Goods transport equipment

Abstract

To achieve an article conveyance facility which can reduce possibility that a situation occurs where a pair of advancing / retreating members stop in a state of protruding to the side of a transferring object place, even when power supply from a main power source to a transfer device is interrupted.SOLUTION: A transfer device 30 provided at an article conveyance facility which has a main power source and an auxiliary power source includes a control device which controls a drive device for performing advancing / retreating drive on an advancing / retreating member 31. When power supply from the main power source to the transfer device 30 is interrupted, in the case where it is in the middle of a scooping protrusion action for making the advancing / retreating member 31 protrude from a reference position corresponding to a support part 11 to a protrusion target position corresponding to a transferring object place 22 so as to move an article W at the transferring object place 22 to the support part 11, the control device executes a power outage-time scooping interruption action M1c in which the advancing / retreating member 31 is made to protrude to the protrusion target position, and then, without allowing the advancing / retreating member 31 to hold the article W, the advancing / retreating member 31 is made to retreat to the reference position.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to an article transport facility equipped with a transfer device. [Background technology]

[0002] There is known an article conveying facility equipped with a transfer device having a pair of advancing and retreating members that advance and retreat in a transfer direction. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1. Patent Document 1 discloses an article conveying facility (1) equipped with a transfer device (7) having a pair of advancing and retreating members (21, 22) that advance and retreat in a transfer direction of a support portion (23). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-079780 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, for example, if the power supply from the main power source to the transfer device (7) is interrupted due to a commercial power outage or a main power failure, the pair of advancing and retreating members (21, 22) may stop midway through the transfer operation of moving an article along the transfer direction. In this case, it is not preferable for the pair of advancing and retreating members (21, 22) to stop while protruding toward the transfer target location, because the protruding pair of advancing and retreating members (21, 22) may interfere with other equipment such as shelves during the recovery operation after the power is restored.

[0005] Therefore, it is desirable to realize an item transport equipment that can reduce the possibility of a pair of protruding and retracting members stopping in a protruding position toward the transfer target location even if the power supply from the main power source to the transfer device is interrupted. [Means for solving the problem]

[0006] The article transport equipment according to the present disclosure is an article transport equipment including a support section that supports an article, a transfer device that performs a transfer operation to move the article along a transfer direction between the support section and a transfer target location, and a power supply device that supplies power to the transfer device, wherein a direction perpendicular to the transfer direction in a vertical view is defined as a width direction, and the transfer device is arranged on both sides of the article in the width direction, and includes a pair of protruding and retracting members that protrude and retract in the transfer direction, a drive device that drives the pair of protruding and retracting members to protrude and retract, and a control device that controls the drive device, and the power supply device includes a main power source that receives power from a commercial power source and supplies power to the transfer device, and an auxiliary power source that temporarily supplies power to the transfer device when the power supply from the main power source to the transfer device is cut off, and when the power supply from the main power source to the transfer device is cut off, if the control device is in the middle of a scooping protrusion operation in which the pair of protruding and retracting members are protruding from a reference position corresponding to the support part to a target protrusion position corresponding to the target transfer location in order to move the item at the target transfer location to the support part, the control device executes a power outage scooping interruption operation in which the pair of protruding and retracting members are protruding to the target protrusion position and then retracting the pair of protruding and retracting members to the reference position without holding the item on the pair of protruding and retracting members.

[0007] This configuration reduces the possibility of the pair of retractable members stopping while protruding toward the target transfer location even if the power supply from the main power source to the transfer device is interrupted during the scooping operation due to, for example, a commercial power outage or a main power failure. Therefore, when the main power source is restored, the possibility of the transfer device moving with the pair of retractable members still protruding and interfering with other equipment is reduced. Furthermore, even when performing a scooping interruption operation during a power outage, the movement of the pair of retractable members in the transfer direction can be made the same as normal, which simplifies the control process by the control device. Furthermore, during a scooping interruption operation during a power outage, the pair of retractable members retract to the reference position without holding an item, thereby reducing power consumption from the auxiliary power source.

[0008] 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]

[0009] [Figure 1] Perspective view of an article transport facility [Figure 2] FIG. 2 is a perspective view of the transfer device of FIG. [Figure 3] Control block diagram of the transfer device in Figure 2 [Figure 4] FIG. 3 is a diagram showing a state before the transfer device of FIG. 2 starts a scooping and protruding operation. [Figure 5] FIG. 3 is a diagram showing a state in which the transfer device of FIG. 2 is performing a scooping and protruding operation. [Figure 6] FIG. 3 is a diagram showing a state before the transfer device of FIG. 2 completes the scooping and protruding operation. [Figure 7] FIG. 3 is a diagram showing a state in which the transfer device of FIG. 2 has completed the scooping and protruding operation. [Figure 8] FIG. 3 is a schematic diagram showing the state in which the transfer device of FIG. 2 is in the process of scooping and retracting. [Figure 9] Schematic diagram showing the state in which the transfer device of FIG. 2 has completed the scooping and retracting operation. [Figure 10] FIG. 3 is a diagram illustrating the scooping suspension operation of the transfer device of FIG. 2 in the event of a power outage. [Figure 11] A diagram illustrating the continuous scooping operation of the transfer device of FIG. 2 during a power outage. [Figure 12] FIG. 3 is a diagram showing a state before the transfer device of FIG. 2 starts the unloading and protruding operation. [Figure 13] 3 is a diagram showing a state in which the transfer device of FIG. 2 is performing a lowering and protruding operation. FIG. [Figure 14] FIG. 3 is a diagram showing a state before the transfer device of FIG. 2 starts unloading and retracting operation. [Figure 15] FIG. 3 is a diagram showing a state in which the transfer device of FIG. 2 is in the process of unloading and retracting. [Figure 16] FIG. 3 is a schematic diagram showing the state in which the transfer device of FIG. 2 has completed the unloading and retracting operation; [Figure 17] FIG. 3 is a diagram illustrating the first unloading operation of the transfer device of FIG. 2 during a power outage. [Figure 18]FIG. 3 is a diagram illustrating a second unloading operation by the transfer device of FIG. 2 during a power outage. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of an article transport facility will be described with reference to the drawings.

