JP2004018183A - Automatic guided vehicle corresponding to various small lot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic guided vehicle having relatively simple structure, and capable of effectively transferring a plurality of packing boxes of various kinds, by transferring the packing boxes storing components to be used as many as the number to be used while destacking the packing boxes from a location of the packaging boxes being stored in a stacked state, in a process in which production items are various and a production lot is small. <P>SOLUTION: This automatic guided vehicle comprises: a rack part having a plurality of stages mounted on a body having a driving part, a travelling part, and a control part; a destacking and transferring mechanism which performs loading/unloading of articles; and a rack moving mechanism which moves the articles between the rack part and the destacking and transferring mechanism. The destacking and transferring mechanism comprises: a transfer stage capable of holding the articles; a detector; a gripping lifting part for gripping the articles; a transfer arm capable of pulling in or pushing out the articles by cooperating with the gripping lifting part; and a lifting part for vertically lifting the transfer stage, the detector, the gripping lifting part, and the transfer arm, to perform positioning. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an automatic guided vehicle, and more particularly, to an automatic guided vehicle capable of handling small-lot articles of various types.
[0002]
[Prior art]
Automated guided vehicles are being used in various production / manufacturing plants, and their spread has been remarkable. With the increasing use of automated guided vehicles, there is a demand for improved performance and functions and increased functions.
On the other hand, at various production sites, diversification of consumer needs requires production of various types of items, and from the viewpoint of efficient use of equipment and effective use of space, it is only necessary to produce one product. And a production process capable of producing various types of items is required. In such a process, if the production lot size is large, a large amount of product inventory is held, and inventory reduction is required due to demands such as effective use of storage space and reduction of burden on inventory holding funds. For this reason, it is necessary to reduce the production lot size, but this time, the burden of transporting parts used for production from the location where the parts are stored to the production process according to the small lot size is required. Becomes larger. The reason for this is that even if the transport amount is the same as when the production lot size is large, the contents must handle many types of parts.
[0003]
Under such circumstances, efficient handling of various types of articles is required. In this case, handling multiple types of goods at the same time using an automatic guided vehicle increases the transportation efficiency in terms of the transportation of the goods, promotes the automation of transportation, and eliminates human intervention. Since the operation time of the vehicle can be extended, the transportation method is more efficient, and is an effective transport method from the viewpoint of efficient production. As a result, it is possible to save transportation time, save labor, and reduce the number of transportation facilities such as the required number of unmanned transportation vehicles.
[0004]
As described above, when a part to be used is transported in accordance with the production lot size in a process in which the production items are various and the production lot size is small, it is required to be transported by an unmanned transport vehicle. However, this has the following problems.
Usually, storage lanes for each item are arranged side by side at a storage location of parts, and in order to make effective use of the area, the storage boxes storing the parts are often stored in a stacked state on the storage lane. In this case, in order to transport only one packing box in which the used parts are stored, it is necessary to unload the stacked packing boxes. Therefore, an automatic guided vehicle is required to have a function corresponding to this separation.
[0005]
Conventional techniques for this separation include JP-A-6-16243, JP-A-5-14037, and JP-A-6-95736.
However, there is a method in which the storage lane side is separated by a method such as Japanese Unexamined Patent Publication No. 6-16243 or Japanese Utility Model Application Laid-Open No. 5-14037. However, there are many types of production items and there are a plurality of storage lanes for each item. In this case, the cost is high, such as the need for a mechanism for separating the storage lanes by the number of storage lanes.
As another technique, Japanese Patent Application Laid-Open No. Hei 6-95736 discloses a method of providing a transfer mechanism that can be placed on the automatic guided vehicle body. However, the stacked boxes are inserted into a storage lane and sandwiched from both sides. In this method of taking off in a cool manner, a space is required on both sides of the storage lane, that is, between adjacent storage lanes, and if there are multiple storage lanes for each item, the storage location is equivalent to the space And the efficient use of the area is hindered.
