Conveying Equipment

Abstract

The present invention provides a transport facility that is equipped with a transport vehicle that properly holds transported objects and that facilitates improving work efficiency for the transported objects. [Solution] The conveying facility 100 includes a transport vehicle 1 that transports an object B, a travel area 2 in which the transport vehicle 1 travels, a work station 3 where work is performed on the object B transported by the transport vehicle 1, and a transfer station 4 where the object B is handed over to and from the transport vehicle 1. The transport vehicle 1 includes a placement section on which the object B is placed, and a transfer device that moves the object B placed on the placement section along a specific transfer direction. When traveling between the transfer station 4 and a work location 30, the transport vehicle 1 places the object B at a reference position on the placement section. At the work location 30, the transport vehicle 1 operates the transfer device to place the object B at a work position different from the reference position.

Description

[Technical Field]

[0001] The present invention relates to a transport facility that includes a transport vehicle that transports an object to be transported and a work station where work is performed on the object transported by the transport vehicle. [Background technology]

[0002] An example of such a conveying facility is disclosed in Chinese Patent Application No. 117566638 (Patent Document 1). In the following description of this background art, the reference numerals and names in Patent Document 1 will be cited in parentheses.

[0003] The transport facility (transport facility) disclosed in Patent Document 1 includes a transport vehicle (transfer device) that transports the object to be transported (item 20). This transport vehicle (transfer device) includes a placement unit (loading member 300) that holds the object to be transported (item 20). A worker (person 30 or robot arm) performs work on the object to be transported (item 20) placed on the placement unit (loading member 300). Work performed by the worker (person 30 or robot arm) includes work to retrieve the object to be transported (item 20) placed on the placement unit (loading member 300), work to place the object to be transported (item 20) on the placement unit (transfer member 300), and the like. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Chinese Patent Application No. 117566638 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, it may be preferable that the placement position of the transport object (item 20) on the placement section (loading member 300) be different when an operation is being performed on the transport object (item 20) and when the transport vehicle (transfer device) is transporting the transport object (item 20). For example, when an operation is being performed on the transport object (item 20), work efficiency is likely to be improved if the transport object (item 20) is placed in a position close to the operator (person 30 or robot arm) or in a position far from the operator (person 30 or robot arm). On the other hand, a placement position close to the operator (person 30 or robot arm) or a position far from the operator (person 30 or robot arm) is likely to be a position far from where the placement section (loading member 300) can stably hold the transport object (item). If the object to be transported (item 20) is placed in such a position, the transport vehicle (transfer device) may not be able to properly hold the object to be transported (item 20) while transporting the object to be transported (item 20).

[0006] However, in Patent Document 1, the appropriate position of the object to be transported (item 20) on the placement section (loading member 300) is not considered when the transport vehicle (transfer device) is transporting the object to be transported (item 20). Therefore, there is a possibility that the object to be transported (item 20) will not be held appropriately when the transport vehicle (transfer device) is moving.

[0007] Therefore, it is desirable to realize a transport facility that is equipped with a transport vehicle that can properly hold the transported object and that can easily increase the work efficiency for the transported object. [Means for solving the problem]

[0008] In view of the above, the conveying facility includes a conveying vehicle that conveys an object to be conveyed; a travel area in which the transport vehicle travels; a work station that is arranged facing the travel area and in which work is performed on the object transported by the transport vehicle; a delivery station for delivering the object to and from the transport vehicle; A conveying facility comprising: The transport vehicle is a running unit that runs; a placement section on which the object to be transported is placed; a transfer device that moves the object placed on the placement unit along a specific transfer direction for delivery of the object to at least the delivery station; Equipped with A place in the travel area where the transport vehicle is adjacent to the work station is defined as a work place, The transport vehicle is When traveling between the delivery station and the work location, the object to be transported is placed at a reference position in the placement unit; At the work site, the transfer device is operated to place the object to be transported at a work position different from the reference position.

[0009] According to this characteristic configuration, when traveling between the delivery station and the work site, the object to be transported is placed at the reference position on the loading section, so that the object can be held appropriately on the loading section. Then, at the work site, the transfer device is operated to place the object to be transported at a work position different from the reference position, so that work at the work station can be easily performed.

[0010] 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]

[0011] [Figure 1] A diagram showing an example of the layout of the transport equipment. [Figure 2] A side view of the transport vehicle, travel area, and work station shown in Figure 1. [Figure 3] Enlarged view of the travel area shown in Figure 1 [Figure 4] Close-up of the work station shown in Figure 3 [Figure 5]FIG. 2 is a diagram showing an example of the operation of the transport vehicle of the transport facility shown in FIG. 1; [Figure 6] FIG. 1 is a plan view showing an example of a work guide device; [Figure 7] FIG. 10 is a plan view showing another example of the work guide device; DETAILED DESCRIPTION OF THE INVENTION

[0012] 〔overview〕 A conveying facility 100 according to an embodiment will be described with reference to the drawings. As shown in FIG. 1, the conveying facility 100 conveys an object B to be conveyed to a predetermined location. The object B to be conveyed includes, for example, a container for containing an object G, or the object G itself. In this embodiment, the conveying facility 100 collects one or more objects G stored in one or more locations and conveys them to the predetermined location. The object B to be conveyed is a container containing an object G, or an empty container that does not contain an object G. The container, which is the object B to be conveyed, is subjected to an operation of placing the object G in the container at one or more locations.

