm driving device 15 prohibits the execution of the arm extension operation in the inter-shelf area IA, but this is not limited to this. For example, if an entry prevention fence is provided, the arm may not extend toward the fence in the area adjacent to the entry prevention fence. Furthermore, if the distance between a pair of container shelves 8 is large, for example, and the support arm 14 does not interfere with the container shelf 8 even when the arm extension operation is performed, the arm driving device 15 may allow the execution of the arm extension operation in the inter-shelf area IA.

[0103] (6) In the above embodiment, the driven wheels 11b are configured as casters, but the present invention is not limited to this. For example, the driven wheels 11b at the front in the vehicle longitudinal direction L may be non-driven steerable wheels that are steered according to the traveling direction.

[0104] (7) In the above embodiment, the support arm 14 of the anti-toppling device 13 is disposed near the drive wheel 11a disposed in the central region 10Am of the traveling body 10, but this is not limited to this. For example, in a case where a pair of drive wheels 11a and multiple driven wheels 11b are provided, as shown in FIG. 15 , the pair of drive wheels 11a may be disposed on the rear side of the traveling body 1 in the longitudinal direction L of the vehicle body, and the support arm 14 may be disposed at a position closer to the drive wheels 11a than the driven wheels 11b in the longitudinal direction L of the vehicle body.

[0105] (8) In the above embodiment, the support arm 14 is supported by the running body 1 so as to be swingable about an axis along the vertical direction, and the support wheels 14b are configured as casters. However, this is not limiting. For example, the support arm 14 may be supported by the running body 1 so as to be slidable, or the support wheels 14b may not be configured as casters. As shown in FIGS. 16 and 17 , the support wheels 14b may be fixed to the arm main body 14a with their rotation axes aligned along the width direction W of the vehicle body, and the support arm 14 may be supported by the running body 1 so as to be slidable diagonally downward in a plane perpendicular to the fore-aft direction L of the vehicle body. In this case, the support arm 14 is positioned so that a small gap is formed between the support wheels 14b and the running surface in the stowed state, and so that the support wheels 14b contact the running surface in the extended state. The arm extension operation can be achieved, for example, by a linear actuator. Alternatively, the support arm 14 may be supported by the running body 1 so as to be slidable in the width direction W of the vehicle body.

[0106] (9) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[0107] [Summary of the above embodiment] The above-described transport vehicle will now be described.

[0108] A transport vehicle for transporting items, a traveling body that travels along a travel path; a transfer device that transfers the article; a tip-over prevention device for preventing tip-over; Equipped with The transfer device is a mast fixed to the traveling body and arranged along the vertical direction; a lifting body that moves up and down along the mast; a transfer machine supported on the lifting body; Equipped with The direction in which the running body travels is defined as the vehicle body longitudinal direction, the direction perpendicular to the vehicle body longitudinal direction when viewed in the up-down direction is defined as the vehicle body width direction, the dimension of the running body in the vehicle body longitudinal direction is defined as the length dimension, the dimension of the running body in the vehicle body width direction is defined as the width dimension, and the height from the bottom end of the running body to the top end of the mast is defined as the height dimension, the length dimension and the height dimension are greater than the width dimension, The fall prevention device is a vibration generation information acquisition unit that acquires vibration generation information indicating that vibration of a running surface on which the running object runs is equal to or greater than a predetermined reference value; a support arm supported on the traveling body; an arm driving device that drives the support arm; Equipped with the support arm is configured to be changeable between a protruding state in which it protrudes outward from the running body in the vehicle body width direction and contacts the running surface outside the running body in the vehicle body width direction, and a stored state in which it is accommodated inside the width dimension of the running body, When the vibration generation information acquisition unit acquires the vibration generation information, the arm driving device executes an arm extension operation to change the support arm from the housed state to the extended state.