[0006]
On the other hand, in terms of transport efficiency, transporting only one box in which parts to be used are stored by the number of used parts is poor in transport efficiency. In addition, since the production lot size is small, it is required to convey in a short time, and depending on the conveyance time or the conveyance distance, a plurality of automatic guided vehicles are required, which increases the cost. Japanese Patent Application Laid-Open No. H10-303274 discloses a conventional technique for this transfer efficiency. In this example, a plurality of shelves on which a cargo box can be placed are provided on an automatic guided vehicle main body, and the entire shelf moves up and down, so that a predetermined shelf can be moved. By aligning the height with the height of the transfer, loading the packing boxes, and repeating this as many times as the number of shelves, there is a method that can load and transport multiple types of packing boxes at once, but in this method, When the shelf is lowered most, the shelf at the same height as the transfer height becomes the top shelf, and the number of shelves is restricted by the height of the transfer and the height of the packing box. Further, since the entire shelf needs to be moved up and down, a mechanism having a high output enough to move the total weight of the shelf itself and the packed box at full load up and down is necessary, so that the cost is also high.
[0007]
[Problems to be solved by the invention]
As described above, the solution disclosed in the above document is not always an effective practical solution due to the effective use of area, the cost of equipment, and the complexity of the structure of the automatic guided vehicle. The present invention has been made in view of the above-mentioned circumstances, and in a process in which a variety of production items are used and a production lot size is small, a storage box in which parts to be used are stored in the used number is stored in a stacked state. Providing an unmanned transport vehicle with a relatively simple structure that has the function of loading and unloading multiple packing boxes from the location where it is being transferred, and that can transport more efficiently. The purpose is to do.
In addition, an increase in the area required for loading and unloading packing boxes due to the use of the automatic guided vehicle is minimized.
In recent years, in the production process, it is considered that diversification and small lots will be more and more advanced, and effective transport means in such an area will be required in the future.
[0008]
[Means for Solving the Problems]
In order to achieve the above-mentioned object, an automatic guided vehicle in a form according to claim 1 of the present invention includes at least a driving unit, a traveling unit driven by the driving unit, and a control unit that controls the automatic guided vehicle itself. And a shelf having a plurality of steps installed on the main body, a shelf transfer mechanism for loading and unloading articles to be conveyed which is also installed on the main body, and further comprising the shelf And a shelf moving mechanism for moving an article between the shelf of each stage and the unstacking transfer mechanism. The unstacking transfer mechanism is capable of holding the article, and a transfer stage that moves the article between the article unloading location and the shelf, and a stacked stacked target article. A lifting / lowering unit capable of gripping the article, and a transfer arm capable of pulling in or pushing out the article in cooperation with the gripping / lifting unit, and A transfer arm capable of pulling the stacked articles onto the transfer stage, pushing the articles on the transfer stage to another location, and the like; at least the transfer stage and the detector And a vertically movable part which can be positioned by vertically moving the gripping lifting part and the transfer arm, wherein the lifting part sets the height of the transfer stage to the height of a plurality of shelves of the shelf part. Or stacking in storage And wherein the working and capable lifting unit, a further provision of such matched to the height of the goods has been.
[0009]
With this configuration, the automatic guided vehicle of the present invention can simultaneously handle a plurality of various types of packing boxes containing parts from a storage location where packing boxes to be handled are stacked to a location where the parts should be loaded. It can be transported, and furthermore, it is possible to effectively use the space by minimizing an increase in the area which is not necessary in the storage location.
Since a plurality of different types of packing boxes can be transferred at the same time, the required number of automatic guided vehicles can be minimized, and efficient transfer is possible.
Further, the handling mechanism of the packing box does not require a large-scale mechanism for moving a shelf, can be implemented by a relatively simple mechanism of the related art, and has a relatively simple structure. Therefore, the automatic guided vehicle of the present invention is advantageous in cost.
By managing and controlling the automatic guided vehicle of the present invention by a host computer, it is possible to automate the transportation of the packing box and save labor.
[0010]
An automatic guided vehicle according to a second aspect of the present invention is characterized in that, in the first aspect of the present invention, the transfer stage mounts and holds the article on itself.
With this configuration, the structure of the transfer stage is simplified.
[0011]
According to a third aspect of the present invention, in any one of the first and second aspects, two sets of the shelves are provided.
According to this embodiment, the automatic guided vehicle can load more items at the same time.
[0012]
According to a fourth aspect of the present invention, in the third aspect, the step-off transfer mechanism is disposed between the two sets of shelves, and further, the step-off transfer mechanism and The two sets of shelves are arranged side by side with respect to the front surface of the automatic guided vehicle facing the goods to be handled.
According to the present embodiment, the shelves are arranged on the main body in a more balanced manner.
[0013]
According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the automatic guided vehicle is controlled by a control device installed at a remote position. I do.