[0011] FIG. 1 is a perspective view showing an example of an article conveying facility 10 according to this embodiment. FIG. 2 is a perspective view showing an example of a transfer device 30. The article conveying facility 10 includes a support unit 11 that supports an article W, and a transfer device 30 that performs a transfer operation to move the article W between the support unit 11 and a transfer target location 22 along a transfer direction Y. In the example shown in FIG. 1, the article conveying facility 10 is an automated warehouse that includes an article conveying vehicle 12 that travels along each storage section of a storage shelf that has multiple storage sections arranged in a vertical direction Z. As shown in FIG. 2, the support unit 11 and the transfer device 30 are provided on the article conveying vehicle 12. The article conveying vehicle 12 further includes a vehicle body 14 and a traveling device 15 that causes the vehicle body 14 to travel along a conveyance path. The support unit 11 is provided on the vehicle body 14 and supports the article W.

[0012] 1, in this embodiment, an item transport facility 10 includes an item storage shelf 20 having a plurality of transfer target locations 22. Here, the direction perpendicular to the transfer direction Y when viewed in the up-down direction Z is defined as the width direction X. Furthermore, one side of the transfer direction Y is defined as the first side Y1 of the transfer direction Y, and the opposite side is defined as the second side Y2 of the transfer direction Y.

[0013] In this embodiment, a pair of item storage shelves 20 are installed facing each other across the travel path along which the item transport vehicle 12 travels. Each of the pair of item storage shelves 20 has shelf boards 21 installed side by side in the vertical direction Z, and a transfer target location 22 for storing items W is formed on the shelf boards 21. In this embodiment, the storage section of the item storage shelf 20 and the delivery conveyors (storage-in relay conveyor 25 and delivery relay conveyor 27) for each level of the item storage shelf 20 are the transfer target locations 22. In this embodiment, the item storage shelf 20 has a so-called single-deep structure in which one storage section is arranged in the shelf depth direction, but it may also have a so-called double-deep structure in which two storage sections are arranged in the shelf depth direction. Also, three or more storage sections may be arranged in the shelf depth direction.

[0014] In this embodiment, the article transport vehicles 12 are arranged corresponding to each of the plurality of shelf boards 21 lined up in the vertical direction Z. In the example shown in Fig. 1, the article transport equipment 10 includes, in addition to a pair of article storage shelves 20 and a plurality of article transport vehicles 12, an inlet conveyor 23 and an outlet conveyor 29, an inlet lift device 24 and an outlet lift device 28 that can be raised and lowered in the vertical direction Z, and an inlet relay conveyor 25 and an outlet relay conveyor 27 as delivery conveyors that are installed corresponding to each of the plurality of shelf boards 21 lined up in the vertical direction Z.

[0015] In the article transport equipment 10 of this embodiment, an article W transported by the storage conveyor 23 is transported to one of a plurality of storage relay conveyors 25 by a storage lift device 24. Then, the article W on the storage relay conveyor 25 is transported onto the shelf 21 of that tier by an article transport vehicle 12 arranged on that tier. Also, in the article transport equipment 10, an article W on the shelf 21 is transported to the outgoing relay conveyor 27 of that tier by an article transport vehicle 12 arranged on that tier. Then, the article W supported on one of the plurality of outgoing relay conveyors 27 is transported to the outgoing conveyor 29 by an outgoing lift device 28.

[0016] As shown in FIG. 2, the transfer device 30 is provided with a pair of advancing and retreating members 31 that are disposed on both sides of the article W in the width direction X and that advance and retreat in the transfer direction Y. The transfer device 30 also includes a drive device 35 that drives the pair of advancing and retreating members 31 to advance and retreat. In this embodiment, the pair of advancing and retreating members 31 advance and retreat in the transfer direction Y between a reference position P1 (see FIG. 4) corresponding to the support unit 11 and a protrusion target position P2 (see FIG. 6) corresponding to the transfer target location 22. In the illustrated example, the pair of advancing and retreating members 31 are supported by a pair of relay members 32 so as to be movable along the transfer direction Y. The pair of relay members 32 are also supported by a pair of base members 33 so as to be movable along the transfer direction Y. In this embodiment, the reference position P1 corresponding to the support unit 11 is a position where the advancing and retreating members 31 can hold the article W placed on the support unit 11. Further, the protrusion target position P2 corresponding to the transfer target location 22 is a position where the advancing and retreating member 31 can hold the article W placed at the transfer target location 22.

[0017] In this embodiment, the transfer device 30 is also provided with a distance changing device 36 that changes the distance in the width direction X between the pair of advancing and retreating members 31. This allows the transfer device 30 to transfer multiple types of articles W that have different sizes in the width direction X.

