Conveying equipment

Abstract

To provide a conveying facility capable of effectively protecting a floor surface from abrasion caused by friction with wheels of a conveying vehicle.SOLUTION: The transport facility 1 includes a transport vehicle 2 and a floor surface 31 on which the transport vehicle 2 travels. The transport vehicle 2 transports the transport-object 10. The transport vehicle 2 includes wheels 222 that roll on the floor surface 31, and an own vehicle position recognition device 23 for recognizing the own vehicle position on the floor surface 31. The transport vehicle 2 is configured to travel along a path that is selected from among predetermined travelable paths 23R based on the result of recognition of the position of the transport vehicle 2 by the vehicle position recognition device 23. The reinforcing member 4 is disposed at a specific position P where wear due to friction with the wheel 222 is larger than other positions in the wheel track WT. The reinforcing member 4 has a surface having higher wear resistance than the floor surface 31.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a conveying facility provided with a carrier traveling on a floor surface.

Background Art

[0002] A conveying facility provided with a carrier traveling on a floor surface is used. The carrier travels along a set traveling route to convey an object to be conveyed. An example of such a conveying facility is disclosed in Patent Document 1 below. In the following description of the background art, the reference numerals and names in Patent Document 1 are cited within parentheses.

[0003] In the conveying facility of Patent Document 1, a carrier (carrier for plate-like articles 1) travels along a travelable path (travel path 2) in a conveying area (clean room) to convey an object to be conveyed (plate-like article) to each of a plurality of stations (3). Since the carrier (carrier for plate-like articles 1) repeatedly travels on the travelable path (travel path 2) on the floor surface (floor part), there is a risk of wear due to friction with the wheels (travel wheels 5) of the carrier (carrier for plate-like articles 1). Therefore, in the conveying facility of Patent Document 1, in order to protect the floor surface (floor part) from wear due to friction with the wheels (travel wheels 5) of the carrier (carrier for plate-like articles 1), the strength of the floor surface (floor part) is increased.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in order to increase the strength of the floor surface (floor part), the cost of the members constituting the floor surface (floor part) tends to increase accordingly, and the cost of the conveying facility also tends to increase.

[0006] Therefore, there is a need for a transport system that can effectively protect the floor surface from wear caused by friction with the transport vehicle's wheels. [Means for solving the problem]

[0007] In light of the above, conveying equipment teeth, A transport vehicle that transports the object to be transported, and the vehicle on which the transport vehicle travels Planar The floor and, A conveying device equipped with, The transport vehicle comprises wheels that roll on the floor surface and a vehicle position recognition device for recognizing its own position on the floor surface. The transport vehicle is configured to travel along a route selected from a set of available routes based on the results of the vehicle position recognition device, The trajectory of the wheels of the transport vehicle traveling along the traversable path on the floor surface is defined as the wheel trajectory. On the aforementioned floor surface, In the wheel track, at specific locations where wear due to friction with the wheels is greater than at other locations, a reinforcing member having a surface with higher wear resistance than the floor surface is placed. Ori , The reinforcing member, in plan view, is one of the following shapes: circular, elliptical, or a polygon with arc-shaped corners, is formed in sheet form, comprises a surface sheet that constitutes the surface, and an adhesive layer for adhering the surface sheet to the floor surface, and is attached to the specific location using the adhesive layer. .

[0008] This configuration makes it less likely that specific areas of the floor surface will wear down more than other areas due to friction with the wheels, even when the transport vehicle repeatedly travels along a route selected from a set of available paths. Therefore, this configuration effectively protects the floor surface from wear due to friction with the wheels while keeping the cost of the transport equipment lower compared to reinforcing the entire floor surface. Furthermore, this configuration ensures high wear resistance on the surface of the reinforcing members, and allows for easy installation of reinforcing members in specific locations simply by attaching them to the floor surface. Replacing the reinforcing members is also relatively easy, requiring only the replacement of the reinforcing member itself.