[0109] If the length and height of a transport vehicle are greater than its width, the transport vehicle is likely to tilt significantly in the width direction or tip over when vibrations occur on the running surface due to an earthquake or other factors. However, with this configuration, when vibration occurrence information is acquired, the support arms can be extended and placed on the traveling surface outside the traveling body. Therefore, even if vibration occurs on the traveling surface, the transport vehicle can be prevented from tilting significantly in the vehicle width direction, and ultimately from tipping over. In other words, with this configuration, a transport vehicle that is less likely to tip over even due to shaking caused by an earthquake or the like can be realized.

[0110] Here, it is preferable that the arm driving device maintains the support arm in the housed state when the vibration generation information acquisition unit is not acquiring the vibration generation information.

[0111] With this configuration, when there is no vibration on the running surface, the support arms are stored within the width of the running body, so that the support arms do not get in the way when the transport vehicle travels through a narrow passage in the width direction of the vehicle body.

[0112] The travel path also includes an inter-shelf area passing between a pair of storage shelves that are configured to store the items and are arranged opposite each other, and an outer area outside the inter-shelf area, Preferably, the arm driving device prohibits the execution of the arm protruding operation in the inter-shelf area.

[0113] With this configuration, the arm extension operation is prohibited in the area between shelves, so interference between the support arm and the storage shelves can be avoided. Furthermore, in the area between shelves, the storage shelves act as a support to prevent the transport vehicle from tipping over, so problems are unlikely to arise even if the arm extension operation is not performed.

[0114] The storage shelf also includes a target beam member extending horizontally along a front surface facing the travel path, It is preferable that a guided member protruding outward in the vehicle body width direction from the mast is provided at a height on the mast corresponding to the target beam member.

[0115] With this configuration, if the transport vehicle tilts in the area between shelves, the guided member abuts against the target beam member of the storage shelf, thereby supporting the transport vehicle on the storage shelf. Therefore, it is possible to prevent the transport vehicle from tipping over even without performing an arm extension operation in the area between shelves.

[0116] The traveling body includes a drive wheel, a wheel drive source that rotationally drives the drive wheel, and a driven wheel, The driven wheels are arranged separately on both sides of the drive wheels in the front-rear direction of the vehicle body, The rotation axis of the driven wheel is supported in a state where its relative position in the up-down direction is fixed with respect to the main body of the traveling body, The rotation axis of the drive wheel is supported elastically in the up-down direction relative to the main body of the traveling body via a suspension mechanism, Preferably, the support arm is disposed at a position closer to the drive wheel than to the driven wheel in the longitudinal direction of the vehicle body.

[0117] According to this configuration, the drive wheels are supported on the main body of the traveling vehicle via the suspension mechanism, so that the ground contact force of the drive wheels can be increased, making it easier to transmit the drive force to the traveling surface. On the other hand, when the drive wheels are supported on the body of the vehicle via a suspension mechanism, the drive wheels have a weaker ability to support the vehicle body's tilt or sway when the running surface vibrates than the driven wheels. However, with this configuration, the support arms are located near the drive wheels, so the driven wheels and the support arms can appropriately support the vehicle's sway or tilt. Therefore, even when the running surface vibrates, the vehicle can be prevented from tilting significantly in the vehicle body width direction, and ultimately, the vehicle can be prevented from tipping over.

[0118] The support arm includes an arm body and a support wheel supported by the arm body and arranged to come into contact with the traveling surface, Preferably, the rotation axis of the support wheel is supported on the arm body so as to be rotatable about an axis extending in the up-down direction.

[0119] With this configuration, even if the support arm is always in contact with the traveling surface, the support arm does not interfere with the traveling of the transport vehicle. Therefore, a mechanism for moving the contact portion of the support arm up and down is not required, and the configuration of the support arm and arm drive device can be easily simplified.

[0120] Preferably, the support arm is supported by the traveling body so as to be swingable about an axis extending in the vertical direction.