[0018] In this embodiment, the transfer device 30 is provided with hooks 40 that are supported by each of the pair of advancing and retracting members 31 and that move in and out of the width direction X relative to the advancing and retracting members 31 to change their position between a retracted position S1 (see FIG. 6) and a protruding position S2 (see FIG. 7). In the retracted position S1, each of the pair of hooks 40 is positioned so as not to overlap with the article W when viewed in the transfer direction, and in the protruding position S2, each of the pair of hooks 40 is positioned so as to overlap with the article W when viewed in the transfer direction along the transfer direction Y. The transfer device 30 is also provided with a hook position changing device 45 that changes the position of each of the hooks 40 between the retracted position S1 and the protruding position S2. In the example shown in FIG. 2, the hook position changing device 45 is a motor that swings each of the pair of hooks 40 around an axis R1 and an axis R2 that extend along the transfer direction Y.

[0019] In this embodiment, the hooks 40 are in the protruding position S2 to engage with the article W, and the pair of advancing and retracting members 31 hold the article W. In the illustrated example, the hooks 40 are provided at both ends of the advancing and retracting members 31 in the transfer direction Y. Hereinafter, the hook 40 on the first side Y1 in the transfer direction Y will be referred to as the first hook 41, and the hook 40 on the second side Y2 in the transfer direction Y will be referred to as the second hook 42.

[0020] FIG. 3 is a block diagram showing a configuration related to control and power supply of the transfer device 30. In this embodiment, the article transport facility 10 includes a power supply device 50 that supplies power to the transfer device 30. The power supply device 50 includes a main power supply 51 that receives power from a commercial power source and supplies power to the transfer device 30, and an auxiliary power supply 52 that temporarily supplies power to the transfer device 30 if the power supply from the main power supply 51 to the transfer device 30 is interrupted. In this embodiment, the main power supply 51 and the auxiliary power supply 52 are configured to supply power to each part of the article transport vehicle 12, including the transfer device 30. In the example shown in FIG. 3, the main power supply 51 and the auxiliary power supply 52 also supply power to the travel device 15 and a travel control device 62 that controls the travel device 15, in addition to the transfer device 30. In this example, the main power supply 51 and the auxiliary power supply 52 are mounted on the article transport vehicle 12. For example, the main power source 51 may be a power supply unit (PSU) mounted on the goods transport vehicle 12, or a power receiving device mounted on the goods transport vehicle 12 so as to receive power contactlessly or non-contactwise from a power supply line arranged along the movement path of the goods transport vehicle 12.

[0021] In this embodiment, the auxiliary power supply 52 includes a power storage unit 53 that stores power from a commercial power supply. The amount of power stored in this power storage unit 53 is equal to or greater than the amount of power required for the transfer device 30 to move the heaviest item W among the multiple types of items W from the transfer target location 22 to the support unit 11. In this manner, even if the power supply from the main power supply 51 to the transfer device 30 is interrupted, it is possible to ensure the amount of power required for the transfer device 30 to perform the necessary operations. In this embodiment, the power storage unit 53 is mounted on each of the multiple article transport vehicles 12. A battery, a capacitor, etc. can be used as the power storage unit 53.

[0022] In this embodiment, the power storage unit 53 is provided in each article transport vehicle 12, and therefore one power storage unit 53 supplies power to one transfer device 30. In this case, the amount of power stored in the power storage unit 53 is preferably equal to or greater than the amount of power that allows one transfer device 30 to complete one of the following operations, which consumes more power: the scooping and retracting operation M2 described below, or the unloading and projecting operation M3 described below, for an article W. In cases where the auxiliary power source 52 is provided on the fixed equipment side and power is supplied from one auxiliary power source 52 to multiple transfer devices 30, the amount of power stored in the power storage unit 53 is preferably equal to or greater than the amount of power that allows each of the multiple transfer devices 30 to complete one of the following operations, which consumes more power: the scooping and retracting operation M2 or the unloading and projecting operation M3, for an article W. In addition, the amount of power stored in the power storage unit 53 may be equal to or greater than the amount of power that allows one first unloading operation M3a described below to be completed.

[0023] In this embodiment, the article conveying equipment 10 includes a control device 61 that controls the drive device 35 of the transfer device 30. In this embodiment, the control device 61 includes an arithmetic processing device such as a CPU (Central Processing Unit) and a main storage device accessible by the arithmetic processing device, such as a RAM (Random Access Memory) or a ROM (Read Only Memory). Each function of the control device 61 is realized by cooperation between hardware included in the control device 61 and a program executed on the hardware, such as the arithmetic processing device. Specifically, each function of the control device 61 is realized by the control device 61 executing a program stored in a storage device (such as a main storage device or a separately provided storage unit). In other words, a program (e.g., a conveyance control program) for causing a computer to realize each function of the control device 61 is stored in a storage device accessible by the computer. This program is provided, for example, by a storage medium or via a communication network. The provided program is then stored in a storage device accessible by the computer. In this embodiment, the control device 61 (specifically, the arithmetic processing device included in the control device 61) functions as a "computer." The control device 61 may be a host control device installed in a control facility not shown. Furthermore, when the control device 61 includes multiple pieces of hardware separated so as to be able to communicate with each other, some of the hardware may be provided in the transfer device 30, and the remaining hardware may be installed in a control facility not shown. In the example shown in FIG. 3, the control device 61 is configured to be able to control the spacing change device 36. Furthermore, the control device 61 is configured to be able to control the hook attitude change device 45. Furthermore, the travel control device 62 controls the travel device 15 to cause the article transport vehicle 12 to travel.

[0024] In this embodiment, when moving an article W at the transfer target location 22 to the support part 11, the control device 61 executes a scooping protruding operation M1 that causes the pair of advancing and retracting members 31 to protrude from the reference position P1 to the protrusion target position P2. Next, the control device 61 executes a scooping retracting operation M2 that causes the pair of advancing and retracting members 31 holding the article W to retract from the protrusion target position P2 to the reference position P1. Below, an example of control of the scooping protruding operation M1 and the scooping retracting operation M2 by the control device 61 will be described with reference to FIGS. 4 to 9.