[0009] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0010] [Figure 1] Schematic diagram of the conveying equipment [Figure 2] Side view of the transport vehicle [Figure 3] Front view of the transport vehicle [Figure 4] Enlarged view of the bend at the second specific location shown in Figure 1. [Figure 5] Enlarged view of the rotation position at the second specific location shown in Figure 1. [Figure 6] Enlarged view of the third specific location shown in Figure 1 [Figure 7] Cross-sectional view of the reinforcing member shown in Figure 1. [Modes for carrying out the invention]

[0011] 1. Overview of the conveying equipment The conveying equipment 1 according to this embodiment will be described with reference to the drawings. As shown in Figure 1, the conveying equipment 1 is equipment for conveying objects 10 from a conveying source to a conveying destination. The conveying source and destination include, for example, a station for receiving objects 10 into an automated warehouse (not shown) or retrieving objects 10 from an automated warehouse, manufacturing equipment, and a work area. The manufacturing equipment is equipment for manufacturing goods, etc., using objects 10. The work area includes, for example, a shipping work area and a sorting work area. The shipping work area is an area where work is done to ship the objects 10. The sorting work area is a sorting area where sorting work is done on the objects 10.

[0012] Figure 1 illustrates a dispatch station 32 as the source of transport, for retrieving the transported object 10 from a warehouse (not shown) where the transported object 10 is stored. It also illustrates a receiving station 33 as the destination, for receiving the transported object 10 into the warehouse where the transported object 10 is stored.

[0013] The conveying equipment 1 includes a carrier vehicle 2 for conveying the object to be conveyed 10, a control system (not shown) for controlling the carrier vehicle 2, and a conveying area 3 on which the carrier vehicle 2 travels. The carrier vehicle 2 travels on the floor surface 31 constituting the conveying area 3 to convey the object to be conveyed 10 from the conveying source to the conveying destination. In the conveying area 3, one or more carrier vehicles 2 are traveling. Specifically, the floor surface 31 is a floor surface 31 provided inside a building or a floor surface 31 provided within a certain range outdoors, including planar ones. For a carrier vehicle 2 traveling on such a floor surface 31, the area where the carrier vehicle 2 can travel is larger compared to an overhead carrier vehicle traveling along a rail suspended from the ceiling or a rail-guided cart traveling along a track arranged on the floor surface 31. Therefore, the effect of efficiently protecting the floor surface 31 is significant.

[0014] Hereinafter, the carrier vehicle 2, the control system, and the conveying area 3 will be described. For convenience of explanation, one of the two directions along the floor surface 31 is referred to as the "first direction D1", and the other of the two directions along the floor surface 31 is referred to as the "second direction D2". The direction intersecting with the "first direction D1" and the "second direction D2" is referred to as the "vertical direction D3".

[0015] 2. Carrier Vehicle The carrier vehicle 2 unloads the object to be conveyed 10 at the conveying source and loads the object to be conveyed 10 at the conveying destination. To exhibit this function, as shown in FIGS. 2 and 3, the carrier vehicle 2 includes a transfer device 21, a traveling device 22, and a self-vehicle position recognition device 23.

[0016] The transfer device 21 is a device that supports the object to be transported 10 and transfers the object to be transported 10 at the source and destination of transportation. In the present embodiment, the transfer device 21 moves the object to be transported 10 in the vertical direction D3. Specifically, in a state where the transport vehicle 2 is arranged at the shipping station 32 which is an example of the source of transportation, the transfer device 21 receives the object to be transported 10 arranged in the warehouse or the shipping station 32. On the other hand, in a state where the transport vehicle 2 is arranged at the receiving station 33 which is an example of the destination of transportation, the transfer device 21 moves the object to be transported 10 arranged in the warehouse or the receiving station 33 to a position where the object to be transported 10 is delivered in the warehouse or the receiving station 33.

[0017] The transfer device 21 may include, for example, a lifting mechanism (lifter) that raises and lowers the target transported object in the vertical direction D3. Further, the transfer device 21 may include a fork-type or conveyor-type transfer mechanism that moves the target transported object in the first direction D1 or the second direction D2, a pressing mechanism (pusher), and the like. Alternatively, the transfer device 21 may include a mechanism that moves the target transported object in both the vertical direction D3 and the first direction D1 or the second direction D2, for example, a fork-type transfer machine.

[0018] The traveling device 22 is a device for traveling the transport vehicle 2. The traveling device 22 includes a vehicle body 221 and wheels 222 that roll on the floor surface 31. Various devices for transporting the target transported object are mounted on the vehicle body 221. The wheels 222 are rotatably supported with respect to the vehicle body 221. The wheels 222 illustrated in FIGS. 1 to 3 are arranged below the vehicle body 221.