[0013] The conveyance facility 100 includes a transport vehicle 1, a travel area 2 in which the transport vehicle 1 travels, a work station 3 where work is performed on an object B transported by the transport vehicle 1, a delivery station 4 where the object B is handed over to and from the transport vehicle 1, and a control system 10. The control system 10 controls at least the transport vehicle 1 to transport the object B to the transport vehicle 1. The work station 3 and the delivery station 4 are arranged facing the travel area 2. The transport vehicle 1 moves to a position adjacent to the work station 3, where work is performed on the object B transported by the transport vehicle 1. In addition, the transport vehicle 1 moves to a position adjacent to the delivery station 4, where the object B is handed over between the transport vehicle 1 and the delivery station 4. In this embodiment, the control system 10 controls the transport vehicle 1 to move from the delivery station 4 to the delivery station 4 via a predetermined work station 3.

[0014] In this embodiment, the delivery station 4 includes a carry-in station 41 that carries at least a portion of the object B into the travel area 2, and an unloading station 42 that carries at least a portion of the object B out of the travel area 2. In the example shown in FIG. 1, the carry-in station 41 is a conveyor that carries the object B into the travel area 2. Specifically, in FIG. 1, an empty container is carried into the travel area 2 from the carry-in station 41 as the object B. The transport vehicle 1 receives the object B carried into the travel area 2 from the carry-in station 41 and travels within the travel area 2. Furthermore, while traveling within the travel area 2, the transport vehicle 1 passes through a position adjacent to the work station 3, whereby predetermined work is performed on the object B. After all work on the object B is completed, the transport vehicle 1 hands over the object B to the unloading station 42. The unloading station 42 illustrated in FIG. 1 is a conveyor that can receive the object B from the transport vehicle 1. The object B received by the unloading station 42 is, for example, carried out to the outside of the transport facility 100 and shipped.

[0015] As shown in FIGS. 1 and 2, the work station 3 includes a storage unit 31 that stores items for performing work on the transport object B, and a work entity 32 that performs work on the transport object B transported by the transport vehicle 1. In this embodiment, the storage unit 31 stores items G that are collected in a container, which is an example of the transport object B transported by the transport vehicle 1. FIG. 1 illustrates a storage shelf that stores the items G as an example of the storage unit 31. The work entity 32 is a person or a robot. In the example shown in FIG. 1, the work entity 32 is a person.

[0016] In this embodiment, the work entity 32 performs the work of removing an item G from the storage unit 31 and placing it in a container, which is the object to be transported B, transported by the transport vehicle 1. In the example shown in FIG. 2, when the work entity 32 performs work on the object to be transported B, information (order information) about the item G to be placed in a container transported by the transport vehicle 1 that has moved to the work station 3 is transmitted to the work entity 32 in advance. The work entity 32 removes the item G that matches the order information from the storage unit 31 and places it in the container, which is the object to be transported B, transported by the transport vehicle 1 that has moved to a position adjacent to the work station 3.

[0017] In this embodiment, the conveying facility 100 includes a plurality of work stations 3. The plurality of work stations 3 are arranged side by side. In the example shown in FIG. 2, the plurality of work stations 3 are arranged in a straight line along the travel area 2. With this configuration, the plurality of work stations 3 can be arranged in a relatively small space. Therefore, more work can be performed on the object B to be conveyed in a small space.

[0018] 2, the transport vehicle 1 includes a traveling section 11, a placement section 12 on which the transport object B is placed, and a transfer device 13. The transfer device 13 moves the transport object B placed on the placement section 12 along a specific transfer direction X to transfer the transport object B at least to and from the delivery station 4.

[0019] In this embodiment, the traveling unit 11 includes a plurality of wheels 112 that roll on the floor surface F of the traveling area 2, and a chassis 111 that rotatably supports the plurality of wheels 112. In the example shown in FIG. 2, the plurality of wheels 112 are arranged at least on both sides of the chassis 111 in a direction perpendicular to the traveling direction (traveling direction T). This configuration allows the traveling unit 11 to travel stably along the traveling direction T. The plurality of wheels 112 includes drive wheels that are rotationally driven by a drive source such as a motor. The chassis 111 travels on the floor surface F along the traveling direction T as the drive wheels rotate.