[0025] Fig. 4 is a schematic top view of the transfer device 30 showing the state before the transfer device 30 starts the scooping and protruding operation M1. In Fig. 4, the item W is placed on the transfer target location 22. Furthermore, the pair of protruding and retracting members 31 are in the reference position P1, and the first hook 41 and the second hook 42 are in the retracted posture S1.

[0026] Fig. 5 is a diagram showing a state in which the transfer device 30 is performing a scooping protruding operation M1. In Fig. 5, the pair of advancing and retreating members 31 are protruding from the reference position P1 to the protrusion target position P2, and the first hook 41 and the second hook 42 are in the retracted posture S1.

[0027] Fig. 6 is a diagram showing a state in which the pair of advancing and retreating members 31 are at the protrusion target position P2. In Fig. 6, the first hook 41 and the second hook 42 are in the retreated posture S1.

[0028] Fig. 7 is a diagram showing a state in which the transfer device 30 has completed the scooping protruding operation M1. In Fig. 7, the pair of protruding / retracting members 31 are at the protruding target position P2, and the first hook 41 and the second hook 42 are in the protruding posture S2. In this embodiment, when the first hook 41 and the second hook 42 are shifted from the retracted posture S1 to the protruding posture S2, the scooping protruding operation M1 is completed, and the scooping retracting operation M2 begins.

[0029] Fig. 8 is a diagram showing a state in which the transfer device 30 is performing a scooping and retracting operation M2. In Fig. 8, the pair of advancing and retracting members 31 holding the article W are retracting from the protrusion target position P2 to the reference position P1, and the first hook 41 and the second hook 42 are in a protrusion posture S2.

[0030] Fig. 9 is a diagram showing a state in which the transfer device 30 has completed the scooping and retracting operation M2. In Fig. 9, the article W is placed on the support part 11. The first hook 41 and the second hook 42 are in the retracted posture S1.

[0031] Fig. 10 is a diagram illustrating the power outage scooping interruption operation M1c performed by the transfer device 30. If the control device 61 is in the middle of the scooping protruding operation M1 for moving the article W at the transfer target location 22 to the support part 11 (for example, the state shown in Fig. 5) when the power supply from the main power source 51 to the transfer device 30 is interrupted, the control device 61 executes the power outage scooping interruption operation M1c, which protrudes the pair of advancing and retracting members 31 to the protrusion target position P2, and then retracts the pair of advancing and retracting members 31 to the reference position P1 without holding the article W on the pair of advancing and retracting members 31, as shown in Fig. 10.

[0032] This configuration reduces the possibility of the pair of projecting / retracting members 31 stopping while protruding toward the transfer target location 22, even if the power supply from the main power source 51 to the transfer device 30 is interrupted during the scooping protrusion operation M1 due to, for example, a commercial power outage or a malfunction of the main power source 51. Therefore, when the main power source 51 is restored, the possibility of the transfer device 30 moving and interfering with other equipment, for example, due to the article transport vehicle 12 traveling with the pair of projecting / retracting members 31 protruding, is reduced. Furthermore, even when the power outage scooping interruption operation M1c is performed, the movement of the pair of projecting / retracting members 31 in the transfer direction Y can be made the same as in normal operation, which simplifies the control process by the control device 61. Furthermore, during the power outage scooping interruption operation M1c, the pair of projecting / retracting members 31 retract to the reference position P1 without holding the article W, thereby reducing the power consumption of the auxiliary power source 52.

[0033] Furthermore, in this embodiment, the control device 61 executes the power failure scooping interruption operation M1c if the power supply from the main power source 51 to the transfer device 30 is interrupted after the pair of protruding / retracting members 31 have been protruded to the protruding target position P2 by the scooping protruding operation M1 with the hook 40 in the retracted position S1 and before the hook 40 starts changing its position from the retracted position S1 to the protruding position S2. In this manner, the power failure scooping interruption operation M1c is executed even after the pair of protruding / retracting members 31 have protruded to the protruding target position P2, as long as it is executed before the hook 40 starts changing its position to the protruding position S2. This prevents unnecessary operation of the hook 40 and reduces power consumption of the auxiliary power source 52. In the illustrated example, if the power supply from the main power source 51 to the transfer device 30 is interrupted in the state shown in FIGS. 5 and 6 , the control device 61 executes the power failure scooping interruption operation M1c.

[0034] In this embodiment, the control device 61 sets the movement speed V1c of the pair of advancing and retracting members 31 retracting from the target protrusion position P2 to the reference position P1 during the power outage scooping interruption operation M1c to be lower than the reference movement speed V1, which is the movement speed of the pair of advancing and retracting members 31 protruding from the reference position P1 to the target protrusion position P2. The movement speed V1c is set to, for example, 30% or more and 60% or less of the reference movement speed V1.

[0035] FIG. 11 is a diagram illustrating the continuous scooping operation M2a performed by the transfer device 30 during a power outage. In this embodiment, when the power supply from the main power source 51 to the transfer device 30 is interrupted while the scooping retraction operation M2 is being performed to move the article W at the transfer target location 22 to the support section 11 (for example, the state shown in FIG. 8), the control device 61 executes the continuous scooping operation M2a during a power outage, in which the pair of advancing and retracting members 31 retract to the reference position P1 while holding the article W, as shown in FIG. 11. In this way, if the power supply from the main power source 51 to the transfer device 30 is interrupted during the scooping retraction operation M2, the pair of advancing and retracting members 31, which are already holding the article W, continue the scooping retraction operation M2. This allows the scooping retraction operation M2 to be completed, moving the article W to the support section 11, and prevents the pair of advancing and retracting members 31 from stopping in a state where they protrude toward the transfer target location 22.