According to the present embodiment, automation and labor saving using the automatic guided vehicle are promoted.
[0014]
According to a sixth aspect of the present invention, in the fifth aspect of the present invention, the automatic guided vehicle receives position information where items handled for transport are stored with the control device. The storage position information of the articles loaded on the automatic guided vehicle on the shelf is transmitted.
This form embodies the form of claim 5.
[0015]
According to a seventh aspect of the present invention, in any one of the first to sixth aspects, the shelf moving mechanism engages with both sides of the article by contact or gripping. A shelf mover operable to engage the item only when possible and in use, and a shelf move arm capable of cooperating with the shelf mover to push the item toward the shelf. And a shelf transfer arm capable of moving an article between the shelf and the transfer stage. Further, the shelf moving mechanism is engaged with the step-down transfer mechanism, and is moved up and down by the elevating unit to be positioned.
This embodiment further embodies the embodiments of claims 1 to 6.
[0016]
According to an eighth aspect of the present invention, in any one of the first to fourth aspects, the shelf moving mechanism may form a flat surface of the shelf on a shelf in each step of the shelf. , And at least a plurality of rollers rotating in both forward and reverse directions, and a drive unit for driving the plurality of rollers. Furthermore, a plurality of rollers are arranged in the moving direction of the goods on each of the shelves, so that the goods can be moved between the shelf and the transfer stage.
This embodiment further embodies the embodiments of claims 1 to 6.
[0017]
According to a seventh aspect of the present invention, in any one of the first to sixth aspects, the transfer arm is an at least two-dimensionally movable robotic arm, whereby the transfer arm is provided. The loading arm and the grip lifting / lowering unit also have the function of the shelf moving mechanism, and thus the shelf moving mechanism can be deleted.
With this configuration, the structure of the automatic guided vehicle is further simplified.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an automatic guided vehicle according to a first embodiment of the present invention will be described in detail with reference to FIGS. FIG. 1 shows a schematic configuration and an operation outline of an automatic guided vehicle according to a first embodiment of the present invention. FIG. 2 is a three-dimensional view of the first embodiment of the automatic guided vehicle according to the present invention, and FIG. 3 is a detailed three-dimensional view of a main part of FIG.
First, referring to FIG. 1, there is shown a state in which the automatic guided vehicle 1 of the present embodiment moves packing boxes stored in storage lanes R1 and R2 to input lanes R3 and R4 based on a command from a host computer 5. ing. In the present embodiment, as shown in the figure, packing boxes W1, W2, etc., which are the goods transported by the automatic guided vehicle 1, are stacked and stored in storage lanes R1, R2, and the like. The automatic guided vehicle 1 is required to take in these boxes and transport them to the input lanes R3, R4 where the boxes are used, where the boxes are lowered.
[0019]
2 and 3, there is shown a configuration of the automatic guided vehicle 1 according to the first embodiment. The automatic guided vehicle 1 includes a main body 4 having four wheels at a lower portion. The main body 4 further includes a control unit that receives a command by communicating with a drive unit of the wheels and a host computer 5 (not shown). At least inside. The control unit controls the automatic guided vehicle 1. In the present embodiment, the main body 4 is provided with a step-down transfer mechanism 2 for handling items and a shelf 3 for storing items.
First, as a transfer mechanism that can be separated without requiring a space on the storage lane side, a transfer mechanism 2 that performs separation from the front of the packing box is provided at the center of the main body 4. The unstacking transfer mechanism 2 includes a transfer stage 21, a detector 22 fixed to the transfer stage 21 for detecting the stacked target boxes, and a handle existing in front of the target box. A gripping elevating unit 23 for gripping the part and lifting the packing box, a transfer arm 24 serving to pull out the target packing box from the storage location to the transfer stage 21 or to push it out when unloading, A shelf moving unit 28 for contacting and further pushing to move between the shelf 3 and the transfer stage 21, a shelf moving arm 27 serving to push out a packing box in a lateral (left and right) direction, and a predetermined height. And an elevating unit 25 that moves up and down. In the present embodiment, the shelf moving arm 27 and the shelf moving section 28 constitute the shelf moving mechanism 7.