[0020] The traveling unit 11 travels freely within the traveling area 2. For this reason, in this embodiment, the traveling unit 11 is equipped with a recognition device (not shown) that recognizes the position within the traveling area 2 where the traveling unit 11 is traveling. The recognition device includes, for example, a detection unit (not shown) mounted on the chassis 111 and a detected unit (not shown) detected by the detection unit. The detected unit is located at a specific position on the floor surface F, and the control system 10, described later, recognizes the position of the traveling unit 11 when the detection unit detects the detected unit. The detected unit includes, for example, a magnetic material or an identification code such as a one-dimensional code or a two-dimensional code. If the detected unit is a magnetic material, the detection unit is configured with a detector or the like that detects the magnetic material. If the detected unit is an identification code, the detection unit is configured with a code reader or the like that reads the identification code. However, as long as the detection unit can detect the detected unit, the detection unit and the detected unit are not limited to such configurations. For example, the detected unit may be configured with an IC (Integrated Circuit) tag, and the detection unit may be configured with an IC tag reader. Alternatively, the detected part may be configured using a mark that is detected by being imaged by the detection part. The control system 10 controls the rotation of the plurality of wheels 112 based on the position of the traveling part 11 recognized by the recognition device.

[0021] The traveling unit 11 travels to a location in the traveling area 2 where the transport vehicle 1 will be adjacent to the work station 3, and to a location in the traveling area 2 where the transport vehicle 1 will be adjacent to the delivery station 4. Hereinafter, for convenience of explanation, the location where the transport vehicle 1 will be adjacent to the work station 3 will be referred to as the work location 30, and the location where the transport vehicle 1 will be adjacent to the delivery station 4 will be referred to as the delivery location 40. In this embodiment, the transport equipment 100 has multiple work stations 3, and therefore there is a work location 30 corresponding to each of the multiple work stations 3. In addition, in this embodiment, the delivery station 4 has a carry-in station 41 and an unloading station 42, and therefore the delivery location 40 is located at a position adjacent to the carry-in station 41 and a position adjacent to the unloading station 42.

[0022] 2 and 3, the transfer device 13 moves the object B to be transported in a transfer direction X that is perpendicular to the traveling direction T of the traveling part 11 when viewed from the top and bottom. In this embodiment, the transfer device 13 moves the object B to be transported horizontally along the transfer direction X. Examples of the transfer device 13 include a belt conveyor, a roller conveyor, a chain conveyor, and other conveyors. When the transfer device 13 is a conveyor, the placement part 12 is the upper surface of the conveyor.

[0023] 2 and 3, the direction in which the object B placed on the placement unit 12 can be moved is fixed relative to the traveling direction T of the traveling unit 11. According to this configuration, the transfer device 13 moves the object B only in one direction, and therefore the structure is simple.

[0024] The control system 10 assigns to each transport vehicle 1 a transport task that specifies designated locations including a location where the transport vehicle 1 receives the transport object B, a destination to which the transport vehicle 1 transports the transport object B, and a location where the transport vehicle 1 hands over the transport object B. In this embodiment, order information is input to the control system 10. Then, the control system 10 identifies a work station 3 having a storage unit 31 in which one or more items G included in the order information are stored, and sets the work location 30 of the corresponding work station 3 as the designated location. In this embodiment, the designated location specified as a location where the transport object B is received is the receiving location of the carry-in station 41, and the designated location specified as a location where the transport object B is handed over is the delivery location 40 of the carry-out station 42.

[0025] The control system 10 sets a travel route that passes through designated locations included in the transport task. In this embodiment, the travel route is set so as to pass through the delivery location 40 of the carry-in station 41, the work locations 30 of one or more work stations 3, and the delivery location 40 of the carry-out station 42 in the order listed.

[0026] In this embodiment, the control system 10 sets a travel lane 21 and a work lane 22 in the travel area 2. A travel route is set along the travel lane 21 and the work lane 22. The travel lane 21 is a lane for the transport vehicle 1 to move to a specific work lane 22, and the work lane 22 is a lane that includes a work location 30. The transport vehicle 1 travels in one direction along the travel lane 21 and the work lane 22. This configuration simplifies the setting of the travel route for each transport vehicle 1. In particular, when a large number of transport vehicles 1 are to travel in the travel area 2, having each transport vehicle 1 travel along the travel lane 21 and the work lane 22 can prevent the routes of the transport vehicles 1 from overlapping.

[0027] In the example shown in FIG. 3, a travel lane 21 and a work lane 22 are set along the direction in which the travel area 2 extends. The work lanes 22 are set on both sides of the travel area 2 in a direction perpendicular to the direction in which the travel area 2 extends. In the work lane 22 on the left side of the set of work lanes 22 as viewed from the paper (first work lane 221), the guided vehicle 1 moves in a direction away from the delivery station 4. On the other hand, in the work lane 22 on the right side of the set of work lanes 22 as viewed from the paper (second work lane 222), the guided vehicle 1 moves in a direction approaching the delivery station 4. A plurality of travel lanes 21 are set between the first work lane 221 and the second work lane 222. In the example shown in FIG. 3, three travel lanes 21 are included. The three travel lanes 21 include a down lane 211 and two up lanes (a first up lane 212 and a second up lane 213). In the down lane 211, the guided vehicle 1 moves in a direction away from the delivery station 4. On the other hand, in the up lane, the transport vehicle 1 moves in a direction approaching the delivery station 4. In detail, in Fig. 3, from the first work lane 221 to the second work lane 222, the down lane 211, the first up lane 212, and the second up lane 213 are set in the order shown.