[0036] Furthermore, in this embodiment, if the power supply from the main power source 51 to the transfer device 30 is interrupted after the hook 40 has started changing its position from the retracted position S1 to the protruding position S2, the control device 61 executes the power failure scooping continuation operation M2a. That is, after starting the position change of the hook 40 to the protruding position S2, the power failure scooping continuation operation M2a is executed. Therefore, there is no need to perform control such as returning the hook 40 to the retracted position S1 after starting the position change to the protruding position S2, which makes it easy to simplify the control processing by the control device 61. In the illustrated example, if the power supply from the main power source 51 to the transfer device 30 is interrupted in the state shown in FIGS. 7 and 8, the control device 61 executes the power failure scooping continuation operation M2a.

[0037] Furthermore, in this embodiment, the control device 61 executes a lowering protruding operation M3 in which the pair of advancing and retracting members 31 holding the article W are protruded from the reference position P1 to the protrusion target position P2 in order to move the article W on the support section 11 to the transfer target location 22. Next, the control device 61 executes a lowering retracting operation M4 in which the pair of advancing and retracting members 31 holding the article W are protruded to the protrusion target position P2, and then the pair of advancing and retracting members 31 not holding the article W are retracted from the protrusion target position P2 to the reference position P1. An example of the control of the lowering protruding operation M3 and the lowering retracting operation M4 by the control device 61 will be described below with reference to FIGS. 12 to 16.

[0038] Fig. 12 is a schematic top view of the transfer device 30 showing the state before the transfer device 30 starts the unloading protruding operation M3. In Fig. 12, the article W is placed on the support part 11. Furthermore, the pair of protruding members 31 are in the reference position P1, and the first hook 41 and the second hook 42 are in the protruding posture S2.

[0039] Fig. 13 is a diagram showing a state in which the transfer device 30 is performing a lowering protruding operation M3. In Fig. 13, the pair of advancing and retreating members 31 are protruding from the reference position P1 to the protruding target position P2, and the first hook 41 and the second hook 42 are in a protruding posture S2.

[0040] Fig. 14 is a diagram of the transfer device 30 showing a state in which the pair of advancing and retreating members 31 are at the protrusion target position P2. In Fig. 14, the article W is placed on the support portion 11. The first hook 41 and the second hook 42 are in the protruding posture S2. In this embodiment, when the first hook 41 and the second hook 42 are shifted from the protruding posture S2 to the retracting posture S1, the unloading protruding operation M3 is completed and the unloading retracting operation M4 is started.

[0041] Figure 15 is a diagram showing the state in which the transfer device 30 is in the middle of the unloading and retracting operation M4. In Figure 15, the pair of advancing and retracting members 31 holding the article W are in the process of retracting from the protrusion target position P2 to the reference position P1, and the first hook 41 and the second hook 42 are in the retracted posture S1. In this embodiment, the movement speed during the unloading and retracting operation M4, i.e., the movement speed V4 of the pair of advancing and retracting members 31 not holding the article W and retracting from the protrusion target position P2 to the reference position P1, is the same as the above-mentioned reference movement speed V1.

[0042] Fig. 16 is a diagram showing a state in which the transfer device 30 has completed the unloading and retracting operation M4. In Fig. 16, the pair of advancing and retracting members 31 are at the reference position P1. The first hook 41 and the second hook 42 are in the retracted posture S1.

[0043] Fig. 17 is a diagram illustrating the first unloading operation M3a during a power outage performed by the transfer device 30. In this embodiment, if the supply of power from the main power source 51 to the transfer device 30 is interrupted while the unloading protrusion operation M3 is being performed (for example, the state shown in Fig. 13), the control device 61 executes the first unloading operation during a power outage M3a, in which the pair of advancing and retracting members 31 are protruded to the protrusion target position P2 while the pair of advancing and retracting members 31 hold the article W, and then the pair of advancing and retracting members 31 release their hold on the article W and retract the pair of advancing and retracting members 31 to the reference position P1, as shown in Fig. 17.

[0044] In this embodiment, the control device 61 sets the movement speed V3a of the pair of advancing and retracting members 31 retracting from the target protrusion position P2 to the reference position P1 in the first unloading operation M3a during a power outage to be lower than the reference movement speed V1, which is the movement speed of the pair of advancing and retracting members 31 protruding from the reference position P1 to the target protrusion position P2. The movement speed V3a is set to, for example, 30% or more and 60% or less of the reference movement speed V1.

[0045] Fig. 18 is a diagram illustrating the second unloading operation M4a during a power outage performed by the transfer device 30. In this embodiment, if the unloading retraction operation M4 (for example, the state shown in Fig. 15) is in progress when the power supply from the main power source 51 to the transfer device 30 is interrupted, the control device 61 executes the second unloading operation M4a during a power outage, in which the pair of advancing and retracting members 31 are retracted to the reference position P1 as shown in Fig. 18.

[0046] In this embodiment, the control device 61 sets the movement speed V4a of the pair of advancing and retracting members 31 retracting from the target protrusion position P2 to the reference position P1 in the second unloading operation M4a during a power outage to be lower than the reference movement speed V1, which is the movement speed of the pair of advancing and retracting members 31 protruding from the reference position P1 to the target protrusion position P2. The movement speed V4a is set to, for example, 30% or more and 60% or less of the reference movement speed V1.