[0121] With this configuration, for example, the support arm can be changed between the extended state and the retracted state simply by supporting the swing shaft of the support arm on the traveling body, which makes it easy to simplify the support structure of the support arm relative to the traveling body. [Industrial Applicability]

[0122] The technology disclosed herein can be used in transport vehicles that transport articles. [Explanation of symbols]

[0123] 100: Transport vehicle 1: Running body 4:Transfer device 6:Guided member 8: Container shelf (storage shelf) 11a: Drive wheel 11b: Driven wheel 11M: Wheel drive source 12: Suspension mechanism 13: Anti-tip device 14: Support arm 14a: Arm body 14b: Support wheel 15: Arm drive unit 40: Transfer mast (mast) 40B: Transfer lift (lift) 70: Container (article) 820: Target beam member B:Transfer machine C: Control section Cb: Vibration generation information acquisition section IA: Tanama area EA: Edge area (outer area) OA: External area (outer area) R: Travel route L: Front-rear direction of the vehicle W: Vehicle width direction Sl: Length dimension Sw: Width dimension Sh: Height dimension

Claims

1. A transport vehicle for transporting items, a traveling body that travels along a travel path; A transfer device that transfers the article; a tip-over prevention device for preventing tip-over; Equipped with The transfer device is a mast fixed to the traveling body and arranged along the vertical direction; a lifting body that moves up and down along the mast; a transfer machine supported on the lifting body; Equipped with The direction in which the running body travels is defined as the vehicle body longitudinal direction, the direction perpendicular to the vehicle body longitudinal direction when viewed in the up-down direction is defined as the vehicle body width direction, the dimension of the running body in the vehicle body longitudinal direction is defined as the length dimension, the dimension of the running body in the vehicle body width direction is defined as the width dimension, and the height from the bottom end of the running body to the top end of the mast is defined as the height dimension, the length dimension and the height dimension are greater than the width dimension, The fall prevention device is a vibration generation information acquisition unit that acquires vibration generation information indicating that vibration of a running surface on which the running object runs is equal to or greater than a predetermined reference value; a support arm supported on the traveling body; an arm driving device that drives the support arm; Equipped with the support arm is configured to be changeable between a protruding state in which it protrudes outward from the running body in the vehicle body width direction and contacts the running surface outside the running body in the vehicle body width direction, and a stored state in which it is accommodated inside the width dimension of the running body, The arm driving device performs an arm extension operation to change the support arm from the stored state to the extended state when the vibration generation information acquisition unit acquires the vibration generation information.

2. The transport vehicle according to claim 1 , wherein the arm driving device maintains the support arm in the housed state when the vibration generation information acquisition unit does not acquire the vibration generation information.

3. the travel path includes an inter-shelf area passing between a pair of storage shelves that are configured to store the items and are arranged opposite each other, and an outer area outside the inter-shelf area; The transport vehicle according to claim 1 or 2, wherein the arm drive device prohibits the arm from extending in the inter-shelf area.

4. The storage shelf includes a target beam member extending horizontally along a front surface facing the travel path, The transport vehicle according to claim 3 , wherein a guided member protruding outward in the vehicle body width direction from the mast is provided at a height on the mast corresponding to the target beam member.

5. the traveling body includes a drive wheel, a wheel drive source that rotationally drives the drive wheel, and a driven wheel; The driven wheels are arranged separately on both sides of the drive wheels in the front-rear direction of the vehicle body, The rotation axis of the driven wheel is supported in a state where its relative position in the up-down direction is fixed with respect to the main body of the traveling body, The rotation axis of the drive wheel is supported elastically in the up-down direction relative to the main body of the traveling body via a suspension mechanism, The transport vehicle according to claim 1 or 2, wherein the support arm is disposed at a position closer to the drive wheel than the driven wheel in the longitudinal direction of the vehicle body.

6. the support arm includes an arm body and a support wheel supported by the arm body and arranged to come into contact with the traveling surface; 3. The transport vehicle according to claim 1, wherein the rotation axis of the support wheel is supported on the arm body so as to be rotatable about an axis extending in the up-down direction.

7. The transport vehicle according to claim 6, wherein the support arm is supported by the traveling body so as to be swingable about an axis extending in the vertical direction.

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