[0028] The control system 10 includes, for example, a host control device (not shown) that manages the entire conveyance facility 100 and a vehicle control device (not shown) that controls each conveyance vehicle 1. The host control device and the vehicle control device are configured to communicate with each other. The host control device assigns conveyance tasks to the vehicle control devices (conveyance vehicles 1). The vehicle control devices assigned with conveyance tasks control various devices and the like provided therein according to the conveyance tasks. The host control device and the vehicle control device each include, for example, a processor such as a microcomputer, peripheral circuits such as memory, and the like. Each process or function is realized by cooperation between this hardware and a program executed on a processor such as a computer. Hereinafter, the process of the control system 10 is not strictly defined as being performed by either the host control device or the vehicle control device, and any process performed by either the host control device or the vehicle control device will be referred to as the process of the control system 10.

[0029] 〔control〕 Hereinafter, the details of the processing performed by the control system 10 will be described with reference to the drawings. Note that, hereinafter, when describing the content of the control performed by the control system 10 on the transport vehicle 1, there may be cases where it is simply explained how the transport vehicle 1 operates. For example, when the control system 10 controls the transport vehicle 1 to travel, there may be cases where it is simply explained that the transport vehicle 1 travels.

[0030] The control system 10 operates the transfer device 13 at each designated location included in the transfer task. In this embodiment, the control system 10 operates the transfer device 13 at a delivery location 40 and a work location 30 included in the transfer task. In the example shown in FIG. 1 , the transport vehicle 1 operates the transfer device 13 at the delivery location 40 corresponding to the delivery station 41 so as to receive the transport object B carried into the travel area 2 from the delivery station 41. Furthermore, the transport vehicle 1 operates the transfer device 13 at the delivery location 40 corresponding to the delivery station 42 so as to hand over the transport object B transported by the transport vehicle 1 to the delivery station 42. After receiving the transport object B at the delivery station 4, the transport vehicle 1 moves along the travel route to the work location 30 of the designated work station 3.

[0031] When the transport vehicle 1 travels between the delivery station 4 and the work site 30, it places the transport object B at a reference position 131 on the placement unit 12. At the work site 30, the transport vehicle 1 operates the transfer device 13 to place the transport object B at a work position 132, which is different from the reference position 131, as shown in FIG. 4. In this embodiment, the reference position 131 is set to the center position of the placement unit 12 in the transfer direction X. This configuration can reduce unbalanced load due to the weight of the transport object B, making it easier to stabilize the travel of the transport vehicle 1. In the example shown in FIG. 4, the work position 132 is set to the position closest to the work station 3 within the range of movement of the transfer device 13.

[0032] As shown in Fig. 3, after receiving the object B to be transported at the carry-in station 41, the transport vehicle 1 travels along the down lane 211 and moves to the first work lane 221. In detail, the transport vehicle 1 traveling along the down lane 211 turns to assume a position for traveling towards the first work lane 221, and then moves to the first work lane 221. Having entered the first work lane 221, the transport vehicle 1 turns to assume a position for traveling towards the work location 30 set within the first work lane 221. After turning, the transport vehicle 1 travels towards the work location 30.

[0033] As shown in FIGS. 3 and 4 , the transfer device 13 starts moving the object B from the reference position 131 to the working position 132 while the transport vehicle 1 is approaching the work site 30. In this embodiment, the transfer device 13 starts the operation of moving the object B from the reference position 131 to the working position 132 before the transport vehicle 1 arrives at the work site 30. Preferably, the transfer device 13 starts moving the object B when the transport vehicle 1 is at a position a set distance away from the work site 30. The set distance is determined taking into consideration the travel speed of the traveling unit 11 and the speed at which the transfer device 13 moves the object B from the reference position 131 to the working position 132. Preferably, the set distance is a distance at which the object B is placed at the working position 132 simultaneously with the transport vehicle 1 arriving at the work site 30. With this configuration, the worker 32 can start work on the object B simultaneously with the transport vehicle 1 arriving at the work site 30.

[0034] In the work place 30, the object B to be transported placed on the placement section 12 is placed at a work position 132. The work position 132 shown in Fig. 4 is a position that can be reached by a person, who is an example of the worker 32. With this configuration, the person, who is an example of the worker 32, can easily place the item G in a container, which is the object B to be transported.