[0047] In this embodiment, the hook 40 is set to the retracted posture S1 during the power outage scooping interruption operation M1c. Note that although the first hook 41 and the second hook 42 are linked to each other in Figures 4 to 18, they do not have to be linked to each other.

[0048] For example, when the transfer target location 22 is on the first side Y1 in the transfer direction Y, the first hook 41 may change its posture as appropriate and the second hook 42 may remain in the retracted posture S1 in the scooping protruding operation M1, the power failure scooping interruption operation M1c, the power failure scooping retracting operation M2, and the power failure scooping continuation operation M2a. Also, the second hook 42 may change its posture as appropriate and the first hook 41 may remain in the retracted posture S1 in the unloading protruding operation M3, the power failure first unloading operation M3a, the power failure unloading retracting operation M4, and the power failure second unloading operation M4a.

[0049] Furthermore, for example, when the transfer target location 22 is on the second side Y2 in the transfer direction Y, the second hook 42 may change its posture as appropriate in the scooping protruding operation M1, the power failure scooping interruption operation M1c, the scooping retracting operation M2, and the power failure scooping continuation operation M2a, and the first hook 41 may remain in the retracted posture S1. Furthermore, the first hook 41 may change its posture as appropriate in the unloading protruding operation M3, the power failure first unloading operation M3a, the unloading retracting operation M4, and the power failure second unloading operation M4a.

[0050] Other Embodiments Next, other embodiments of the article conveying facility 10 will be described.

[0051] (1) In the above embodiment, an example has been described in which the article transport equipment 10 is a shuttle rack, and the transfer device 30 is provided on an article transport vehicle 12 having a vehicle body 14 and a support portion 11. However, the present invention is not limited to such an example. For example, the article transport equipment 10 may be an automated warehouse equipped with a stacker crane, and the transfer device 30 may be configured as a stacker crane. The transfer device 30 may also be a fixed transfer device that is fixed to the floor, a shelf, or the like so as not to move. Furthermore, both the support portion 11 and the transfer target location 22 may be equipment provided outside the transfer device 30, such as a shelf or a conveyor.

[0052] (2) In the above embodiment, an example has been described in which the control device 61 provided in the transfer device 30 controls the drive device 35, the interval change device 36, and the hook position change device 45. However, the present invention is not limited to such an example, and for example, the transfer device 30 may be configured not to include the interval change device 36 or the hook position change device 45. Furthermore, for example, the control device 61 provided in the transfer device 30 may control the drive device 35, and another control device provided outside the transfer device 30 may control the interval change device 36 and the hook position change device 45.

[0053] (3) In the above embodiment, an example has been described in which the pair of hooks 40 are swung about the axis R1 and the axis R2, respectively, and the hooks 40 are placed in the protruding position S2 to engage with the article W, thereby causing the pair of protruding and retractable members 31 to hold the article W. However, the present invention is not limited to such an example. For example, the hooks 40 may not be provided, and the pair of protruding and retractable members 31 may hold the article W by sandwiching the article W in the width direction X, or the article W may be held by another holding mechanism provided on the pair of protruding and retractable members 31. Furthermore, the pair of hooks 40 may move linearly in the width direction X instead of swinging.

[0054] (4) In the above embodiment, an example has been described in which the main power supply 51 and the auxiliary power supply 52 are mounted on the article transport vehicle 12. However, the present invention is not limited to such an example, and the main power supply 51 and the auxiliary power supply 52 may be provided outside the article transport vehicle 12. For example, the main power supply 51 and the auxiliary power supply 52 may be installed on the fixed equipment side of the article transport equipment 10, such as the article storage shelf 20. In this case, for example, the article transport vehicle 12 may receive power by contact or without contact from a power supply line arranged along the movement path of the article transport vehicle 12. In such a case, the entire article transport equipment 10 may be provided with a single emergency generator as the auxiliary power supply 52.

[0055] (5) In the above embodiment, the moving speed V1c, the moving speed V3a, and the moving speed V4a are set to be lower than the reference moving speed V1. However, the present invention is not limited to such an example. For example, the reference moving speed V1, the moving speed V1c, the moving speed V3a, and the moving speed V4a may all be the same speed. Furthermore, the moving speed V1c, the moving speed V3a, and the moving speed V4a may be the same speed or different speeds.

[0056] (6) In the above embodiment, the moving speed V4 is set to the same speed as the reference moving speed V1. However, the present invention is not limited to such an example. For example, the moving speed V4 and the reference moving speed V1 may be different speeds. In this case, the moving speed V1c, the moving speed V3a, and the moving speed V4a may be set to speeds equal to or greater than 30% and equal to or less than 60% of the moving speed V4, respectively.

[0057] (7) In the above embodiment, the control device 61 performs the power outage scooping interruption operation M1c, the power outage scooping continuation operation M2a, the power outage first unloading operation M3a, and the power outage second unloading operation M4a as operations during a power outage. However, the present invention is not limited to such an example. For example, the control device 61 may be configured not to perform the power outage scooping continuation operation M2a. Furthermore, the control device 61 may be configured not to perform at least one of the power outage first unloading operation M3a and the power outage second unloading operation M4a.

[0058] (8) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0059] [Summary of the above embodiment] The above-described article transport facility will now be described.