[0019] In the present embodiment, the traveling device 22 includes a plurality of wheels 222. The plurality of wheels 222 include drive wheels W1 that are rotationally driven by a drive source such as a motor. The vehicle body 221 can move by the rotation of the drive wheels W1. In addition, in the present embodiment, the plurality of wheels 222 include driven wheels W2. The driven wheels W2 are wheels 222 that rotate following the movement of the vehicle body 221 that moves along with the rotation of the drive wheels W1.

[0020] In this embodiment, the multiple wheels 222 include a pair of drive wheels W1 and four driven wheels W2. The pair of drive wheels W1 are positioned at the bottom of the chassis 221, spaced apart in the width direction (second direction D2 in Figure 2). The driven wheels W2 are also positioned at the bottom of the chassis 221, similar to the drive wheels W1. Each of the four driven wheels W2 is positioned at one of the four corners of the chassis 221.

[0021] In this embodiment, the driven wheels W2 are equipped with a direction-changing function that changes the direction of the transport vehicle 2. Each driven wheel W2 changes its posture so as to change the angle of inclination with respect to the first direction D1 in the vertical direction D3 view, with respect to the axis of rotation in the vertical direction D3 view, thereby changing the direction of travel of the transport vehicle 2. Hereafter, for the sake of explanation, the change in the angle of inclination with respect to the first direction D1 in the vertical direction D3 view, in order for the driven wheels W2 to perform their direction-changing function, will be referred to as "the driven wheels W2 changing their posture."

[0022] The vehicle position recognition device 23 is a device for recognizing the vehicle's position on the floor surface 31. The vehicle includes the transport vehicle 2 to which the vehicle position recognition device 23 is attached, and the transport vehicle 2 whose position is recognized by the control system. The vehicle's position on the floor surface 31 is determined by its coordinates in a coordinate system set based on a reference position provided on the floor surface 31, or by the distance to a wall or equipment located in the transport area 3.

[0023] The transport vehicle 2 is configured to change direction based on a preset reference position, using the vehicle position recognition result from the vehicle position recognition device 23 as a reference. Therefore, the transport vehicle 2 changes direction when it reaches the preset position.

[0024] In this embodiment, as shown in Figure 3, the vehicle position recognition device 23 includes a detection unit 231 which serves as a reference position for setting a traversable path 23R on which the transport vehicle 2 can travel, and a detection unit 232 which detects the detection unit 231. The detection unit 232 is mounted on the chassis 221, and the detection unit 231 is installed in the transport area 3. In this embodiment, the reference position is the position of each of the multiple detection units 231 arranged on the floor surface 31. As shown in Figure 1, the transport vehicle 2 is configured to travel along a path (traversable path 23R) that is set to connect the multiple detection units 231. In the example shown in Figure 1, the detection units 231 are regularly spaced apart on the floor surface 31 of the travel area 34. The traversable path 23R is set to connect, for example, the positions where two detection units 231 are located in a straight line.

[0025] In this embodiment, the detected unit 231 includes, for example, a magnetic material, an identification code such as a one-dimensional code or a two-dimensional code. If the detected unit 231 is a magnetic material, the detection unit 232 is composed of a detector or the like that detects the magnetic material. If the detected unit 231 is an identification code, the detection unit 232 is composed of a code reader or the like that reads the identification code. However, the detection unit 232 and the detected unit 231 are not limited to this configuration as long as the detection unit 232 can detect the detected unit 231. For example, the detected unit 231 may be composed of an IC (Integrated Circuit) tag and the detection unit 232 may be composed of an IC tag reader. Alternatively, the detected unit 231 may be composed of a mark that is detected by being imaged by the detection unit 232.

[0026] 3. Control System The control system controls one or more transport vehicles 2. Specifically, the control system moves the transport vehicles 2 to designated locations, including the source and destination, and causes the transport vehicles 2 to perform actions for the transfer of the transported objects 10 at the designated locations. In the example of control of the transport vehicle 2 by the control system shown in Figure 1, the controlled transport vehicle 2 moves from the dispatch station 32 in a first direction D1 and changes direction to travel in a second direction D2. The control system then moves the changed-direction transport vehicle 2 to the receiving station 33. For the sake of explanation, the transported objects 10 transported by the transport vehicle 2 are not shown in Figure 1. Also, for the sake of explanation, hereafter, the control system's control of the transport vehicle 2's movement will be simply referred to as the transport vehicle 2 moving.