[0035] When the transport object B is located on the working position 132 side, which is different from the reference position 131, the transport vehicle 1 reduces the travel speed of the traveling unit 11 compared to when the transport object B is located at the reference position 131. Here, the state in which the transport object B is located on the working position 132 side, which is different from the reference position 131, includes both a state in which the transport object B is located at the working position 132 and a state in which the transport object B is located between the reference position 131 and the working position 132. Furthermore, reducing the travel speed of the traveling unit 11 includes stopping the traveling unit 11 at the working location 30. In this embodiment, the transport vehicle 1 decelerates at a position a set distance before the working location 30 and stops at the working location 30. Hereinafter, for convenience of explanation, the travel speed of the transport vehicle 1 when the transport object B is located at the reference position 131 will be referred to as a first travel speed. On the other hand, the traveling speed of the transport vehicle 1 when the transport object B is located on the working position 132 side, which is different from the reference position 131, is referred to as a second traveling speed.

[0036] In this embodiment, the transport vehicle 1 travels at a first travel speed in the travel lane 21, and when entering the work lane 22 from the travel lane 21, it enters behind multiple transport vehicles 1 traveling in the work lane 22 and travels at a second travel speed in the work lane 22. In this way, it is possible to shorten the time from one transport vehicle 1 until the work to be performed by the next transport vehicle 1, and it is easy to improve the efficiency of work at the work station 3.

[0037] 5, among the multiple work stations 3, the work station 3 where work is performed on the transport object B is referred to as the target station 3T, and the work location 30 corresponding to the target station 3T is referred to as the target location 30T. When the transport vehicle 1 travels along the multiple work stations 3, it places the transport object B at a reference position 131 in work locations 30 other than the target location 30T, and places the transport object B at a work position 132 in the target location 30T. In this case, the transport vehicle 1 stops at the target location 30T and travels at locations other than the target location 30T.

[0038] After completing work at work location 30, transport vehicle 1 moves transport object B from work position 132 to reference position 131, as shown in Fig. 4. While transport object B is being moved from work position 132 to reference position 131, transport vehicle 1 travels at a second traveling speed. After transport object B is placed at reference position 131, transport vehicle 1 travels at a first traveling speed.

[0039] In the example shown in FIG. 3 , the transport vehicle 1 that has finished work at the work site 30 on the first work lane 221 moves toward the work site 30 on the second work lane 222. Because the travel directions of the transport vehicle 1 are different between the second work lane 222 and the first work lane 221, the transport vehicle 1 moves to a position behind the multiple transport vehicles 1 traveling on the second work lane 222. For this reason, the transport vehicle 1 traveling on the first work lane 221 first enters the second up lane 213. Then, this transport vehicle 1 travels on the second up lane 213 to a position behind the multiple transport vehicles 1 traveling on the second work lane 222, and then enters the second work lane 222. After work at the work site 30 on the second work lane 222 is completed, the transport vehicle 1 moves to the first up lane 212, travels toward the carry-out station 42, and hands over the transport target object B to the carry-out station 42.

[0040] [Preferred Configuration] A preferred configuration of the transport facility 100 according to the embodiment will be described below.

[0041] Preferably, the conveyance facility 100 further includes a regulating member 5 disposed between the work station 3 and the work location 30, as shown in FIG. 2 . The regulating member 5 is disposed so as to face the object B placed on the placement section 12 of the transport vehicle 1 located at the work location 30 from the work station 3 side. In this embodiment, the regulating member 5 is installed on the floor F. With this configuration, when the object B is transferred at the transfer station 4, there is no risk that the regulating member 5 will obstruct the transfer of the object B, unlike when the regulating member 5 is provided on the transport vehicle 1. In other words, the regulating member 5 is disposed at the transfer location 40 at a position away from the regulating position so as not to obstruct the transfer of the object B between the transfer station 4 and the work location 30, and there is no need for the regulating member 5 to be movable so as to move to the regulating position at the work location 30, thereby simplifying the structure of the transport vehicle 1.

[0042] In this embodiment, the regulating unit 52 includes a fixing unit 51 and a regulating unit 52. The regulating unit 52 is in the form of a guide bar that guides the side of the transport object B from the work position 132 side in the transfer direction X. The fixing unit 51 is a rod-shaped member that fixes the regulating unit 52 to the floor surface F. The fixing unit 51 is disposed between the travel area 2 and the work main body 32. Therefore, the transport vehicle 1 does not need to avoid the fixing unit 51 when traveling, which makes it easier to improve transport efficiency.

[0043] Preferably, the conveyance facility 100 further includes a work guiding device 6 installed at a position corresponding to the work location 30, as shown in Fig. 6. In this embodiment, the work guiding device 6 guides the work by limiting visibility from the worker.

[0044] Here, the work subject 32 is referred to as the worker, the worker at the work station 3 is referred to as the target worker 32T, and the position of the transport object B placed at the work position 132 of the transport vehicle 1 located at the work site 30 is referred to as the work object position 133.

[0045] The work guiding device 6 includes a work limiting member 60 arranged to cover the transported object B located at a position other than the work object position 133 as viewed from the target worker 32T, and an opening 61 provided in the work limiting member 60 to allow the target worker 32T to work on the transported object B located at the work object position 133. In the example shown in FIG. 6, the work limiting member 60 is arranged on both sides of the work object position 133 in the traveling direction T so as to cover the transported object B located at a position other than the work object position 133. In this embodiment, the work limiting member 60 is a plate-shaped member. In this embodiment, the opening 61 has a size corresponding to the size of the opening of a container serving as the transported object B. In the example shown in FIG. 6, the size of the opening 61 is slightly larger than the opening of the container serving as the transported object B. In the example shown in FIG. 6, the work limiting member 60 also covers the space on the reference position 131 side (in this embodiment, the side away from the work station 3) of the opening 61 in the transfer direction X.