[0020]
Next, as a mixed loading function capable of loading a plurality of types of packing boxes and transporting them all at once without having to move the entire shelf up and down, as shown in FIG. It is provided on both sides of the unloading transfer mechanism 2 provided at the center. The plurality of shelves 3 have a structure in which loaded boxes can be placed one by one on each shelf, and the boxes can be transferred to and from the transfer stage 21. In FIG. 2, the number of shelves in the shelf 3 is five, but may be another number. In the present embodiment, the front side of FIG. 2 is the front surface of the automatic guided vehicle 1, and the unmanned guided vehicle 1 faces the storage lane and the input lane, that is, the front surface of the articles when unloading the articles. The elevating unit 25 is installed on the rear side opposite to the front side.
[0021]
Here, FIG. 1 is referred to again.
With reference to FIG. 1, for example, an operation in the case of transporting only two boxes will be described.
First, the automatic guided vehicle 1 that has received the transport instruction from the host computer 5 arrives at the storage lane R1 where the first box is loaded according to the transport instruction, and performs the unloading and loading by the unloading transfer mechanism 2. At this time, the target packing box W1 is at the top of the stacked packing boxes, and the unstacking transfer mechanism 2 transfers the packing boxes based on the packing box height H1 and the number of steps S1 obtained from the box type information. The stage 21 is moved up and down, the height position of the packing box W1 is recognized by the detector 22, the packing box W1 is lifted by the gripping raising / lowering unit 23, and the packing arm 24 is pulled onto the transfer stage 21.
[0022]
Next, with the packing boxes W1 loaded on the transfer stage 21 placed thereon, an empty shelf where no packing box is placed is allocated from the plurality of shelves 3, and the transfer stage 21 is moved up and down. Then, using the shelf moving arm 27 and the shelf moving unit 28, the packing box W1 is put into the assigned empty shelf. At this time, the allocation of empty shelves is managed by the automatic guided vehicle 1, and the result of the allocation (shelf number) is transmitted to the host computer 5.
[0023]
The host computer 5 that has received the reply gives a transfer instruction for loading the second box as the next instruction. In response to this, the automatic guided vehicle 1 moves to the storage lane R2 where the second packing box W2 is loaded. , And the stacking and transfer mechanism 2 performs the stacking and loading as in the first box. Furthermore, among the plurality of shelves 3, empty shelves where no packing boxes are placed except for the shelf where the packing box W1 was placed earlier are assigned, and put into the empty shelf to which the packing box W2 is assigned. The result of the assignment (shelf number) is returned to the host computer 5.
[0024]
When the two target packing boxes are unloaded from the storage lanes in a stacked state and loading is completed, the host computer 5 issues a wholesale transfer instruction. Goes to the loading lane instructed in a state where the packing boxes W1 and W2 are mixedly loaded. At this time, the instruction from the host computer 5 also includes information as to which shelf number to wholesale from. The transfer stage 21 is moved up and down to the indicated shelf, and the shelf moving arm 27 and the shelf moving unit 28 are used. The target packing box is taken out onto the transfer stage 21 and the transfer stage 21 is moved up and down to the height of the loading lane with the packing box placed thereon. Finally, the packing box is moved to the loading lane by the transfer arm 24. Extrude. At this time, the order of the packing boxes to be unloaded can be any order regardless of the order of the loaded packing boxes. In the example of the figure, the packing box W2 is placed in the input lane R3 located on the front side on the transport path. The wholesale box W1 is wholesaled to the loading lane R4. The above operation is controlled by the control unit provided in the main body 4.
[0025]
The work of pulling the packing boxes W1 and W2 onto the transfer stage 21 and the work of pushing them out of the transfer stage 21 will be described in more detail. In this embodiment, as shown in FIGS. 1 and 3, the gripping elevating part 23 has an L-shaped protruding L-shaped part 26, and is movable on the transfer arm 24 in the front-rear direction. is there. When the luggage box is pulled in, the L-shaped portion 26 is hooked on the handle provided on the luggage box, and the luggage box is slightly lifted up, the steps are separated, and the luggage box is pulled in by proceeding in the rearward direction. When pushing out the packing box on the transfer stage 21, the gripping elevating unit 23 pushes the packing box by moving the L-shaped portion 26 into contact with the packing box and moving it in the front direction. The transfer arm 24 is an arm capable of moving the gripping elevating unit 23 in the front-rear direction. Mechanism may be used. The gripping elevating unit 23 linearly moves in the front-rear direction when the moving unit is engaged with the gripping elevating unit 23. Alternatively, the transfer arm 24 may be a telescopic cylinder mechanism having a connection with the gripping elevating section 23, or may be another known mechanism capable of at least linear reciprocating movement. Further, the transfer stage 21 may be provided with a device for reducing friction such as a roller, a slide plate, or the like, and may be formed to easily move the load.