[0060] The article transport equipment according to the present disclosure is an article transport equipment including a support section that supports an article, a transfer device that performs a transfer operation to move the article along a transfer direction between the support section and a transfer target location, and a power supply device that supplies power to the transfer device, wherein a direction perpendicular to the transfer direction in a vertical view is defined as a width direction, and the transfer device is arranged on both sides of the article in the width direction, and includes a pair of protruding and retracting members that protrude and retract in the transfer direction, a drive device that drives the pair of protruding and retracting members to protrude and retract, and a control device that controls the drive device, and the power supply device includes a main power source that receives power from a commercial power source and supplies power to the transfer device, and an auxiliary power source that temporarily supplies power to the transfer device when the power supply from the main power source to the transfer device is cut off, and when the power supply from the main power source to the transfer device is cut off, if the control device is in the middle of a scooping protrusion operation in which the pair of protruding and retracting members are protruding from a reference position corresponding to the support part to a target protrusion position corresponding to the target transfer location in order to move the item at the target transfer location to the support part, the control device executes a power outage scooping interruption operation in which the pair of protruding and retracting members are protruding to the target protrusion position and then retracting the pair of protruding and retracting members to the reference position without holding the item on the pair of protruding and retracting members.

[0061] This configuration reduces the possibility of the pair of retractable members stopping while protruding toward the target transfer location even if the power supply from the main power source to the transfer device is interrupted during the scooping operation due to, for example, a commercial power outage or a main power failure. Therefore, when the main power source is restored, the possibility of the transfer device moving with the pair of retractable members still protruding and interfering with other equipment is reduced. Furthermore, even when performing a scooping interruption operation during a power outage, the movement of the pair of retractable members in the transfer direction can be made the same as normal, which simplifies the control process by the control device. Furthermore, during a scooping interruption operation during a power outage, the pair of retractable members retract to the reference position without holding an item, thereby reducing power consumption from the auxiliary power source.

[0062] In one aspect, it is preferable that the control device, during the scooping interruption operation in the event of a power outage, sets the movement speed of the pair of protruding / retracting members retracting from the target protruding position to the reference position to be lower than the movement speed of the pair of protruding / retracting members protruding from the reference position to the target protruding position.

[0063] According to this configuration, the driving force of the drive device can be kept low during scooping suspension operation in the event of a power outage, making it easier to keep power consumption of the auxiliary power supply low during a power outage.

[0064] In one aspect, when the power supply from the main power source to the transfer device is interrupted, if the control device is in the middle of a scooping retraction operation in which a pair of protruding and retracting members holding the item at the transfer target location are retracted from the target protruding position to the reference position in order to move the item to the support section, the control device preferably executes a continued scooping operation during a power outage, in which the pair of protruding and retracting members are retracted to the reference position while the item is still held by the pair of protruding and retracting members.

[0065] According to this configuration, if the power supply from the main power source to the transfer device is interrupted during the scooping and retracting operation, the pair of advancing and retracting members that are already holding the item continue to scoop and retract. This allows the scooping and retracting operation of moving the item to the support part to be completed, and prevents the pair of advancing and retracting members from stopping in a state where they protrude toward the transfer target location.

[0066] In one aspect, the transfer device is provided with hooks that are supported by each of the pair of protruding and retracting members and that protrude and retract in the width direction relative to the protruding and retracting members, changing their position between a protruding position and a retracted position, and each of the pair of hooks is positioned in a position that overlaps with the item when viewed in the transfer direction along the transfer direction in the protruding position, and in the retracted position is positioned in a position that does not overlap with the item when viewed in the transfer direction, and the control device preferably performs the scooping interruption operation in the event of a power outage if the power supply from the main power source to the transfer device is interrupted after the pair of protruding and retracting members have protruded to the target protrusion position by the scooping protrusion operation with the hooks in the retracted position, and before the hooks start to change their position from the retracted position to the protruding position, and performs the scooping continuation operation in the event of a power outage if the power supply from the main power source to the transfer device is interrupted after the hooks have started to change their position from the retracted position to the protruding position.

[0067] According to this configuration, even after the pair of extension / retraction members have extended to the extension target position, the scooping interruption operation is executed until the hook starts to change its position to the extended position, thereby avoiding unnecessary hook operation and minimizing power consumption from the auxiliary power supply. Furthermore, with this configuration, once the hook starts changing its position to the protruding position, it continues scooping during a power outage. Therefore, there is no need to control the hook to return to the retracted position after starting to change its position to the protruding position, which makes it easier to simplify the control process by the control device.

[0068] In one aspect, when the power supply from the main power source to the transfer device is interrupted, if the control device is in the middle of a lowering / projecting operation in which the pair of protruding / retracting members holding the item on the support section are protruding from the reference position to the target protruding position in order to move the item on the support section to the target transfer location, the control device executes a first lowering / projecting operation in case of a power outage, in which the control device protrudes the pair of protruding / retracting members to the target protruding position while the item is still held by the pair of protruding / retracting members, and then causes the pair of protruding / retracting members to release their hold on the item and retracts the pair of protruding / retracting members to the reference position; and when the power supply from the main power source to the transfer device is interrupted, if the control device is in the middle of a lowering / retracting operation in which the pair of protruding / retracting members holding the item are protruding to the target protruding position in order to move the item on the support section to the target transfer location, and then retracts the pair of protruding / retracting members not holding the item from the target protruding position to the reference position, the control device executes a second lowering / projecting operation in case of a power outage, in which the control device retracts the pair of protruding / retracting members as they are to the reference position.

[0069] According to this configuration, if the power supply from the main power source to the transfer device is interrupted during the unloading operation, the unloading operation of the pair of protruding and retracting members continues, thereby completing the unloading operation of moving the item to the target transfer location and preventing the pair of protruding and retracting members from stopping in a state where they protrude toward the target transfer location.