[0046] Preferably, as shown in FIG. 7 , the work guidance device 6 is provided with a temporary placement table 62 on which an item G is temporarily placed. With this configuration, the target worker 32T can temporarily place the item G on the temporary placement table 62. Therefore, the target worker 32T can easily place the item G in the container as the transport target B so as to effectively utilize the space within the container. The temporary placement table 62 illustrated in FIG. 7 covers the side of the opening 61 that faces the reference position 131 in the transfer direction X. A placement surface on the upper part of the temporary placement table 62 is provided on which one or more items G can be placed. With this configuration, the target worker 32T can view the inside of the container from the opening 61 at hand, and can easily view the item G placed on the temporary placement table 62 at the same time. Therefore, the worker can easily perform work on the transport target B.

[0047] Other Embodiments Next, other embodiments of the conveying facility 100 will be described.

[0048] (1) In the above embodiment, the conveying equipment 100 was described as collecting one or more objects G stored in one or more locations and conveying them to a predetermined location. However, the conveying equipment 100 may also convey one or more objects G as conveying objects B to one or more locations.

[0049] (2) In the above embodiment, the transfer station 4 is described as including the carry-in station 41 and the carry-out station 42. However, the transfer station 4 does not have to be configured to include the carry-in station 41 and the carry-out station 42, and may be a device that integrates the functions of the carry-in station 41 and the carry-out station 42. Additionally, in the above embodiment, the carry-in station 41 and the carry-out station 42 are described as conveyors. However, the carry-in station 41 and the carry-out station 42 may be a stacker crane or other transfer device 13.

[0050] (3) In the above embodiment, it has been explained that the storage unit 31 stores items G to be collected in a container, which is the transport object B transported by the transport vehicle 1. However, the storage unit 31 may also be a tool required to perform work on the transport object B.

[0051] (4) In the above embodiment, the work entity 32 is described as taking out the item G from the storage unit 31 and placing it in a container that is the object B to be transported and transported by the transport vehicle 1. However, at the work station 3, the work entity 32 may collect one or more objects B being transported by the transport vehicle 1 and store them in the storage unit 31. When the work entity 32 performs such work, for example, information (order information) about the object B to be transported to be collected from the transport vehicle 1 that has moved to the work station 3 is transmitted to the work entity 32 in advance. The work entity 32 collects the object B to be transported indicated in the order information from the transport vehicle 1.

[0052] (5) In the above embodiment, the multiple work stations 3 are described as being arranged in a straight line. However, the arrangement of the multiple work stations 3 is not limited to a straight line. For example, the multiple work stations 3 may be arranged in a curved or bent positional relationship when viewed from above.

[0053] (6) In the above embodiment, the running unit 11 is described as having a plurality of wheels 112 and running freely on the floor surface F. However, the running unit 11 may be configured to run along a track.

[0054] (7) In the above embodiment, the traveling unit 11 is described as being equipped with a recognition device that recognizes the position where the traveling unit 11 is traveling within the traveling area 2. However, the traveling unit 11 may travel along a predetermined route without being equipped with a recognition device. Also, the recognition device is described as being equipped with a detectable portion that is placed at a specific position on the floor surface F and a detection portion that detects the detectable portion. However, instead of being equipped with a detectable portion and a detection portion, the recognition device may be equipped with a sensor that detects the situation around the chassis 111. In this case, the control system 10 integrates information collected by the sensors attached to the chassis 111 to recognize the position of the chassis 111 within the traveling area 2 and set a traveling route.

[0055] (8) In the above embodiment, the transfer device 13 is described as a conveyor. However, the transfer device 13 may be a fork-type transfer device or a pressure-type transfer device such as a pusher. Also, in the above embodiment, the placement unit 12 is described as the upper surface of the conveyor. However, the placement unit 12 may be a support table that the transfer device moves in the transfer direction X.

[0056] (9) In the above embodiment, the transfer direction X is described as a direction perpendicular to the traveling direction T of the traveling unit 11 when viewed in the vertical direction. However, the transfer direction X may be a direction parallel to the traveling direction T of the traveling unit 11 when viewed in the vertical direction. Furthermore, the transfer direction X may be configured such that the transfer direction X of the transfer device 13 can be changed relative to the traveling unit 11.

[0057] (10) In the above embodiment, the working position 132 is described as the position closest to the work station 3 within the movable range of the transfer device 13. However, the working position 132 may be any position closer to the work station 3 than the reference position 131 in the transfer direction X. The working position 132 may also be a position farther from the work station 3 in the transfer direction X. Furthermore, the working position 132 may be a position that extends beyond the conveyor, and may be, for example, a position where the posture of the transported object B can be maintained while in contact with a guide that prevents the transported object B from falling.