[0026]
Next, the operations of pushing the packing boxes W1 and W2 from the transfer stage 21 to the shelf 3 and of pulling them from the shelf 3 will be described in more detail. In the present embodiment, the shelf moving section 28 has a contact plate section 29 that can protrude in the front direction as shown in FIG. (A direction perpendicular to the front-rear direction). The operation of pushing out the packing box from the transfer stage 21 to the shelf unit 3 or the operation of pushing out the packing box 29 from the shelf unit 3 to the transfer stage 21 can be performed by moving the backing plate unit 29 into contact with the packing box and moving it in the left-right direction. The shelf moving arm 27 is an arm capable of moving the shelf moving unit 28 in the left-right direction. Like the transfer arm 24, for example, a screw mechanism, a telescopic cylinder mechanism, or a known mechanism capable of at least linear reciprocating movement. Another mechanism or the like may be used.
[0027]
The shelf moving mechanism 7 only needs to be able to move the packing box between a predetermined stage of the shelf 3 and the transfer stage 21. Therefore, as the shelf moving mechanism 7, various mechanisms can be considered in addition to the mechanism disclosed in the above embodiment. For example, a mechanism may be provided in which each stage of the shelf 3 is provided with a rotating roller and the packing box is moved by the rotation of the roller. Such a mechanism is widely used in various existing transport devices. More specifically, a plurality of rollers are generally provided on each shelf of the shelf 3 so as to form a plane of the shelf, and the rollers rotate in both forward and reverse directions. Furthermore, at least a drive unit for driving the plurality of rollers is provided. A plurality of rollers are, of course, arranged in the direction of movement of the articles on each shelf, whereby the articles can be moved between the shelf 3 and the transfer stage 21. As for the rollers, all of the rollers may be driven, or only a part of the rollers may be driven depending on the dimensional relationship with the packing box, so that the necessary functions can be exhibited. A driving unit such as an electric motor may be directly built in the roller, or may be driven by an electric motor or the like via a chain or gear. In this case, the shelf moving mechanism does not need to be moved up and down by the elevating unit 23. There are various other variations and modifications of such a shelf moving mechanism, which will be readily apparent to those skilled in the art.
[0028]
Various shelf moving mechanisms other than the above can be formed by a known technique. A shelf moving mechanism that moves the packing box by gravity by tilting the shelves of each stage of the shelf 3 and the transfer stage 21 may be provided.
The shelf moving arm 27 may be provided on the transfer stage 21.
In any case, various changes and modifications of the first embodiment are possible.
[0029]
Alternatively, in the second embodiment, the transfer arm 24 may be a robotic arm that can move at least in a plane. In this case, the gripping elevating unit 23 is attached to the transfer arm 24 which is a robotic arm, and the gripping elevating unit 23 can move at least in a plane in accordance with the movement of the transfer arm 24. Accordingly, the gripping elevating unit 23 is capable of pulling in and pushing out the luggage from the storage lane and the loading lane, and pulling and pushing out the luggage from the shelf 3. Therefore, the transfer arm 24 and the gripping elevating unit 23 can also serve the function of the shelf moving mechanism 7 constituted by the shelf moving arm 27 and the shelf moving unit 28, and the movement of the first embodiment can be performed. The arm 27 and the moving elevating unit 28 can be deleted.
[0030]
Next, effects and operations of the above embodiment will be described.
The following effects can be expected from the automatic guided vehicle according to the first embodiment of the present invention.
-It is possible to simultaneously transport a plurality of different types of packing boxes in which parts are stored from a storage location where packing boxes to be handled are stacked to a location where the parts should be loaded.
・ The storage area does not require an area for loading and unloading luggage, which was unnecessary in the past, and the area can be used effectively.
-Since a plurality of different cargo boxes can be transported at the same time, the required number of automatic guided vehicles can be minimized and efficient transport is possible.
A large-scale mechanism for moving a shelf is not required as a packing box handling mechanism, and can be implemented by a relatively simple mechanism according to the related art, and the structure is relatively simple.
-Therefore, the automatic guided vehicle of the present invention is advantageous in cost.
-By managing and controlling the automatic guided vehicle of the present invention by a host computer, automation and labor saving can be achieved.