[0027] The control system calculates multiple candidate possible travel paths 23R for transport vehicle 2 to move to a designated location. From the calculated multiple possible travel paths 23R, the control system sets the actual travel path for transport vehicle 2. Then, the control system drives transport vehicle 2 along the travel path to move it to the designated location.

[0028] The control system assigns a transport task to each of the multiple transport vehicles 2 for transporting the object to be transported 10. The transport task includes instructions to transport the object to be transported 10 from the source to the destination. Each transport vehicle 2 to which the transport task has been assigned by the control system transports the object to be transported 10 from the source to the destination according to the transport task. The transport task also includes instructions for the travel route of the transport vehicle 2 to which the transport task has been assigned. As a result, the transport vehicle 2 travels along a route (travel route) selected from the pre-set possible travel routes 23R based on the results of the vehicle position recognition device 23.

[0029] The control system includes, for example, a higher-level control device (not shown) that manages the entire transport equipment 1, and a vehicle control device (not shown) that controls each transport vehicle 2. The higher-level control device and the vehicle control devices are configured to communicate with each other. The higher-level control device assigns transport tasks to the vehicle control devices (transport vehicles 2). The vehicle control device that has been assigned a transport task controls various devices installed on itself according to that transport task. The higher-level control device and the vehicle control devices are equipped with, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each process or function is realized through the cooperation of this hardware and a program executed on a processor such as a computer.

[0030] 4. Transport Area The transport area 3 comprises an unloading facility as the source of transport, an inloading facility as the destination of transport, auxiliary equipment (not shown) to assist the transport vehicle 2 in its movement, a travel area 34 consisting of a floor surface 31 on which the transport vehicle 2 travels, and a reinforcing member 4. The reinforcing member 4 is a member for reinforcing the floor surface 31 of the travel area 34. The transport area 3 illustrated in Figure 1 represents one floor inside a factory or warehouse building.

[0031] In this embodiment, a travel area 34 is provided adjacent to the loading and unloading equipment. The transport vehicle 2 travels on the floor surface 31 provided in the travel area 34. Therefore, friction occurs between the floor surface 31 and the wheels 222 at the points on the floor surface 31 where the wheels 222 come into contact. This friction may cause wear on the floor surface 31. The reinforcing member 4 prevents wear from occurring on the floor surface 31 at the points where the wheels 222 come into contact. In the following description, the trajectory on the floor surface 31 where the wheels 222 of the transport vehicle 2 travel along the traversable path 23R come into contact will be referred to as the wheel trajectory WT.

[0032] The reinforcing member 4 has a surface with higher wear resistance than the floor surface 31. In addition, it is preferable that the reinforcing member 4 is formed in a sheet shape. Wear resistance of the reinforcing member 4 refers to the property that the reinforcing member 4 is less likely to wear down when friction occurs between the reinforcing member 4 and the floor surface 31. Specifically, the hardness of the surface of the reinforcing member 4 is higher than that of the floor surface 31. In addition, it is preferable that the surface of the reinforcing member 4 has a low coefficient of friction in the case of friction with the driven wheel W2. This makes it less likely for wear due to friction to occur between the driven wheel W2 and the reinforcing member 4.

[0033] The reinforcing member 4 is positioned at a specific location P in the wheel track WT where frictional wear between the wheel 222 and the floor surface 31 is greater than at other locations. Here, the magnitude of frictional wear between the wheel 222 and the floor surface 31 is determined by at least one of the magnitude of the frictional force acting on the floor surface 31 and the frequency with which the frictional force acts. In detail, a larger frictional force acting on the floor surface 31 results in greater wear on the floor surface 31. Also, a higher frequency with which the frictional force acts on the floor surface 31 results in greater wear on the floor surface 31.

[0034] The specific location P includes areas where the wheels 222 frequently come into contact with the floor surface 31, and areas where the transport vehicle 2 changes direction. By placing the reinforcing member 4 at the specific location P, the wheels 222 of the transport vehicle 2 passing through the specific location P come into contact with the reinforcing member 4. As a result, the reinforcing member 4 comes into contact with the wheels 222 instead of the floor surface 31, preventing frictional wear between the floor surface 31 and the wheels 222 at the specific location P.