[0058] (11) In the above embodiment, the transfer device 13 is provided between the traveling section 11 and the mounting section 12. However, a lifting device or a turning device may be provided between the traveling section 11 and the mounting section 12.

[0059] (12) In the above embodiment, a plurality of work locations 30 are provided along with a plurality of work stations 3. However, the number of work stations 3 and work locations 30 may be one.

[0060] (13) In the above embodiment, the control system 10 is described as including a host control device and a vehicle control device that controls each guided vehicle 1. However, the control system 10 may be configured to include only the vehicle control device of each guided vehicle 1 without including a host control device.

[0061] (14) In the above embodiment, it has been described that the transfer direction X is fixed relative to the traveling direction T. However, the transfer direction X is not limited to being fixed relative to the traveling direction T, and for example, the transfer direction X may be changed by rotating the conveyor.

[0062] (15) In the above embodiment, the transport vehicle 1 is described as slowing down and stopping before the work site 30. However, the transport vehicle 1 may decelerate before the work site 30 and then pass through the work site 30 without stopping. In this case, the work subject 32 may or may not perform work on the transport object B transported by the transport vehicle 1 passing through the work site 30.

[0063] (16) In the above embodiment, the guided vehicle 1 is described as stopping at the target location 30T and traveling outside the target location 30T. However, the guided vehicle 1 may decelerate and travel without stopping at the target location 30T.

[0064] (17) In the above embodiment, the regulating member 5 is described as being installed on the floor surface F. However, the regulating member 5 may be installed on a work table, a conveyor, or the like of the work station 3.

[0065] (18) In the above embodiment, the regulating member 5 is described as including the fixing portion 51 and the regulating portion 52. Here, the shape of the fixing portion 51 and the regulating portion 52 may be any shape as long as the regulating portion 52 can regulate the movement of the transport object B toward the work station 3.

[0066] (19) In the above embodiment, the work guidance device 6 was described as restricting the worker from seeing anything other than the transported object B. However, the work guidance device 6 is not limited in terms of visibility as long as it can restrict the worker from working on anything other than the transported object B. For example, the work guidance device 6 may be a transparent plate, a semi-transparent plate, a perforated fence, or the like, placed between the worker and anything other than the transported object B.

[0067] (20) In the above embodiment, the work limiting member 60 is described as a plate-shaped member. However, the work limiting member 60 is not limited to a plate-shaped member and may be a fence-like member, a perforated fence, or the like.

[0068] (21) In the above embodiment, the work guidance device 6 has been described as restricting the worker from viewing anything other than the transported object B. However, the work guidance device 6 may guide the work of the target worker 32T by relatively increasing the visibility of the transported object B. For example, the work guidance device 6 may be a light source that illuminates the work object position 133.

[0069] (22) Note that the configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradiction occurs. 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.

[0070] [Summary of this embodiment] The above-described embodiments of the conveying equipment will be summarized below.

[0071] The transport equipment includes a transport vehicle that transports the object to be transported, a travel area in which the transport vehicle travels; a work station that is arranged facing the travel area and in which work is performed on the object transported by the transport vehicle; a delivery station for delivering the object to and from the transport vehicle; A conveying facility comprising: The transport vehicle is a running unit that runs; a placement section on which the object to be transported is placed; a transfer device that moves the object placed on the placement unit along a specific transfer direction for delivery of the object to at least the delivery station; Equipped with A place in the travel area where the transport vehicle is adjacent to the work station is defined as a work place, The transport vehicle is When traveling between the delivery station and the work location, the object to be transported is placed at a reference position in the placement unit; At the work site, the transfer device is operated to place the object to be transported at a work position different from the reference position.

[0072] According to this characteristic configuration, when traveling between the delivery station and the work site, the object to be transported is placed at the reference position on the loading section, so that the object can be held appropriately on the loading section. Then, at the work site, the transfer device is operated to place the object to be transported at a work position different from the reference position, so that work at the work station can be easily performed.

[0073] It is also preferable that the transport vehicle starts moving the object from the reference position to the work position while approaching the work site.

[0074] According to this configuration, the object to be conveyed can be placed in the work position when the object arrives at the work site, which makes it easier to improve the efficiency of work at the work station.

[0075] Furthermore, when the object to be transported is located on the working position side, which is different from the reference position, it is preferable that the transport vehicle slows down the traveling speed of the running unit compared to when the object to be transported is located at the reference position.

[0076] According to this configuration, by reducing the travel speed when the transported object is located closer to the work station than the reference position, it is possible to reduce the possibility of the transported object falling due to vibrations during travel, etc. In addition, it is possible to reduce the possibility of the stability of the transport vehicle being impaired by traveling at high speed when the transported object is located closer to the work position than the reference position.