[0070] In one aspect, it is preferable that the control device, during the first unloading operation during a power outage, sets the movement speed of the pair of protruding / retracting members retracting from the target protrusion position to the reference position to be lower than the movement speed of the pair of protruding / retracting members protruding from the reference position to the target protrusion position.

[0071] According to this configuration, the driving force of the drive device during the first power-off operation during a power outage can be kept low, making it easier to keep the power consumption of the auxiliary power supply low during a power outage.

[0072] In one aspect, the auxiliary power supply includes a power storage unit that stores power from the commercial power supply, It is preferable that the amount of electricity stored in the power storage unit be equal to or greater than the amount of electricity required for the transfer device to move the heaviest item among the multiple types of items from the transfer target location to the support unit.

[0073] According to this configuration, even if the power supply from the main power source to the transfer device is interrupted, it is possible to ensure the amount of power required for the transfer device to perform necessary operations. [Explanation of symbols]

[0074] 10: Goods transport equipment 11: Support part 22: Transfer location 30:Transfer device 31: Exit member 35: Drive unit 40: Hook 50:Power supply device 51: Main power supply 52: Auxiliary power supply 53: Power storage unit 60: Control device P1: Reference position P2:Protrusion target position S1: Evacuation posture S2: Protruding posture W:Goods

Claims

1. a support portion that supports an article; a transfer device that performs a transfer operation to move the item along a transfer direction between the support section and a transfer target location; a power supply device that supplies power to the transfer device; An article conveying facility comprising: When viewed from the up-down direction, the direction perpendicular to the transfer direction is defined as the width direction, the transfer device includes a pair of advancing and retreating members that are disposed on both sides of the article in the width direction and that advance and retreat in the transfer direction, a drive device that drives the pair of advancing and retreating members to advance and retreat, and a control device that controls the drive device, The power supply device includes a main power supply that receives power from a commercial power supply and supplies power to the transfer device, and an auxiliary power supply that temporarily supplies power to the transfer device when the power supply from the main power supply to the transfer device is interrupted, When the power supply from the main power source to the transfer device is cut off, if the control device is in the middle of a scooping protrusion operation in which a pair of protruding and retracting members are protruding from a reference position corresponding to the support part to a target protrusion position corresponding to the target transfer location in order to move the item at the target transfer location to the support part, the control device performs a scooping interruption operation in the event of a power outage, by protruding the pair of protruding and retracting members to the target protrusion position and then retracting the pair of protruding and retracting members to the reference position without holding the item on the pair of protruding and retracting members.

2. The item transport equipment of claim 1, wherein the control device reduces the movement speed of the pair of protruding / retracting members retracting from the target protrusion position to the reference position during the scooping interruption operation in the event of a power outage to a speed lower than the movement speed of the pair of protruding / retracting members protruding from the reference position to the target protrusion position.

3. The item transport equipment of claim 1, wherein when the power supply from the main power source to the transfer device is interrupted, if the control device is in the middle of a scooping retraction operation in which a pair of protruding and retracting members holding the item at the transfer target location are retracted from the target protruding position to the reference position in order to move the item at the transfer target location to the support section, the control device performs a continued scooping operation during a power outage, in which the pair of protruding and retracting members are retracted to the reference position while the item is still held by the pair of protruding and retracting members.

4. the transfer device includes hooks that are supported by the pair of advancing and retreating members, and that advance and retreat in the width direction relative to the advancing and retreating members and change their posture between a protruding posture and a retreated posture, Each of the pair of hooks is disposed at a position overlapping with the article when viewed in the transfer direction along the transfer direction in the protruding posture, and is disposed at a position not overlapping with the article when viewed in the transfer direction in the retracted posture, The control device executes the scooping interruption operation in the event of a power outage when the power supply from the main power source to the transfer device is interrupted before the hook starts to change its posture from the retracted posture to the protruding posture after the pair of protruding and retracting members are protruded to the protruding target position by the scooping protruding operation with the hook in the retracted posture, 4. The article transport equipment according to claim 3, wherein if the power supply from the main power source to the transfer device is interrupted after the hook has started to change position from the retracted position to the extended position, the scooping continuation operation is performed during a power outage.

5. The control device When the power supply from the main power source to the transfer device is interrupted, if the transfer device is in the middle of a lowering protrusion operation in which the pair of protruding and retracting members holding the item are protruding from the reference position to the target protrusion position in order to move the item on the support section to the transfer target location, a first lowering operation in the event of a power outage is executed, in which the pair of protruding and retracting members are protruding to the target protrusion position while the item is still being held by the pair of protruding and retracting members, and then the pair of protruding and retracting members are released from their hold on the item and retracted to the reference position, 5. An item transport facility as described in any one of claims 1 to 4, wherein, when the power supply from the main power source to the transfer device is interrupted, a pair of the protruding and retracting members holding the item on the support section are protruded to the target protruding position in order to move the item on the support section to the target transfer location, and then, if a lowering and retracting operation is in progress in which a pair of the protruding and retracting members not holding the item are retracted from the target protruding position to the reference position, a second lowering operation is performed in the event of a power outage, in which the pair of the protruding and retracting members are retracted as is to the reference position.

6. The item transport equipment described in claim 5, wherein the control device reduces the movement speed of the pair of protruding / retracting members retracting from the target protrusion position to the reference position during the first unloading operation during a power outage to be slower than the movement speed of the pair of protruding / retracting members protruding from the reference position to the target protrusion position.

7. the auxiliary power supply includes a power storage unit that stores power from the commercial power supply, 5. The item transport equipment according to claim 1, wherein the amount of electricity stored in the power storage unit is equal to or greater than the amount of electricity required for the transfer device to move the heaviest item among the multiple types of items from the transfer target location to the support unit.

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