[0035] In this embodiment, the specific location P includes at least one of a first specific location P1, a second specific location P2, and a third specific location P3, as shown in Figure 1. The first specific location P1 is a location where the frequency of passage of the wheel 222 is above a preset threshold. The second specific location P2 is a location where the wheel 222 rotates around an axis along the vertical direction D3 relative to the floor surface 31. The third specific location P3 is a location where the wheel 222 starts rolling from a stationary state. Here, the first specific location P1 is a location where the wheel 222 and the floor surface 31 make contact many times. The second specific location P2 and the third specific location P3 are locations where the transport vehicle 2 changes direction.

[0036] At the first specific location P1, the frequency of the wheels 222 passing includes, for example, the number of times the wheels 222 pass per unit time. Specifically, the first specific location P1 is an intersection of the wheel trajectory WT, or a position on the wheel trajectory WT formed by a transport vehicle 2 traveling on a main route, which is a drivable route 23R connecting the main loading and unloading facilities. Figure 1 illustrates the location where the wheel trajectory WT is formed when goods are transported from the outbound station 32 to one of the multiple loading stations 33 provided on the transport facility 1 as the first specific location P1. Specifically, the transport vehicle 2 leaving the outbound station 32 passes through the drivable route 23R that goes through the detection unit 231 located adjacent to the outbound station 32. The trajectory of the wheels 222 formed by the transport vehicle 2 traveling along the drivable route 23R becomes the first specific location P1.

[0037] Preferably, if the first specific location P1 is the wheel track WT on a main route such as a traversable route 23R connecting the main loading and unloading facilities, the reinforcing members 4 are arranged at intervals along the wheel track WT. This configuration makes it possible to reduce the number of reinforcing members 4 installed at the first specific location P1.

[0038] Furthermore, preferably, when the first specific location P1 is the wheel track WT on a main route such as a traversable route 23R connecting the main loading and unloading facilities, the reinforcing member 4 is placed at the first specific location P1 where the wear resistance of the floor surface 31 is relatively low. With this configuration, since the reinforcing member 4 is placed only at locations where the wear of the floor surface 31 is likely to be high, the floor surface 31 can be effectively protected with a small number of reinforcing members 4.

[0039] The second specific location P2 includes, for example, corners in the traversable path 23R where the wheel trajectory WT bends, or where the curvature of the wheel trajectory WT changes, as well as turning locations where the transport vehicle 2 turns.

[0040] The turning points are the locations where the wheel trajectory WT is formed when the transport vehicle 2 changes direction while in motion. For example, when the transport vehicle 2 changes direction, if the side the transport vehicle 2 is heading towards is considered the inside and the opposite side is considered the outside, then slippage occurs in the direction of travel on the outer surface of the contact surface of the wheel 222 that is in contact with the floor surface 31. This is because the outer surface of the wheel 222 moves at a higher speed than the inner surface of the wheel 222.

[0041] The curved sections include the points that form the boundary between the straight section and the curved section in the wheel trajectory WT, as shown in Figures 1 and 4. As shown in Figure 4, the transport vehicle 2 traveling toward the detection unit 231 changes the orientation of the driven wheels W2 in a direction intersecting the direction of travel. The change in the orientation of the driven wheels W2 is performed while the transport vehicle 2 is in motion. By placing the reinforcing member 4 at the second specific location P2, each driven wheel W2 changes its orientation on the reinforcing member 4.

[0042] As shown in Figures 1 and 5, the turning points are the points where the transport vehicle 2 changes its horizontal orientation while stopped in place. For example, when the transport vehicle 2 changes the orientation of the driven wheels W2 while stopped, the driven wheels W2 change orientation while sliding between the floor surface 31. Therefore, when the orientation of the driven wheels W2 is changed while the vehicle is stopped, wear due to friction between the floor surface 31 and the wheels 222 tends to increase.

[0043] The turning points include the points where the driven wheels W2 come into contact with the floor surface 31 when the driven wheels W2 change their orientation, as shown in Figure 5. As shown in Figure 5, the transport vehicle 2 traveling toward the detected section 231 stops briefly above the detected section 231. Then, while stopped, the transport vehicle 2 changes the orientation of the driven wheels W2. By placing the reinforcing member 4 at the second specific location P2, each driven wheel W2 changes its orientation on the reinforcing member 4.