[0031]
The following effects can be expected from the automatic guided vehicle according to the second embodiment of the present invention.
With such a configuration, the structure of the automatic guided vehicle is further simplified.
[Brief description of the drawings]
FIG. 1 is a schematic view of an outline of a plurality of packing box transfer systems (apparatuses) by an automatic guided vehicle according to a first embodiment of the present invention and an operation for automatically moving two packing boxes. Shown in
FIG. 2 is a three-dimensional schematic view of the automatic guided vehicle according to the first embodiment of the present invention.
FIG. 3 is a three-dimensional view showing details of a step-off transfer mechanism of the automatic guided vehicle shown in FIG. 2;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Unmanned carrier 2 ... Separation transfer mechanism 3 ... Shelf 4 ... Main body 5 ... Upper computer 7 ... Shelf movement mechanism 21 ... Transfer stage 22 ... Detector 23 ... Grasping elevating part 24 ... Transfer arm 25 ... Elevation Unit 27: Shelf moving arm 28: Shelf moving unit

Claims (9)

In an automatic guided vehicle that can simultaneously transport multiple types of goods, this automatic guided vehicle is
A body having at least a driving unit, a traveling unit driven by the driving unit, and a control unit for controlling the automatic guided vehicle itself;
A shelf having a plurality of steps installed on the main body,
Similarly, a step-down transfer mechanism installed on the main body for unloading and transferring articles to be conveyed, and further moving the articles between the shelves of each of the shelves and the step-down transfer mechanism. Shelf moving mechanism,
Has,
The unloading transfer mechanism,
A transfer stage capable of holding the article, and moving the article between the article unloading location and the shelf.
A detector capable of detecting the stacked target articles,
A gripping lifting unit capable of gripping the article,
A transfer arm capable of pulling in or pushing out the article in cooperation with the gripping elevating section, wherein at least the article stacked in a storage location is pulled into the transfer stage; and A transfer arm capable of pushing the article to another place,
At least the transfer stage, the detector, the gripping lifting unit, and the transfer arm are vertically movable units that can be positioned vertically, and the lifting unit is at least the height of the transfer stage. An elevating unit capable of adjusting the height of a plurality of shelves of the shelf, or adjusting the height of articles stacked in a storage location,
An automatic guided vehicle, further comprising: 2. The automatic guided vehicle according to claim 1, wherein the transfer stage mounts and holds the article on itself. The automatic guided vehicle according to claim 1, wherein two sets of the shelf are provided. The unloading transfer mechanism is disposed between the two sets of shelves, and the unloading transfer mechanism and the two sets of shelves are further provided on the front surface of the automatic guided vehicle facing an article to be handled. The automatic guided vehicle according to claim 3, wherein the automatic guided vehicle is arranged side by side with respect to the vehicle. The automatic guided vehicle according to any one of claims 1 to 4, wherein the automatic guided vehicle is controlled by a higher-level control device installed at a remote position. The automatic guided vehicle receives, with the higher-level control device, position information where items handled for transportation are stored, and transmits storage position information of the items loaded on the automatic guided vehicle on the shelf. The unmanned guided vehicle according to claim 5, wherein: The shelf moving mechanism,
A shelf mover that is engagable on both sides of the article in a form of contact or gripping and is operable to engage the article only when used;
A shelf moving arm capable of extruding the article in the direction of the shelf in cooperation with the shelf moving section, the shelf moving arm being capable of moving the article between the shelf and the transfer stage; , At least,
7. The shelf moving mechanism according to claim 1, wherein the rack moving mechanism is engaged with the step-down transfer mechanism, and is moved up and down by the elevating unit to be positioned. Automatic guided vehicle. The shelf moving mechanism,
A plurality of rollers that are installed on each shelf of the shelf to form a plane of the shelf and rotate in both forward and reverse directions,
A driving unit for driving the plurality of rollers, at least,
2. The apparatus according to claim 1, wherein a plurality of rollers are arranged in the direction of movement of the articles on each of the shelves, so that the articles can be moved between the shelf and the transfer stage. The automatic guided vehicle according to any one of items 1 to 6. The transfer arm is an at least planarly movable robotic arm, whereby the transfer arm and the grip lifting / lowering unit also have the function of the shelf moving mechanism, and thus the shelf moving mechanism can be eliminated. The automatic guided vehicle according to any one of claims 1 to 6, wherein

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