[0077] In addition, a plurality of the work stations are provided, and the plurality of work stations are arranged side by side, Among the plurality of work stations, the work station where work is performed on the transport object is defined as a target station, and the work location corresponding to the target station is defined as a target location, When the transport vehicle travels along multiple work stations, it is preferable that the transport object be placed at the reference position at work locations other than the target location, and that the transport object be placed at the work position at the target location.

[0078] According to this configuration, at work locations corresponding to work stations where no work is performed on the transported object, the transported object can be left positioned at the reference position, thereby reducing the frequency of operating the transfer device and allowing the transported object to be held appropriately.Furthermore, at target locations corresponding to target stations where work is performed on the transported object, the transported object is positioned at the work position, making it easier to work at the work stations.

[0079] The transfer device is a conveyor, the placement portion is an upper surface of the conveyor, The transfer direction is preferably a direction perpendicular to the traveling direction of the traveling portion when viewed from above.

[0080] According to this configuration, the transfer device can be easily configured simply, and the object to be transferred can be easily moved between the reference position and the working position.

[0081] The apparatus further includes a restricting member disposed between the work station and the work location, It is preferable that the regulating member is disposed so as to face the object to be transported placed on the placement section of the transport vehicle located at the work site from the work station side.

[0082] According to this configuration, when the work position is set closer to the work station than the reference position, when the transport vehicle places the object to be transported at the work position in the work area, the object to be transported can be restricted from moving closer to the work station than the work position, and ultimately, the object to be transported can be made less likely to fall from the loading section.

[0083] The work site may further include a work guide device installed at a position corresponding to the work site, A worker at the work station is defined as a target worker, and the position of the object to be transported placed at the work position of the transport vehicle located at the work site is defined as a work object position, It is preferable that the work guidance device comprises a work restriction member arranged to cover the transported object that is located at a position other than the work object position as viewed from the target worker, and an opening provided in the work restriction member to allow the target worker to work on the transported object that is located at the work object position.

[0084] This configuration reduces work errors made by workers and improves work efficiency. [Industrial Applicability]

[0085] The technology disclosed herein can be used in a transport facility that includes a transport vehicle that transports an object to be transported and a work station where work is performed on the object transported by the transport vehicle. [Explanation of symbols]

[0086] 1: Transport vehicle 2: Driving area 3:Work station 3T: Target station 4: Delivery station 5: Regulating member 6: Work guide device 11: Running part 12: Placement section 13:Transfer device 30:Work place 30T: Target location 32T: Target worker 52: Regulation Department 60: Work restriction member 61: Opening 100:Transportation equipment 131: Reference position 132: Working position 133: Work object position B: Transported object T: Traveling direction X: Transfer direction

Claims

1. a transport vehicle that transports an object to be transported; a travel area in which the transport vehicle travels; a work station that is arranged facing the travel area and in which work is performed on the object transported by the transport vehicle; a delivery station for delivering the object to and from the transport vehicle; A conveying facility comprising: The transport vehicle is a running unit that runs; a placement section on which the object to be transported is placed; a transfer device that moves the object placed on the placement unit along a specific transfer direction for delivery of the object to at least the delivery station; Equipped with A place in the travel area where the transport vehicle is adjacent to the work station is defined as a work place, The transport vehicle is When traveling between the delivery station and the work location, the object to be transported is placed at a reference position in the placement unit; In the work location, the transfer device is operated to place the object to be transported at a work position different from the reference position.

2. The transport facility according to claim 1 , wherein the transport vehicle starts moving the object from the reference position to the work position while approaching the work location.

3. The conveying equipment according to claim 1 or 2, wherein the conveying vehicle reduces the traveling speed of the traveling unit when the object to be conveyed is at the working position side different from the reference position compared to when the object to be conveyed is at the reference position.

4. The work station is provided in plurality, and the plurality of work stations are arranged side by side, Among the plurality of work stations, the work station where work is performed on the transport object is defined as a target station, and the work location corresponding to the target station is defined as a target location, The conveying equipment according to claim 1 or 2, wherein when the conveying vehicle travels along the plurality of work stations, the conveying vehicle places the object to be conveyed at the reference position at work locations other than the target location, and places the object to be conveyed at the work position at the target location.

5. the transfer device is a conveyor; the placement portion is an upper surface of the conveyor, The conveying facility according to claim 1 or 2, wherein the transfer direction is a direction perpendicular to the traveling direction of the traveling part when viewed from above.

6. Further, a restricting member is provided between the work station and the work location, 3. The conveying equipment according to claim 1, wherein the regulating member is positioned so as to face the object to be conveyed placed on the placement section of the conveying vehicle located at the work site from the work station side.

7. Further, a work guide device is provided at a position corresponding to the work location, A worker at the work station is defined as a target worker, and the position of the object to be transported placed at the work position of the transport vehicle located at the work site is defined as a work object position, 3. The conveying equipment according to claim 1 or 2, wherein the work guidance device comprises: a work limiting member arranged to cover the transported object that is located at a position other than the work object position as viewed from the target worker; and an opening provided in the work limiting member to allow the target worker to work on the transported object that is located at the work object position.

Images