[0044] The third specific location P3 includes, for example, a position where the transport vehicle 2 temporarily stops to perform some operation, as shown in Figures 1 and 6. Such positions include the outbound station 32 or inbound station 33, which are the source or destination of the transport, or a charging station, which is an example of auxiliary equipment, where the transport vehicle 2 stops to receive power. In particular, if the direction in which the transport vehicle 2 was moving just before stopping is different from the direction in which the transport vehicle 2 moves from a stopped state, the driven wheels W2 change their orientation so that they rotate in the direction of movement of the transport vehicle 2, as shown in Figure 6. Therefore, friction is likely to occur between the contact surface of the driven wheels W2 with the floor surface 31 and the floor surface 31. In addition, the transport vehicle 2 often turns at charging stations, transfer stations, etc., and in this respect as well, there is a lot of wear on the driven wheels W2 due to friction between the driven wheels W2 and the floor surface 31.

[0045] In this embodiment, as shown in Figure 6, when the transport vehicle 2, which has entered and stopped at the receiving station 33, moves away from the receiving station 33, each driven wheel W2 changes its orientation on the reinforcing member 4. Then, each driven wheel W2, having changed its orientation on the reinforcing member 4, rolls on the floor surface 31 in the orientation for moving away from the receiving station 33.

[0046] The first to third specific locations P1 to P3 were determined in relation to the movement of the transport vehicle 2. Here, specific locations P can also be determined based on the wheel trajectory WT. When based on the wheel trajectory WT, specific locations P include at least one of the following: a location where multiple wheel trajectories WT overlap, a location where the curvature of the wheel trajectory WT changes, and a location where the direction of extension of the wheel trajectory WT changes. A location where multiple wheel trajectories WT overlap includes, for example, a location where multiple different wheel trajectories WT intersect, touch, or overlap. Here, overlap includes the meaning that the wheel trajectories WT of different transport vehicles 2 overlap. A location where the direction of extension of the wheel trajectory WT changes includes, for example, a corner or a location included within a curve.

[0047] Preferably, the reinforcing members 4 are placed only at specific locations P. With this configuration, since the reinforcing members 4 are not placed anywhere other than the specific locations P, the number of reinforcing members 4 required to reinforce the floor surface 31 is reduced. Consequently, the overall cost of the conveying equipment 1 is reduced.

[0048] As shown in Figure 7, the reinforcing member 4 is formed in a sheet shape, and has an adhesive layer 42 on the back surface of the surface sheet 41 for adhesion to the floor surface 31. In addition, the surface sheet 41 is preferably made of metal or synthetic resin. The surface sheet 41 includes plate-shaped sheets. However, the thickness of the reinforcing member 4 is preferably such that vibration does not occur in the transport vehicle 2 when the wheels 222 move from the floor surface 31 to the reinforcing member 4 due to the step created between the floor surface 31 and the reinforcing member 4. In this embodiment, the adhesive layer 42 is a layer made of adhesive. The adhesive layer 42 may also be an adhesive seal or the like.

[0049] Stainless steel is preferred as the material for the surface sheet 41 that constitutes the reinforcing member 4. With this configuration, the reinforcing member 4 is less prone to rusting. Therefore, it is possible to prevent problems caused by the reinforcing member 4 rusting and the rust coming into contact with the wheel 222. Such problems include, for example, rust that has formed on the reinforcing member 4 adhering to the wheel 222.

[0050] Preferably, the reinforcing member 4 is harder than the contact surface of the driven wheel W2. According to this configuration, the driven wheel W2 will wear down. Since the worn driven wheel W2 can be replaced, the overall cost of the conveying equipment 1 is reduced.

[0051] More preferably, the reinforcing member 4 has a shape without corners in plan view. With this configuration, when the wheel 222 comes into contact with the reinforcing member 4, the wheel 222 is less likely to get caught on the reinforcing member 4. This prevents the wheel 222 from getting caught on the reinforcing member 4 and peeling off the floor surface 31. Shapes without corners include circular, elliptical, and polygonal shapes with arc-shaped corners in plan view. The reinforcing member 4 illustrated in Figures 1, 4 to 7 is circular in plan view. Therefore, the reinforcing member 4 has a simple structure, and when the wheel 222 of the moving transport vehicle 2 rides over the reinforcing member 4, the reinforcing member 4 is less likely to get caught on the wheel 222.

[0052] 5. Other Embodiments Next, other embodiments of the conveying equipment 1 will be described.

[0053] (1) In this embodiment, the running gear 22 is described as having a pair of drive wheels W1. However, the number of drive wheels W1 is not limited to one pair. For example, the running gear 22 may have one or more than one pair of drive wheels W1. Also, in this embodiment, it is described that four driven wheels W2 are located at the bottom of the chassis 221. However, the number of driven wheels W2 may be other than four. Furthermore, the driven wheels W2 may be located elsewhere than at the bottom of the chassis 221.

[0054] (2) In this embodiment, it has been explained that among the multiple wheels 222 provided by the running gear 22, there are drive wheels W1 and driven wheels W2. However, all of the multiple wheels 222 provided by the running gear 22 may be drive wheels W1.

[0055] (3) In this embodiment, the driven wheel W2 is described as having a direction-changing function. However, the drive wheel W1 may have a direction-changing function instead of the driven wheel W2. In addition, both the driven wheel W2 and the drive wheel W1 may have a direction-changing function.

[0056] (4) In this embodiment, the vehicle position recognition device 23 has been described as comprising a detection unit 232 and a detected unit 231. However, the vehicle position recognition device 23 can have any configuration as long as it can recognize the vehicle's position on the floor surface 31. For example, the vehicle position recognition device 23 may be a combination of a detector that detects components (such as walls and devices) in the unloading area arranged around the transport vehicle 2 and a computing unit. The computing unit creates map information of the transport area 3 based on the positional relationship between the components and the transport vehicle 2 detected by the detection unit 232, and identifies the vehicle's position on the map. The detector may be, for example, a sensor that detects whether or not objects are arranged within a certain range around the vehicle, or a sensor such as a laser rangefinder that measures the distance from objects arranged around the vehicle to the vehicle's position. In this case, the vehicle's position on the floor surface 31 is set based on objects arranged around the vehicle, and the drivable path 23R is determined by the arrangement of surrounding walls and devices. Furthermore, the vehicle position recognition device 23 may be a position recognition device that uses radio waves, such as GPS (Global Positioning System). In this case, the vehicle's position on the floor surface 31 is determined by coordinates in a coordinate system set based on a reference position provided on the floor surface 31. With these configurations, there is no need to place a reference point for the transport vehicle 2 to travel in the travel area 34, thus simplifying the entire transport equipment 1.

[0057] (5) In this embodiment, the traversable path 23R has been described as, for example, a path that connects two different detected parts 231 in a straight line. However, the traversable path 23R may also be a path that connects two different detected parts 231 in a curved line, or a path formed by combining a path that connects two different detected parts 231 in a straight line and a path that connects two different detected parts 231 in a curved line.

[0058] (6) In this embodiment, the traversable path 23R has been described as being determined by a plurality of detectable units 231 arranged at intervals. However, the traversable path 23R may also be determined along detectable units 231 extending in one or more directions. For example, the traversable path 23R may be determined along a magnetic tape that extends in one or more directions and is installed on the floor surface 31. In this case, the detectable units 231 are the magnetic tape installed on the floor surface 31, and the detection unit 232 is a magnetic sensor attached to the transport vehicle 2 that detects the magnetism of the magnetic tape installed on the floor surface 31.

[0059] (7) In this embodiment, the second specific location P2 was described as a location in the wheel track WT where a straight section meets a curved section. However, the second specific location P2 may also be a boundary between curves with different curvature directions or between curves with different curvatures in the wheel track WT.

[0060] (8) In this embodiment, it has been explained that stainless steel is preferred as the material of the surface sheet 41 constituting the reinforcing member 4. However, the material of the surface sheet 41 constituting the reinforcing member 4 may be synthetic resin or a metal other than stainless steel. For example, if the material of the surface sheet 41 constituting the reinforcing member 4 is synthetic resin, there is the advantage that rust will not occur on the reinforcing member 4.

[0061] (9) The configurations disclosed in each of the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0062] 6. Summary of this embodiment The following is a summary of the embodiments of the conveying equipment described above.

[0063] The conveying equipment comprises a conveying vehicle for conveying objects and a floor surface on which the conveying vehicle travels, The transport vehicle comprises wheels that roll on the floor surface and a vehicle position recognition device for recognizing its own position on the floor surface. The transport vehicle is configured to travel along a route selected from a set of available routes based on the results of the vehicle position recognition device, The trajectory of the wheels of the transport vehicle traveling along the traversable path on the floor surface is defined as the wheel trajectory. Reinforcement members having a surface with higher wear resistance than the floor surface are placed at specific locations within the wheel track where wear due to friction with the wheels is greater than at other locations.

[0064] This configuration makes it less likely that specific areas of the floor surface will wear down more than other areas due to friction with the wheels, even when the transport vehicle repeatedly travels along a route selected from a set of available paths. Therefore, this configuration effectively protects the floor surface from wear due to friction with the wheels while keeping the cost of the transport equipment lower compared to reinforcing the entire floor surface.

[0065] Furthermore, the conveying equipment preferably includes at least one of the following locations: a location where the frequency of the wheel's passage is above a preset threshold; a location where the wheel rotates around its vertical axis relative to the floor surface; and a location where the wheel begins rolling from a stationary state.

[0066] This configuration allows for the appropriate placement of reinforcing members in areas of the wheel track where friction with the wheels is likely to be greater than in other areas. Therefore, areas of the floor surface that are prone to wear due to friction with the wheels can be appropriately reinforced.

[0067] Furthermore, it is preferable that the conveying equipment includes at least one of the following locations: a location where multiple wheel tracks overlap, a location where the curvature of the wheel tracks changes, and a location where the direction of extension of the wheel tracks changes.

[0068] This configuration allows for the appropriate placement of reinforcing members in areas of the wheel track where friction with the wheels is likely to be greater than in other areas. Therefore, areas of the floor surface that are prone to wear due to friction with the wheels can be appropriately reinforced.

[0069] Furthermore, the conveying equipment preferably comprises a reinforcing member formed in a sheet shape, a surface sheet constituting the surface, and an adhesive layer for adhering the surface sheet to the floor surface.

[0070] This configuration ensures high wear resistance on the surface of the reinforcing member, and allows for easy installation of the reinforcing member at specific locations simply by attaching it to the floor surface. Furthermore, replacing the reinforcing member is also relatively easy, requiring only the replacement of the reinforcing member itself. [Industrial applicability]

[0071] The technology disclosed herein can be used in conveying equipment equipped with transport vehicles that travel on the floor. [Explanation of Symbols]

[0072] 1: Conveying equipment 2: Transport vehicle 4: Reinforcement member 10: Object to be transported 23: Vehicle position recognition device 23R: Available routes 31: Floor surface 41: Surface sheet 42: Adhesive layer 222 :Wheel P: Specific location WT: Wheel trajectory

Claims

1. A transport vehicle that transports the object to be transported, The flat floor surface on which the transport vehicle travels, A conveying device equipped with, The transport vehicle comprises wheels that roll on the floor surface and a vehicle position recognition device for recognizing its own position on the floor surface. The transport vehicle is configured to travel along a route selected from a set of available routes based on the results of the vehicle position recognition device, The trajectory of the wheels of the transport vehicle traveling along the traversable path on the floor surface is defined as the wheel trajectory. A reinforcing member having a surface with higher wear resistance than the floor surface is placed at a specific location on the floor surface where wear due to friction with the wheels is greater than at other locations within the wheel trajectory. The reinforcing member is In plan view, it is one of the following shapes: circular, elliptical, or a polygon with its corners curved into an arc. It is formed in a sheet shape, and the surface sheet that constitutes the surface, The surface sheet comprises an adhesive layer for adhering it to the floor surface, A conveying device attached to the aforementioned specific location using the adhesive layer.

2. The conveying equipment according to claim 1, wherein the specified location includes at least one of the following: a location where the frequency of passage of the wheel is above a preset threshold; a location where the wheel rotates around its vertical axis relative to the floor surface; and a location where the wheel starts rolling from a stationary state.

3. The conveying equipment according to claim 1, wherein the specified location includes at least one of the locations where multiple wheel tracks overlap, the location where the curvature of the wheel tracks changes, and the location where the direction of extension of the wheel tracks changes.

Images